• 제어로봇시스템학회논문지
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• 제4권5호
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• pp.592-599
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• 1998

In this paper, we design a tracking controller which satisfies transient response specifications and maintains tracking error within a tolerable limit for the uncertain track-following system of an optical disk drive. To this end, a robust $H_{\infty}$ control problem with regional stability constraints and sinusoidal disturbance rejection is considered. The internal model principle is used for rejecting the sinusoidal disturbance caused by eccentric rotation of the disk. We show that a condition satisfying the regional stability constraints can be expressed in terms of a linear matrix inequality (LMI) using the Lyapunov theory and S-procedure. Finally, a tracking controller is obtained by solving an LMI optimization problem involving two linear matrix inequalities. The proposed controller design method is evaluated through an experiment.

• 한국소음진동공학회논문집
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• 제20권3호
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• pp.279-286
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• 2010

In this paper, we provide a robust track-following controller design method for the stable coarse seek control. Due to the inaccurate velocity control during a coarse seek, the shake of fine actuator is generated and thus a gain-up track-following control is required to complete stably the coarse seek. To this end, a loop gain adjustment algorithm is introduced to estimate accurately the shake of fine actuator. A weighting function can be properly selected from a minimum tracking gain-up open-loop gain, calculated from the estimated shake quantity of fine actuator. A robust tracking gain-up controller is designed by considering a robust $H_{\infty}$ control problem using the weighting function. The proposed design method is applied to the coarse seek control system of an optical rewritable drive and is evaluated through the experimental results.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2001년도 ICCAS
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• pp.87.4-87
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• 2001

In this paper, a design guideline of disturbance observer(DOB) for track-following controller is presented. In the track-following control system(TFCS) of optical disk drive(ODD), disturbance rejection is the key issue for the overall performance. DOB gives an excellent advantage of disturbance rejection within its bandwidth determined by a low-pass filter. In general, design of DOB requires a tradeoff between performance and stability, which should be based on quantitative analysis. The external disturbance is well-defined in the frequency domain, which provides the base of the analysis. In addition to a DOB, a proper feedback controller is utilized for guaranteeing overall stability. Some computer simulations and experiments are conducted and some of the results are presented.

• 제어로봇시스템학회논문지
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• 제9권2호
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• pp.117-123
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• 2003

Rotational machines such as optical disk drives, hard disk drives, and so on are subject to periodic disturbances caused by their mechanical characteristics. In the meanwhile, it is well known that repetitive control rejects periodic disturbance effectively. This paper presents a practical application of repetitive control to the track-following servo of an optical disk drive. The repetitive control system is composed of two repetitive controllers which compensate for periodic disturbances generated by track geometry and eccentric rotation of disk and a feedback controller stabilizing the feedback loop. A robust stability for all plant uncertainties is proved using linear matrix inequalities (LMIs). In the controller design, a weighting function is introduced for the feedback controller to ensure a minimum loop gain and a sufficient phase margin. The repetitive controllers and the feedback controller are designed by solving an optimization problem which can consider the robust stability condition and the system performance. The developed repetitive control system is implemented in the digital control system with a 16-bit fixed-point digital signal processor (DSP). Through simulation and experiment. The feasibility of the proposed repetitive control system is verified.

• 한국음향학회지
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• 제3권2호
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• pp.23-29
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• 1984

In this paper surface acoustic wave beam track changers using symmetric multistrip coupler are designed on the basis of the perturbation theory, and its characteristics are studied. SAW beam track changers, which have the configuratio of the periodic array of metal strips, are designed with the following specifications ; the number of strips : 140, the strip period: 0.25λ, the ratios of the strip width to the period a/p: 0.5, 0.375, 0.25, respectively, and approximately consistent with the theoretical values, and also the bulk wave mode and the 2nd-order effects are suppressed by these track changers.

• 한국철도학회논문집
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• 제5권1호
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• pp.48-54
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• 2002

This research estimated decreased vibration level as quantitative according to change of track system on Seoul Subway Line No. 1 from existing ballasted track system(Pandrol type clip) to concrete track system(Youbgdan type isolation rubber clip). Following change to concrete system, vibration level at tunnel floor decreased between 4-8dB(V). Vibration equations suggested in this paper consider the velocity of train and can estimate quantitative vibration response. These are divided by ultimate limit state($\beta$=0), serviceability limit state($\beta$=1.28) and safety state($\beta$=3), respectively. The reliability index, $\beta$=0, means 50％ data line obtained by least squares best-fit line. The reliability index $\beta$=1.28 and 3 represent boundaries below 90％ and 99.9％ respectively.

