• 한국정밀공학회지
• /
• 제16권12호
• /
• pp.126-132
• /
• 1999

The paper presents the modeling and optimal control for the reduction of transverse vibration of simply supported beam under a moving mass. The equations of motion are derived by using assumed mode method. The coriolis and centripetal accelerations are accommodated in the equations of motion to account for the dynamic effect of the traveling mass. In order to reduce the transverse vibration of the beam, an optimal controller with full state feedback is designed based on the linearized equations of motion. The optimal actuator locations are determined with the evaluation of an optimal cost functional defined by the worst initial condition with the trade-off of controlled mode performance. Numerical simulations are performed with respect to various velocities and different traveling masses. Even if the velocity of the traveling mass reaches to the critical speed which can cause the resonance of the beam, the controller with two piezoelectric actuators shows the excellent performance under severe time-varying disturbances of the system.

• 한국자동차공학회논문집
• /
• 제20권4호
• /
• pp.1-9
• /
• 2012

The NCF control algorithm for an active suspension system was proposed and investigated. The NCF algorithm using spring dynamic variation force and suspension relative velocity was applied to the 1/4 vehicle model and numerical analysis was performed. Vehicle's performances such as vehicle displacement, vehicle acceleration, suspension deflection, tire deflection and absorbed power were calculated and compared with those of the passive, semi-active and LQR active suspension system that use full state feedback. Numerical results show that the proposed NCF active suspension system has superior performance compared with the passive and semi-active suspension system and has very similar performance compared with the LQR active suspension system. So the proposed NCF algorithm is considered as a highly practical algorithm because it requires only one displacement sensor in a 1/4 vehicle model.

• 한국태양에너지학회 논문집
• /
• 제29권5호
• /
• pp.65-72
• /
• 2009

The new method is proposed to improve high speed detection of grid voltage phase and magnitude during a voltage dip due to a grid faults. Usually, A LPF(Low Pass Filter) is used in the feedback loop of PLL (Phase Locked Loop) system because the measured grid voltage contains harmonic distortions and sensor noises. so, a new design method of the loop gain of the PI -type controller in the PLL system is proposed with the consideration of the dynamics of the LPF. As a result, a better transient response can be obtained with the proposed design method. The LPF frequency and PI controller gain are designed in coordination according to the steady state and dynamic performance requirement. This paper shows the feasibility and the usefulness of the proposed methods through the computer simulation and the lab-scale experiments.

• 한국소음진동공학회:학술대회논문집
• /
• 한국소음진동공학회 2003년도 추계학술대회논문집
• /
• pp.446-451
• /
• 2003

This paper presents some examples of active control of flow-induced vibration using piezoelectric actuators. The flutter phenomenon, which is the dynamic instability of structure due to mutual interaction among inertia, stiffness, and aerodynamic forces, may cause catastrophic structural failure, and therefore the active flutter suppression is one of the main objectives of the aeroelastic control. Active flutter control has been numerically and experimentally studied for swept-back lifting surfaces using piezoelectric actuation. A finite element method, a panel aerodynamic method, and the minimum state space realization are involved in the development of the governing equation, which is efficiently used for the analysis of the system and design of control laws with modern control framework. The active control suppressed flow-induced vibrations and extended the flutter speed around by 10%. Another representative flow-induced vibration phenomenon is the oscillation of blunt bodies due to the vortex shedding. In general, it is quite difficult to set up the numerical model because of the strong non-linearity of the vortex shedding structure. Therefore, we applied adaptive positive position feedback controller, which requires no pre-determined model of the plant, and successfully suppressed the flow-induced vibration.

• Journal of Power Electronics
• /
• 제4권4호
• /
• pp.205-216
• /
• 2004

In this paper, a three-phase induction machine-based wind power generation scheme is proposed. This scheme uses a low-cost diode bridge rectifier circuit connected to an induction machine via an ac load voltage regulator (AC-LVR) to regulate dc power transfer. The AC-LVR is used to regulate the DC load voltage of the diode bridge rectifier circuit which is connected to the three-phase self-excited induction generator (SEIG). The excitation of the three-phase SEIG is supplied by the static VAR compensator (SVC). This simple method for obtaining a full variable-speed wind turbine system by applying a back-to-back power converter to a wound rotor induction generator is useful for wind power generation at widely varying speeds. The dynamic performance responses and the experimental results of connecting a 5kW 220V three-phase SEIG directly to a diode bridge rectifier are presented for various loads. Moreover, the steady-state simulated and experimental results of the PI closed-loop feedback voltage regulation scheme prove the practical effectiveness of these simple methods for use with a wind turbine system.

