• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 1996년도 Proceedings of the Korea Automatic Control Conference, 11th (KACC); Pohang, Korea; 24-26 Oct. 1996
• /
• pp.380-384
• /
• 1996

This paper represents an adaptive position controller with the disturbance observer for multi-axis servo system. The overall control system consists of three parts : the position controller, the disturbance observer with free parameters and cross-coupled controller which enhances contouring performance by reducing errors. Using two-degrees-of freedom conception, we design the command input response and the closed loop characteristics independently. The servo system can improve the closed loop characteristics without affecting the command input response. The characteristics of the closed loop system is improved by suppressing disturbance torque effectively with the disturbance observer. Moreover, the cross-coupled controller enhances tracking performance. Thus total position control performance is improved. Finally, the performance of the proposed controller shows that it improves the contouring performance along with the reference trajectory in the XY-table.

• 대한수학회보
• /
• 제57권1호
• /
• pp.219-244
• /
• 2020

In this paper, we approximate the solution of the coupled nonlinear Schrödinger equations by using a fully discrete finite element scheme based on the standard Galerkin method in space and implicit midpoint discretization in time. The proposed scheme guarantees the conservation of the total mass and the energy. First, a priori error estimates for the fully discrete Galerkin method is derived. Second, the existence of the approximated solution is proved by virtue of the Brouwer fixed point theorem. Moreover, the uniqueness of the solution is shown. Finally, convergence orders of the fully discrete Crank-Nicolson scheme are discussed. The end of the paper is devoted to some numerical experiments.

• 대한전기학회:학술대회논문집
• /
• 대한전기학회 2000년도 하계학술대회 논문집 D
• /
• pp.2433-2435
• /
• 2000

Inertial Navigation System(INS) provides short-term accurate navigation solution but its error grows with time due to integration characteristics. Meanwhile, Global Positioning System(GPS) provides long-term stable solution but it has poor error characteristics in high dynamic region. So for its synergistic relationship, an integrated INS/GPS systems has been widely used as an advanced navigation system. Generally, two kinds of integration method are used. One is loosely coupled mode which uses GPS-derived position and velocity as measurements in an integrated Kalman filter. The other is tightly coupled one which uses pseudorange and pseudorange rate as Kalman filter measurements. In this paper the system error models and observation models for two kinds of integrated systems are derived, respectively, and their performance are compared through Monte-Carlo simulations.

• 한국광학회지
• /
• 제14권4호
• /
• pp.454-459
• /
• 2003

단일 모드 광원이 집적된 Mach-Zehnder간섭계형 파장 변환기를 제작하여 세계 최초로 10 Gb/s에서 파장 변환 특성을 확인하였다. 제작된 파장 변환기는 수동 도파로 영역에서의 전파 손실을 줄이기 위해 undoped InP층이 수동 도파로 위에 형성된 새로운 BRS 구조를 사용하였다. 단일 모드 광원으로 손실 결합형 분포 궤환형 반도체 레이저(loss-coupled distributed feedback laser; LC-DFB LD)를 사용하여, 파장 변환기에 있는 반도체 광증폭기의 주입전류가 200 mA까지 측모드 억제율이 30 dB 이상의 값을 나타내었다. 제작된 LC-DFB LD 집적 파장 변환기는 10 Gb/s의 동적 파장 변환 특성 측정 결과, 7 dB 정도의 소광비를 갖는 eye 패턴을 얻을 수 있었으며, power penalty는 $10^{-9}$ bit error rate에서 2.8 dB의 값을 나타내었다.

• 제어로봇시스템학회논문지
• /
• 제7권3호
• /
• pp.269-275
• /
• 2001

In land navigation applications, two kinds of GPS/DR integration schemes are commonly used; the loosely-coupled integration scheme and the tightly-coupled one. The loosely-coupled integration filter has a simple structure and is easy to implement. When the number of visible satellites is insufficient, however, it cannot calibrate the errors of the DR sensors. On the contrary the tigthly-coupled integration filter can sup-press the growth of the error in the DR output even when the visibility is poor. However, it has larger com-putation load due to the state dimension and is inconsistent because of the variation in the measurement dimension. This paper presents a GPS/DR integration scheme with dual integration mode. During when the number of visible satellites is sufficient, the proposed scheme operates in a loosely-coupled integration mode. When the visibility becomes poor, it is switched into a tightly-coupled integration mode. Consequently, the pro-posed scheme can calibrate the DR sensors even when the visibility is poor. In addition, its computation time remains constant even if the number of visible satellites increases. Field experiment results show that the performance of the proposed integration method is almost similar to that of the tightly-coupled one.

