• 전기학회논문지
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• 제67권1호
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• pp.103-113
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• 2018

In this paper, an improved integral variable structure regulation controller is designed by using a special integral sliding surface and a disturbance observer for the improved regulation control of highly nonlinear rigid robot manipulators with prescribed output performance. The sliding surface having the integral state with a special initial condition is employed in this paper to exactly predetermine the ideal sliding trajectory from a given initial condition to the desired reference without any reaching phase. And a continuous sliding mode input using the disturbance observer is also introduced in order to effectively follow the predetermined sliding trajectory within the prescribed accuracy without large computation burden. The performance of the prescribed tracking accuracy to the predetermined sliding trajectory is clearly investigated in detail through the two theorems, together with the closed loop stability. The design of the proposed regulation controller is separated into the performance design and robustness design in each independent link. The usefulness of the algorithm has been demonstrated through simulation studies on the regulation control of a two-link robot under parameter uncertainties and payload variations.

• 한국콘텐츠학회:학술대회논문집
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• 한국콘텐츠학회 2003년도 춘계종합학술대회논문집
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• pp.406-410
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• 2003

B.M. Schen([2])은 함수의 합성 "${\circ}$" 과 차집합 연산 "-"에 대하여 닫혀있는 함수들의 집합 ${\Phi}$에서의 대수적 구조인 subtraction semigroup (${\Phi}$; ${\circ}$,-)를 정의하였다. 이 구조에서 (${\Phi}$; ${\circ}$)는 semgroup, (${\Phi}$; -)는 [1]에서 정의한 subtraction algebra를 이룬다. B.M. Schen은 [2]에서 모든 subtraction semigroup은 invertible function들의 difference semigroup과 동형이라는 사실을 밝혔다. 본 논문에서는 이 subtraction semigroup의 일반화로써 near subtraction semigroupd을 정의하고 이의 한 특수한 형태인 strong near subtraction semigroup의 개념을 정의하여 이들의 일반적인 성질과 ideal의 특성을 조사하고 이들의 응용도를 조사하고자 한다.

• Journal of Power Electronics
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• 제13권5호
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• pp.896-908
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• 2013

Under high grid impedance conditions, it is difficult to guarantee the stability of grid-connected inverters with an LCL filter designed based on ideal grid conditions. In this paper, the theoretical basis for output impedance calculation is introduced. Based on the small-signal model, the d-d channel closed-loop output impedance models adopting the converter-side current control method and the grid-side current control method are derived, respectively. Specifically, this paper shows how to simplify the stability analysis which is usually complemented based on the generalized Nyquist stability criterion (GNC). The stability of each current-controlled grid-connected system is analyzed via the proposed simplified method. Moreover, the influence of the LCL parameters on the stability margin of grid-connected inverter controlled with converter-side current is studied. It is shown that the stability of grid-connected systems is fully determined by the d-d channel output admittance of the grid-connected inverter and the inductive component of the grid impedance. Experimental results validate the proposed theoretical stability analysis.

• 에너지공학
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• 제5권1호
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• pp.19-27
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• 1996

극저온 물질의 저장용기가 외부로부터 일정한 열유속을 받을 때 저장용기내의 압력상승을 해석하였다. 저장용기는 원통형 축대칭이고 윗벽과 아래벽은 단열되었으며 열유속은 옆벽에서 받는다. 유한차분법을 이용하여 저장용기내의 자연대류현상을 해석하였으며, 대상물질로는 산소, 수소 및 질소를 대상으로 하였다. 액체는 비압축성 유체, 기체는 virial 상태방정식을 만족하는 것으로 가정하였다. 기체의 2차 virial 계수는 Lennard-Jones 모형으로부터 구했다. 저장용기내의 압력상승에 미치는 주요한 인자는 외부열유속과 저장용기벽의 열용량 그리고 기체의 초기 부피비였으며, 이들중 가장 중요한 변수는 외부열유속이었다. 산소에 대해 기체를 이상기체를 가정했을 때와 virial 상태방정식을 만족하는 기체로 가정했을 때의 압력차이를 비교했다.

• 대한수학회지
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• 제54권5호
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• pp.1379-1410
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• 2017

Kang and Ko introduced a skew-symmetrizable matrix to describe a structure theorem for complete intersections of grade 4. Let $R=k[w_0,\;w_1,\;w_2,\;{\ldots},\;w_m]$ be the polynomial ring over an algebraically closed field k with indetermiantes $w_l$ and deg $w_l=1$, and $I_i$ a homogeneous perfect ideal of grade 3 with type $t_i$ defined by a skew-symmetrizable matrix $G_i(1{\leq}t_i{\leq}4)$. We show that for m = 2 the Hilbert function of the zero dimensional standard k-algebra $R/I_i$ is determined by CI-sequences and a Gorenstein sequence. As an application of this result we show that for i = 1, 2, 3 and for m = 3 a Gorenstein sequence $h(R/H_i)=(1,\;4,\;h_2,\;{\ldots},\;h_s)$ is unimodal, where $H_i$ is the sum of homogeneous perfect ideals $I_i$ and $J_i$ which are geometrically linked by a homogeneous regular sequence z in $I_i{\cap}J_i$.