• Journal of Power Electronics
• /
• 제18권1호
• /
• pp.92-102
• /
• 2018

A sliding mode control (SMC) for servo motors based on the differential evolution (DE) algorithm, called DE-SMC, is proposed in this study. The parameters of SMC should be designed exactly to improve the robustness, realize the precision positioning, and reduce the steady-state speed error of the servo drive. The main parameters of SMC are optimized using the DE algorithm according to the speed feedback information of the servo motor. The most significant influence factor of the DE algorithm is optimization iteration. A suitable iteration can be achieved by the tested optimization process profile of the main parameters of SMC. Once the parameters of SMC are optimized under a convergent iteration, the system realizes the given performance indices within the shortest time. The experiment indicates that the robustness of the system is improved, and the dynamic and steady performance achieves the given performance indices under a convergent iteration when motor parameters mismatch and load disturbance is added. Moreover, the suitable iteration effectively mitigates the low-speed crawling phenomenon in the system. The correctness and effectiveness of DE-SMC are verified through the experiment.

• 로봇학회논문지
• /
• 제18권3호
• /
• pp.241-250
• /
• 2023

This paper describes the posture stabilization control of a bipedal transformer robot being developed for military use. An inverted pendulum model with a rectangular that considers the robot's inertia is proposed, and a posture stabilization moment that can maintain the body tilt angle is derived by applying disturbance observer and state feedback control. In addition, vertical force and posture stabilization moments that can maintain the body height and balance are derived through QP optimization to obtain the necessary torques and vertical force for each foot. The roll and pitch angles of the IMU sensor attached to the robot's feet are reflected in the ankle joint to enable flexible adaptation to changes in ground inclination. Finally, the effectiveness of the proposed algorithm in posture stabilization is verified by comparing and analyzing the difference in body tilt angle due to disturbances and ground inclination changes with and without algorithm application, using Gazebo dynamic simulation and a down-scale test platform.

• 대한기계학회논문집
• /
• 제15권2호
• /
• pp.463-477
• /
• 1991

This study proposed a new method to design a robot manipulator control system capable of tracking the trajectories of joint angles in a reasonable accuracy to cover with actual situation of varying payload, uncertain parameters, and time delay. The direct adaptive model following control method has been used to improve existing industrial robot manipulator control system design. The proposed robot manipulator controller is operated by adjusting its gains based on the response of the manipulator in such a way that the manipulator closely matches the reference model trajectories predefined by the designer. The manipulator control system studied has two loops: they are an inner loop on adaptive model following controller to compensate nonlinearity in the manipulator dynamic equation and to decouple the coupling terms and an outer loop of state feedback controller with integral action to guarantee the stability of the adaptive scheme. This adaptation algorithm is based on the hyperstability approach with an improved Lyapunov function. The coupling among joints and the nonlinearity in the dynamic equation are explicitly considered. The designed manipulator controller shows good tracking performance in various cases, load variation, parameter uncertainties. and time delay. Since the proposed adaptive control method requires only a small number of parameters to be estimated, the controller has a relatively simple structure compared to the other adaptive manipulator controllers. Therefore, the method used is expected to be well suited for a high performance robot controller under practical operation environments.