• 대기
• /
• 제25권1호
• /
• pp.149-154
• /
• 2015

As an attempt to improve fog predictability at Incheon International Airport (IIA) we couple the 3D weather forecasting model currently operational in Korea Meteorological Administration (regional Unified Model, UM_RE) with a 1D turbulence model (PAFOG). The coupling is done by extracting the meteorological data from the 3D model and properly inserting them in the PAFOG model as initial conditions and external forcing. The initial conditions include surface temperature, 2 m temperature and dew point temperature, geostrophic wind at 850 hPa and vertical profiles of temperature and dew point temperature. Moisture and temperature advections are included as external forcing and updated every hr. To validate the performance of the coupled system, simulation results of the coupled system are compared to those of the 3D model alone for the 22 sea fog cases observed over the Yellow Sea. Three statistical indices, i.e., Root Mean Square Error (RMSE), linear correlation coefficient (R) and Critical Success Index (CSI), are examined, and they all indicate that the coupled system performs better than the 3D model alone. These are certainly promising results but more improvement is required before the coupled system can actually be used as an operational fog forecasting model. For the RMSE, R, and CSI values for the coupled system are still not good enough for operational fog forecast.

• Coupled systems mechanics
• /
• 제4권1호
• /
• pp.67-98
• /
• 2015

Numerical prediction of dynamic behavior of fully coupled saturated porous media is of great importance in many engineering problems. Specifically, static and dynamic response of soils - porous media with pores filled with fluid, such as air, water, etc. - can only be modeled properly using fully coupled approaches. Modeling and simulation of static and dynamic behavior of soils require significant Verification and Validation (V&V) procedures in order to build credibility and increase confidence in numerical results. By definition, Verification is essentially a mathematics issue and it provides evidence that the model is solved correctly, while Validation, being a physics issue, provides evidence that the right model is solved. This paper focuses on Verification procedure for fully coupled modeling and simulation of porous media. Therefore, a complete Solution Verification suite has been developed consisting of analytical solutions for both static and dynamic problems of porous media, in time domain. Verification for fully coupled modeling and simulation of porous media has been performed through comparison of the numerical solutions with the analytical ones. Modeling and simulation is based on the so called, u-p-U formulation. Of particular interest are numerical dispersion effects which determine the level of numerical accuracy. These effects are investigated in detail, in an effort to suggest a compromise between numerical error and computational cost.

• 제어로봇시스템학회논문지
• /
• 제11권8호
• /
• pp.717-725
• /
• 2005

The adaptive filter is proposed for the INS/GPS. The proposed filter can estimate the variance of the process noise using the residual of the filter. To verify the efficiency of the adaptive filter, it is applied to the loosely-coupled INS/CPS that employs the additive quaternion error model. Simulation results demonstrate that the proposed filter is more effective in estimating the attitude error than EKF.

• 대한전기학회논문지:시스템및제어부문D
• /
• 제51권6호
• /
• pp.221-227
• /
• 2002

In this paper, the system model for the compensation of the low-cost personal navigation system is derived and the error compensation method using GPS is also proposed. WNS(Walking Navigation System) is a kind of personal navigation system using the number of a walk, stride and azimuth. Because the accuracy of these variables determines the navigation performance, computational methods have been investigated. The step is detected using the walking patterns, stride is determined by neural network and azimuth is calculated with gyro output. The neural network filters off unnecessary motions. However, the error compensation method is needed, because the error of navigation information increases with time. In this paper, the accumulated error due to the step detection error, stride error and gyro bias is compensated by the integrating with GPS. Loosely coupled Kalman filter is used for the integration of WNS and GPS. It is shown by simulation that the error is bounded even though GPS signal is blocked.

• 전자공학회논문지SC
• /
• 제37권1호
• /
• pp.10-18
• /
• 2000

본 논문에서는 2축 서보시스템에 적용하기 위한 새로운 윤곽 모델링을 이용하여 퍼지논리형 상호결합제어기를 제안한다. 일반적인 각 축 독립제어기는 각 축의 동적 변수와 루프 이득의 불일치로 인해 윤곽 성능을 감소시킨다. 실제적으로 이러한 시스템은 많은 불확실성도 보유하고 있다. 상호결합제어기는 정확한 윤곽을 구하기 위해 모든 축의 위치 오차 정보를 동시에 이용한다. 그러나 일반적인 상호결합제어기는 마찰, 백래쉬 그리고 매개변수 변화를 극복하지 못한다. 또한 정확한 다축 시스템의 수학적 모델을 얻기 힘들기 때문에 서보시스템의 퍼지논리형 상호결합제어기를 제안한다. 이와 더불어 새로운 윤곽 오차 벡터 계산법을 제시한다. 제안한 알고리즘의 성능을 검증하기 위해 실험결과를 나타낸다.