• 대한기계학회논문집A
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• 제21권2호
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• pp.297-304
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• 1997

This paper presents a systematic design method of an anti-swing control law for overhead cranes. A velocity servo system for the trolley of a crane is designed based on the dynamics of the trolley and its load. The velocity servo system compensates for the effects of load swing on the trolley dynamics so that the velocity servo is independent of load swing. The velocity servo system is used for the design of a position servo system for the trolley via the loop shaping method. The position servo system and the swing dynamics of the load are then used to design an angle control system for load swing based on the root locus method. The combined position servo and the angle control systems constitute the overall control system. In the presence of low frequency disturbances, the proposed control law guarantees accurate position control for the trolley and fast damping for load swing. Furthermore, the performance of the proposed control law is independent of the mass of the load. Experimental results on a prototype crane show the effectiveness of the proposed anti-swing control law.

• 한국소음진동공학회논문집
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• 제21권10호
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• pp.940-950
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• 2011

This paper reports a filtered velocity feedback(FVF) controller, which is an alternative to direct velocity feedback(DVFB) controller. The instability problems at high frequencies due to non-collocated sensor/actuator configuration with the DVFB can be alleviated by the proposed FVF controller. The FVF controller is designed to filter out the unstable high frequency response. The dynamics of a clamped plate under forces and moments and the FVF controllers are formulated. The stability of the control system and performance are investigated with the open loop transfer function(OLTF). It is found that the FVF controller has a higher gain margin than the corresponding DVFB controller owing to the rapid roll-off behavior at high frequencies. Although the gain margin cannot be fully utilized because of the enhancement at the high frequencies, the vibration at the modes lower than the tuning frequency is well controlled. This performance of the FVF controller is shown to be improved from that of the DVFB controller. It is, however, noted that the stability around the tuning frequency is very sensitive so that the enhancement in vibration level should be followed. The reduction performance at low frequencies using the FVF controller should be compromised with the enhancement in the vibration at high frequencies while designing the controller.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1995년도 Proceedings of the Korea Automation Control Conference, 10th (KACC); Seoul, Korea; 23-25 Oct. 1995
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• pp.526-529
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• 1995

The closed loop robots have the advantage of higher velocity capability and often higher precision in comparison to the open loop robots. We have simulated the kinematic analysis of three limbs robot (T-L robot), which is one of the closed loop robots. After then, we have designed experimental T-L robots with 3 different kind of actuators. In this paper, we described the experimental results, and the problems in its applicatons.

• 천문학회지
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• 제45권5호
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• pp.117-125
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• 2012

We present $^{12}CO$ J = 2-1 line observations of G54.1+0.3, a composite supernova remnant with a mid-infrared (MIR) loop surrounding the central pulsar wind nebula (PWN). We map an area of $12^{\prime}{\times}9^{\prime}$ around the PWN and its associated MIR loop. We confirm two velocity components that have been proposed to be possibly interacting with the PWN/MIR-loop; the +53 km $s^{-1}$ cloud, which appears in contact with the eastern boundary of the PWN and the +23 km $s^{-1}$ cloud, which has CO emission coincident with the MIR loop. However, we have not found a direct evidence for the interaction in either of these clouds. Instead, we detected an 5'-long arc-like cloud at +15-+23 km $s^{-1}$ with a systematic velocity gradient of ~3 km $s^{-1}$ $arcmin^{-1}$ and broad-line emitting CO gas with widths (FWHM) of ${\leq}7km\;s^{-1}$ in the western interior of the supernova remnant. We discuss their association with the supernova remnant.

• 대한교통학회지
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• 제12권4호
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• pp.35-52
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• 1994

In order to operate the computerized traffic signal system, it requires the detectors which ensure the exact detections of actual traffic data (e.g., traffic volume, occupancy and velocity of vehicles). The octagonal detectors are used currently in Korea. However, the maintenance of the detectors has many problems with the road repairs and the constructions on the pavement, and failure due to the disconnection of the wires. Serious delay due to the long installation time of loops also causes the traffic disturbances. The low sensitivities and splash-over effect can sometimes create error data after installation of the octagonal loops. The mai purpose of this study is to evaluate the feasibility of domestic use of the round (circular) inductive loops which developed recently in U.S.A. It was found that the round loops are comparable to the existing octagonal loops. In addition, the use of the high quality of materials in the round loop system can reduce the current problems and weakpoints of the octagonal loops. The installation cost of the round loop was found out as economic as the octagonal loop. The installation time of the round loop system can be reduced with the specially equipped loop truck, and wide/deep slots without sharp corners can extend the durability without serious stress of loop head wires. In conclusion, the round loop is superior to the octagonal type in overall points. It is recommended that the localization of the materials and equipments of round loop system is required to carry out the extensive local installations. Also, several contractors to meet the nationwide demand should be arranged to gurantee the proper maintenance and operation of the systems.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2008년도 추계학술대회B
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• pp.2850-2855
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• 2008