• Smart Structures and Systems
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• 제1권3호
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• pp.235-256
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• 2005

The non-linear behaviour of electrorheological (ER) and magnetorheological (MR) dampers makes it difficult to design effective control strategies, and as a consequence a wide range of control systems have been proposed in the literature. These previous studies have not always compared the performance to equivalent passive systems, alternative control designs, or idealised active systems. As a result it is often impossible to compare the performance of different smart damper control strategies. This article provides some insight into the relative performance of two MR damper control strategies: on/off control and feedback linearisation. The performance of both strategies is benchmarked against ideal passive, semi-active and fully active damping. The study relies upon a previously developed model of an MR damper, which in this work is validated experimentally under closed-loop conditions with a broadband mechanical excitation. Two vibration isolation case studies are investigated: a single-degree-of-freedom mass-isolator, and a two-degree-of-freedom system that represents a vehicle suspension system. In both cases, a variety of broadband mechanical excitations are used and the results analysed in the frequency domain. It is shown that although on/off control is more straightforward to implement, its performance is worse than the feedback linearisation strategy, and can be extremely sensitive to the excitation conditions.

• Smart Structures and Systems
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• 제17권2호
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• pp.231-256
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• 2016

This study concerns the derivation of optimum tuning formulas for a passive Tuned Mass Damper (TMD) device, for the case of benchmark ideal excitations acting on a single-degree-of-freedom (SDOF) damped primary structure. The free TMD parameters are tuned first through a non-linear gradient-based optimisation algorithm, for the case of harmonic or white noise excitations, acting either as force on the SDOF primary structure or as base acceleration. The achieved optimum TMD parameters are successively interpolated according to appropriate analytical fitting proposals, by non-linear least squares, in order to produce simple and effective TMD tuning formulas. In particular, two fitting models are presented. The main proposal is composed of a simple polynomial relationship, refined within the fitting process, and constitutes the optimum choice. A second model refers to proper modifications of literature formulas for the case of an undamped primary structure. The results in terms of final (interpolated) optimum TMD parameters and of device effectiveness in reducing the structural dynamic response are finally displayed and discussed in detail, showing the wide and ready-to-use validity of the proposed optimisation procedure and achieved tuning formulas. Several post-tuning trials have been carried out as well on SDOF and MDOF shear-type frame buildings, by confirming the effective benefit provided by the proposed optimum TMD.

• 건축역사연구
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• 제19권6호
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• pp.79-98
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• 2010

If we take account of the 'Architectural Tradition' which aims a construction of better environment, we can see that this tradition has ended historically toward Utopia. And the concrete concepts of utopia mainly started on the Renaissance periods. The Utopias were described well in the literatures which contained particularly three representative utopian books in Renaissance period. The one was the most famous novel by Sir Thomas More and the other were by Tommaso Campanella and by Francis Bacon. These novels expressed ideal commonwealths in which inhabitants exist under perfect conditions, ideally perfect places or state of things. The plans of utopia are complete projects of image, its goal is an political, social and economical improvement according to the eras. Their utopias mostly had characteristics as follows; their shape of islands were almost circle, their shape of cities were rectangularity or circle and attached importance to geometrical compositions, their structure of cities were self-sufficiency in closed spaces and their architectural characteristics were uniformity, simplicity and non-ornament. And these architectural characteristics are urban and architectural traditions in communist countries. Also their utopian novels had not much explanations to daily lives of people like as birth, death, relative, mental conflict or authority, money, art. So their utopian novels were not practical and had inappropriate aspects.

• Journal of the Optical Society of Korea
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• 제6권3호
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• pp.121-127
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• 2002

The operating principal of a ring laser gyroscope depends on the phase difference for the counter-propagating waves within a closed path. The reflecting mirrors mounted on the monoblock form the traveling waves. The manufacturing accuracy of the monoblock influences the traveling path of ray, the sensitivity of laser resonator for misalignments, and diffraction losses. A 3 $\times$ 3 ray transfer matrix was derived for optical components with centering and squaring errors in a ring resonator. The matrix can be utilized to predict the optical ray paths on the basis of the manufacturing errors of the monoblock as well as the misalignment of mirrors. Then the distance and orientation (o. slope) at the arbitrary plane inside the resonator along the ideal optical path can be calculated from the chain multiplication of the ray transfer matrix for each optical component in one round trip. We also show that the counter-propagating rays In a ring resonator with errors does not coincide in each round trip, which results in gain difference between two beams, and how these errors can be adjusted through the alignment procedure. Finally this 3 $\times$ 3 ray matrix formalism can be used to calculate the beam size and its displacement from the optical axis and the deviation at the diaphragm.

• 한국정밀공학회지
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• 제29권7호
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• pp.785-792
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• 2012

Foam structure is usually hard to model due to the complexity of the geometry of cells. So, many simplified models to represent complicated foam structures have been proposed, but most of them are not actually describe the random feature of the cell structure well. So, in this study, two dimensional isotropic and anisotropic closed cell structures of the foam were modeled using the concept of Voronoi cells. The elasto-plastic deformation behavior under compressive loads was investigated by finitie element analysis, and the results were compared with ideal honeycomb structure. In addition, the effect of anisotropy of Voronoi cell structures of the foam on Young's modulus and yield stress under compressive loads was studied.