• Journal of Information Processing Systems
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• v.18 no.4
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• pp.510-523
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• 2022

Considering the problems of poor control effect, weak disturbance rejection ability and adaptive ability of two-wheeled self-balanced robot (TWSBR) systems on undulating roads, this paper proposes a fuzzy neural network active disturbance rejection controller (FNNADRC), that is based on fuzzy neural network (FNN) for online correction of active disturbance rejection controller (ADRC)'s nonlinear control rate. Firstly, the dynamic model of the TWSBR is established and decoupled, the extended state observer (ESO) is used to compensate dynamically and linearize the upright and displacement subsystems. Then, the nonlinear PD control rate and FNN are designed, and the FNN is used to modify the control parameters of the nonlinear PD control rate in real time. Finally, the proposed control strategy is simulated and compared with the traditional ADRC and fuzzy active disturbance rejection controller (FADRC). The simulation results show that the control effect of the proposed control strategy is slightly better than ADRC and FADRC.

• Journal of the Earthquake Engineering Society of Korea
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• v.24 no.2
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• pp.87-93
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• 2020

Seismic responses due to the dynamic coupling between a primary structure and secondary system connected to a structure are analyzed in this study. The seismic responses are compared based on dynamic coupling criteria and according to the error level in the natural frequency, with the recent criteria being reliant on the error level in the spectral displacement response. The acceleration responses and relative displacement responses of a primary structure and a secondary system for a coupled model and two different decoupled models of two degrees-of-freedom system are calculated by means of the time integration method. Errors in seismic responses of the uncoupled models are reduced with the recent criteria. As the natural frequency of the secondary system increases, error in the natural frequency decreases, but seismic responses of uncoupled models can be underestimated compared to that of coupled model. Results in this paper can help determine dynamic coupling and predict uncoupled models' response conservatism.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.33 no.1
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• pp.27-33
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• 2009

Human postural responses appeared to have stereotyped modality, such as ankle mode, knee mode and hip mode in response to various perturbations. We examined whether human postural control gain of full-state feedback could be decoupled along with the eigenvector. To verify the model, postural responses subjected to fast backward perturbation were used. Upright posture was modeled as 3-segment inverted pendulum incorporated with feedback control, and joint torques were calculated using inverse dynamics. Postural modalities such as ankle, knee and hip mode were obtained from eigenvectors of biomechanical model. As oppose to the full-state feedback control, independent eigenvector control assumes that modal control input is determined by the linear combination of corresponding modality. We used optimization method to obtain and compare the feedback gains for both independent eigenvector control and full-state feedback control. As a result, we found that simulation result of eigenvector feedback was not competitive in comparison with that of full-state feedback control. This implies that the CNS would make use of full-state body information to generate compensative joint torques.

• Journal of Mechanical Science and Technology
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• v.20 no.5
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• pp.602-611
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• 2006

This paper proposes a locomotion pattern and a control method for biped robots with curved soles. First, since the contact point of a supporting leg may arbitrarily move back and forth on the ground, we derived the desired trajectory from a model called the Moving. Inverted Pendulum Model (MIPM) where the Zero Moment Point (ZMP) exists at the supporting point and can be moved intentionally. Secondly, a biped robot with curved soles is an under-actuated system since the supporting point contacting with a point on the ground has no actuator during the single supporting phase. Therefore, this paper proposes a computed-torque control for this under-actuated system using decoupled dynamic equations. A series of computer simulations with a 7-DOF biped robot with curved soles shows that the proposed walking pattern and control method are effective and allow the biped robot to walk fast and stably, and move more like human beings. Also, it is shown that the curved sole shape has superior energy consumption compared to flat soles, and greater efficiency in ascending and descending the stairs.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.18 no.9
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• pp.1376-1385
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• 1993

This paper presents a new dynamic model which is represented by the second order differenatial equation and itcludes the robot arm dynamics as well as the actuator dynamics. The model exhibits excellent performance in the steady state and transient response. In addition the time varing nonlinear and coupled dynamic system has been linearized and decoupled by using nonlinear feedback and linearization method. In this case a pole assignment law is used to improve stability, and the optimal control altorithm is applied to the error equation to minimize the path error. In applying the proposed algorithm to the three joint manipulator with actuators, we obtained very encouraging results.