Very High Temperature Reactor (VHTR) has been selected as a high energy heat source for a nuclear hydrogen generation. The VHTR heat is transferred to a thermo-chemical hydrogen production process through an intermediate loop. Both Process Heat Exchanger and sulfuric acid evaporator provide the coupled components between the VHTR intermediate loop and hydrogen production module. A small scaled Compact Nuclear Hydrogen Coupled Components test loop is developed to simulate the VHTR intermediate loop and hydrogen production module. Main objective of the loop is to screening the candidates of NHDD (Nuclear Hydrogen Development and Demonstration) coupled components. The operating condition of the gas loop is a temperature up to $950^{\circ}C$ and a pressure up to 6.0MPa. The thermal and fluid dynamic design of the loop is dependent on the structures that enclose the gas flow, especially primary side that has fast gas velocity. We designed and constructed a small scale sulfuric acid experimental system which can simulate a part of the hydrogen production module also.

• 한국군사과학기술학회지
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• 제21권5호
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• pp.623-629
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• 2018

The acceleration and the angular velocity that include natural frequencies of a missile detected by Inertial Measurement Unit(IMU) are transmitted to the control loop of a missile. The control loop command that is calculated using above signals can cause the resonance of the missile while it flies. Hence it is common to adapt the filter and the control loop for attenuating or eliminating the undesired signals such as natural frequencies. This paper introduces the new test technique using a floating system for performance evaluation of the designed filter and the control loop prior to a flight test. The proposed scheme can check out the degradation property of vibration in the filter and the control loop, while the conventional hardware-in-the-loop simulation(HILS) scheme cannot.

• 대한기계학회논문집B
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• 제22권11호
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• pp.1571-1581
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• 1998

A flow visualization study was carried out for the branch pipe mixing flow in which a jet was issued normally to the fully developed pipe flow. An instantaneous laser tomographic method was used for cross flow Reynolds numbers based on the cross flow diameter D ranged $Re_{cf}=5.26{\times}10^3{\sim}1.13{\times}10^4$, diameter ratios d/D = 0.1 ~ 0.2 and velocity ratios R = 0.5 ~ 10. Oil mist with the size of about $10{\mu}m$ diameter was used for the scattering particle. The main purpose of this study was to reveal the physical mechanism and the structure of vortices formation with varying the velocity ratios and diameter ratios in the branch pipe flow. It was found that the physical mechanism and the structures of vortices formation were quite different depending on the velocity ratios. Particularly in the case of R < 1, the typical vortex shows single loop shape and that for the case of R > 1 depicts mushroom-like structure in the cross flow jet.

• 한국반도체및디스플레이장비학회:학술대회논문집
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• 한국반도체및디스플레이장비학회 2006년도 추계학술대회 발표 논문집
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• pp.178-183
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• 2006

Effect of coulomb friction and backlash on the single loop posit ion control has been studied for the precision position control. We studied and showed the limit cycle on the single loop system which used a ball screw that had the backlash. Also, We made an inner loop with a classical velocity and torque controller which was forcing the $i_d$ current to be zero by using a permanent-magnet synchronous motor and composed the outer loop with linear sensor for sensing a position of the loader. We have been shown a good result by using the dual loop through numerical simulation method.

• 한국항공우주학회지
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• 제42권10호
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• pp.842-850
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• 2014

본 논문은 예측하지 못한 외부 환경 요소 변화로 인해 저하되는 비행 성능을 $L_1$ 적응 제어 기법으로 보상하는 궤적 추종 기법을 제안하였다. 제안된 궤적 추종 기법은 상대 거리를 이용하여 속도 명령을 생성하는 유도 법칙과 속도 명령을 추종하는 적응 제어 루프로 구성되어 있다. 경로 추종 성능을 향상시키기 위하여, 유도 법칙에서 생성한 속도 명령이 적응 제어기의 기준 입력이 되도록 설계하였다. 유도 법칙에서는 목표 궤적과 상대 거리와 그 변화량에 따른 가속도 명령이 생성되며, 이를 적분하여 속도 명령을 생성한다. $L_1$ 적응 제어 루프는 불확실성이 존재하는 환경에서 정밀한 경로 추종 성능을 보장한다. 제안된 경로 추종 시스템은 쿼드로터 항공기를 사용하여 수직 이착륙 및 이동 표적 추종과 같은 비행 실험으로 검증하였다.