• 한국측량학회지
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• 제33권2호
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• pp.111-122
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• 2015

본 연구에서는 모바일 레이저 스캐닝 데이터로부터 철도 선로탐지 및 선로모델 추출을 위한 방법을 제시하였다. 제안된 방법은 크게 세 단계로 구성된다. 첫째, 레이저 포인트로부터 잠재적인 철도 선로지역을 탐지하고, 초기 철도 선로궤적 방향을 추정한다. 둘째, 철도 선로에 관한 선 지식을 이용하여 첫번째 스트립에서 초기 선로위치를 결정한다. 여기서, 스트립은 국부 탐색공간을 나타내며 철도 선로궤적에 수직인 방향으로 정의된다. 마지막으로, 초기 선로위치에서 GMM-EM기반 분류방법을 통해 선로 포인트들을 탐지한 후 초기 선로 모델을 생성하고 스트립을 데이터 처리 기본단위로 하여 tracking by detection관점에서 연속적으로 선로모델을 생성하였다. 제안된 방법의 주요 특징은 다음과 같다. 첫째, 이전 스트립에서 생성된 선로 모델을 가이드 라인으로 다음 스트립에 전파되어 국부 탐색영역을 예측하여 선로 포인트를 탐지하는 하는데 있어서 처리 복잡성을 줄일 수 있었다. 둘째, 선로 포인트 탐지와 선로 모델링을 동시에 진행 함으로써 데이터 처리 시간을 최소화 할 수 있었다. 개발된 알고리즘은 C++ 프로그램 언어로 구현되었고 도시지역에서 MMS 측량을 통해 취득된 LiDAR 데이터(경부선 일부 구간)를 이용하여 성능 테스트를 진행하였다.

• 한국소음진동공학회논문집
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• 제15권1호
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• pp.29-38
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• 2005

The track pull-in behavior analysis in an optical disk drive (ODD) using plane phase and the evaluations for effecting parameters of it are discussed. Track pull-in, track capture procedure to do track following control, is a key factor to increase data transfer rate. First, the relative velocity between the beam spot of an optical pick-up and the target track of an optical disk is analyzed during the track pull-in procedure. In this process, it is showed that the track error signal has nonlinear characteristics which are depending on the time. Second, Runge-Kutta method to solve the nonlinear equation is applied to find the track pull-in behavior, and some optimal parameters to get stable and fast pull-in condition are obtained. Then, the phase plane analysis for track pull-in procedure is presented. Finally, some comments for the simulated results are discussed briefly.

• International Journal of Railway
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• 제9권2호
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• pp.27-35
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• 2016

In spite of recent advances in ballasted railway track, the correct choice of ballast for rail track is still considered critical because aggregates progressively deteriorate under traffic loading and environmental exposures. Various ballast requirements, functions and duties have been defined by researchers, railway companies and countries' regulations even though it needs to be integrated to make following proper decision during track operation and maintenance. A proper understanding of ballast properties and suitable tests are prerequisites for minimizing maintenance costs. This paper presents a capable classification for ballast characteristics which need to be investigated beforehand to such a way, firstly to assign ballast functions, secondly need to clarify ballast requirements, thirdly to map appropriate tests to evaluate ballast characteristics and then it must be such that if ballast cannot carry out one of these duties, be able to call there is ballast defect. The paper is structured in order to achieve these objectives.

• 한국철도학회논문집
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• 제8권3호
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• pp.235-243
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• 2005

Following the rail reform in 2004, rail industry in Korea has separated into two parts: one is the infrastructure manager and the other is train operator. Amongst many aspects, track access charging system is one of the imminent aspects to be studied closely to make the rail reform successful. In this study, track access charging systems of European countries are closely investigated and compared one another and lessons learnt from their experiences are derived. Finally, policy directions regarding the track access charging system to be adopted in Korea are suggested.