• Journal of the Korean Institute of Electrical and Electronic Material Engineers
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• v.16 no.1
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• pp.77-82
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• 2003

The ac loss is an important issue in the design of high-Tc superconducting power devices such as transformers and cables. In these devices many Bi-2223 tapes are closely stacked together and exposed to alternating magnetic fields that can have different orientations with respect to a tape. In such arrangement the magnetization loss is influenced by the screening current induced in adjacent tapes and thus different from that in a single tape. This stacking effect was experimentally investigated by measuring the magnetization loss in a stack, which consists of a number of tapes. First the magnetization loss in the single tape was measured in order to confirm the reliability of the loss data measured in the stack. The results for the single tape coincide well will the loss characteristics described in other previous works. For the stack In parallel and longitudinal magnetic fields the measured loss is Independent of both the number of tapes and stacking type. The longitudinal magnetization loss Is well explained rather by the slab model for decoupled filaments. For the tall stack in perpendicular field the measured loss at low fields is greatly decreased, compared to the loss of the single tape. However the loss at high fields is unaffected. These loss behaviors in the tall stack are well described by the slab model for full coupling.

• Nuclear Engineering and Technology
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• v.51 no.8
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• pp.1998-2004
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• 2019

The Multi-Physics (MP) instrument is one of 20 neutron spectrometers planned in the China Spallation Neutron Source (CSNS). This paper presents a shielding calculation for the MP instrument using Monte Carlo codes MCNPX and FLUKA. First, the neutrons that escape from the CSNS decoupled water moderator and are delivered to the beam line of the MP instrument are calculated to use as the source term of the shielding calculation. Then, to validate the calculation method based on multiple variance reduction techniques, a cross check between MCNPX and FLUKA codes is performed by comparing the calculation results of the dose rate distribution on a simplified beam line model. Finally, a complete geometry model of the MP instrument is set up, and the primary parameters for the shielding design are obtained according to the calculated dose rate map considering different worst-case scenarios.

• Transactions of the Korean Society of Machine Tool Engineers
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• v.18 no.1
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• pp.50-58
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• 2009

For precise tracking control of a servo system with nonlinear friction, a robust friction compensation scheme is presented in this paper. The nonlinear friction is difficult to identify the friction parameters exactly through experiments. Friction parameters can be also varied according to contact conditions such as the variation of temperature and lubrication. Thus, in order to overcome these problems and obtain the desired position tracking performance, a robust adaptive back-stepping control scheme with a dual friction observer is developed. In addition, to estimate lumped friction uncertainty due to modeling errors, a DEKF recurrent neural network and adaptive reconstructed error estimator are also developed. The feasibility of the proposed control scheme is verified through the experiment fur a ball-screw system.

• Proceedings of the Korea Committee for Ocean Resources and Engineering Conference
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• 2003.05a
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• pp.57-62
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• 2003

This paper describes the design and simulation of a multivariable optimal control system for the combined speed, heading and depth control of a Semi-Autonomous Underwater Vehicle (SAUV) developed in Korea Ocean Research and Development Institute (KRODI). The SAUV is a test-bed for the evaluation of the navigation and manipulator technologies developed for a mine disposal vehicle (MDV) in military use and for a light working underwater vehicle in scientific use. The vehicle was designed to control its cruising speed, heading and depth with 4 horizontal thrusters installed at the rear of the hull. Therefore, the decoupled control methods are limited to apply to the SAUV because the thrust forces are highly coupled with the surging, yawing, and pitching motion of the vehicle. The multivariable Linear Quadratic (LQ) control method is chosen to control steering and diving in variable speed motion automatically. A series of simulation is carried out with fully nonlinear six degree of freedom dynamic model to validate the controller.

• Journal of the Korea Concrete Institute
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• v.18 no.3 s.93
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• pp.379-388
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• 2006

This paper presents a model for evaluating the contribution by arch action to shear resistance in shear-critical reinforced concrete beams. Based on the relationship between shear and bending moment in beams subjected to combined shear and bending, the behavior of a beam is explicitly divided into two base components of the flexural action and the tied arch action. The compatibility condition of the shear deformation that deviates from Bernoulli bending plane is formulated utilizing the smeared truss idealization with an inclined compression chord. The Modified Compression Filed Theory is employed to calculate the shear deformation of the web, and the relative axial displacements of the compression and the tension chord by the shear flow are also calculated. From this shear compatibility condition in a beam, the shear contribution by the arch action is numerically decoupled. Then the validity of the model is examined by applying the model to some selected test beams in literatures. The results may confirm the rationale of the proposed behavioral model.