• 대한교통학회:학술대회논문집
• /
• 대한교통학회 1995년도 제28회 학술발표회
• /
• pp.45-73
• /
• 1995

토지이용규모와 교통수요의 크기, 그에 따른 혼잡정도를 이들간의 동적상호작용 올 시률레이션화하여 동시에 산출할 수 있는 시스템다이나믹스(System Dynamics)모델 이 제시된다. 이 모렐은 토지이용과 교통에 관계되는 물리적, 사회경제적, 정책적 변수들 간의 상호관계를 나타내는 다양한 함수와 피드백 루프(feedback loop)구조로 이루어져 있다. 전체모텔은 크게 인구, 인구이동, 가구변동, 부문별 고용 및 토지개발, 주택개발, 통 행수요, 혼잡레벨의 7개 서브모렐로 구성되며 각 서브모텔은 다시 부문별로 세분된다. 시스템다이나믹스모델의 주요 장점은 다음과 같다. 첫째, 토지이용과 교통시스템 올 둘러싼 복잡한 변수들 간의 동적 상호작용올 효과적으로 다룰 수 있으며 어떤 정책 에 대하여 시간적 변화에 따른 효과를 평가할 수 있다. 둘째, 시스템다이나믹스모텔은 시 블레이션에 의해 모텔의 결과가 산출되므로 종래의 모텔에서와 같이 토지이용과 교통체 계의 균형상태(equilibrium state)를 가정할 필요가 없다. 세번째로, 시스템다이나믹스모텔 은 다수의 분리된 수식(equations)으로 구성되므로 새로운 변수 -- 특정한 정책, 새로운 현상, 다른 방법론에 기초한 테크늬, 등 -- 들올 도입하기 쉽다. 논문의 앞부분(I, II, III장)에서는 모델의 전반적인 구조를 Causal Loop Flow D Diagram올 중심으로 논하고 있다. 구체적인 수식과 DYNAMO 프로그램, 모델계수의 추정 풍 기술적인 내용은 생략되었다. 이에 대하여는 저자의 박사학위논문을 참조하기 바란다 .. V장이 옹용부분으로서, 도로교통시설의 증대가 토지이용 및 교통수요, 그리고 교 통혼잡에 각 년도별로 어떻게 그 영향이 나타나는가를 메릴랜드의 Montgomery County 지역올 대상으로 검증하였다. 분석결과에 의하면, 도로용량중대의 교통유발효과 ( (Demand-inducing Effect)는 비 교척 낮은 것으로 나타났다. 또, 도로용량이 같더 라도 일 반도로보다 Freeway의 교통유발이 훨씬 큰 것으로 나타났다. 도로용량증대가 토지이용 에 미치는 효과를 보면 용량중대가 없었던 경우와 비교할 때 단기적으로는 차이가 거의 없으나 장기적으로는 큰 차이를 미치고 있다. (인구증가의 경우 도로시설올 설치하지 않 올 경우보다 4년후에는 8% 차이에 불과하나 19년후에는 15.5%의 차이를 보여주고 있다.) 이 논문은 다이나믹 시스템시율레이션올 이용하여 토지이용과 교통수요 및 혼잡 도 간의 상호작용을 종합적으로 다룬 첫번째 시도라 생각된다. 이 토지이용/교통모텔은 광범위한 규모를 다룬 매크로시률레이션모델로서 정교한 수준까지 발전시키려면 아직 많 은 후속작업이 필요할 것으로 보이지만, 현재까지의 결과로 볼 때 복잡한 토지이용과 교 통시스템을 종합적으로 다룰 수 있는 유력한 도구가 될 수 있올 것으로 평가된다.

• Smart Structures and Systems
• /
• 제20권5호
• /
• pp.619-636
• /
• 2017

Magnetorheological (MR) damper is a type of controllable device widely used in vibration mitigation. This device is highly nonlinear, and exhibits strongly hysteretic behavior that is dependent on both the motion imposed on the device and the strength of the surrounding electromagnetic field. An accurate model for understanding and predicting the nonlinear damping force of the MR damper is crucial for its control applications. The MR damper models are often identified off-line by conducting regression analysis using data collected under constant voltage. In this study, a MR damper model is integrated with a model for the power supply unit (PSU) to consider the dynamic behavior of the PSU, and then a real-time nonlinear model updating technique is proposed to accurately identify this integrated MR damper model with the efficiency that cannot be offered by off-line methods. The unscented Kalman filter is implemented as the updating algorithm on a cyber-physical model updating platform. Using this platform, the experimental study is conducted to identify MR damper models in real-time, under in-service conditions with time-varying current levels. For comparison purposes, both off-line and real-time updating methods are applied in the experimental study. The results demonstrate that all the updated models can provide good identification accuracy, but the error comparison shows the real-time updated models yield smaller relative errors than the off-line updated model. In addition, the real-time state estimates obtained during the model updating can be used as feedback for potential nonlinear control design for MR dampers.