• 한국자동차공학회논문집
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• 제4권6호
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• pp.39-51
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• 1996

In the turning maneuver of the vehicle, its motion is mainly dependent on the genuine steering characteristics in view of the directional stability for stable turning ability. The under steer vehicle has an ability to maintain its own directonal performance for unknown external disturbances to some extent. From a few years ago, in order to acquire the more enhanced handling performance, some types of four wheel steering vehicle were considered and constructed. And, various rear wheel control logics for external disturbances has not been suggested. For this reason, in this posed rear wheel control logic is based on the yaw rate feed back type and is slightly modified by an yaw rate tuning factor for more stable turning performance. And an external disturbance is defined as a motivation of the additional yaw rate in the center of gravity by an uncertain input. In this study, an external disturbance is applied to the vehicle as a form of the additional yawing moment. Finally, the proposed rear wheel control logic is tested on the multi-body analysis software(ADAMS). J-turn and double lane change test are performed for the validation of the control logic.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2006년도 추계학술대회논문집
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• pp.474-478
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• 2006

It is becoming more significant to develop a rotary voice coil motor(VCM) type's actuator for small form factor (SFF) optical disk drive(ODD), as portables are getting more and more popularized nowadays. The actuator which is applicable to small-sized ODD with a compact flash(CF) II card size was developed and fabricated. The experimental results showed that the finite element(FE) model is different from the fabricated model. And so flexible mode frequencies did not satisfy specifications of small-sized ODD, and tuning. Tuning procedures were required to improve dynamic characteristics of the fabricated actuator through finite difference method(FDM). At first, design variables were extracted through parameter study and the tuned FE model was improved by design of experiment(DOE). Consequently, It was confirmed that the improved model was applicable to SFF ODD.

• Journal of Biosystems Engineering
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• 제21권3호
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• pp.283-292
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• 1996

Automatic guidance of farm tractors would improve productivity by reducing operator fatigue and increasing machine performance. To control tractors within $\pm$5cm of the desired path, fuzzy and adaptive steering controllers were developed to evaluate their characteristics and performance. Two input variables were position and yaw errors, and a steering command was fed to tractor model as controller output. Trapezoidal membership functions were used in the fuzzy controller, and a minimum-variance adaptive controller was implemented into the 2-DOF discrete-time input-output model. For unit-step and composite paths, a dynamic tractor simulator was used to test the controllers developed. The results showed that both controllers could control the tractor within $\pm$5cm error from the defined path and the position error of tractor by fuzzy controller was the bigger of the two. Through simulations, the output of self-tuning adaptive controller was relatively smooth, but the fuzzy controller was very sensitive by the change of gain and the shape of membership functions. Contrarily, modeling procedure of the fuzzy controller was simple, but the adaptive controller had very complex procedure of design and showed that control performance was affected greatly by the order of its model.

• Structural Engineering and Mechanics
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• 제76권2호
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• pp.163-173
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• 2020

As a vehicle moves on multiple equal-span beams at constant speed, the running vehicle would be subjected to repetitive excitations from the beam vibrations under it. Once the exciting frequency caused by the vibrating beams coincides with any of the vehicle's frequencies, resonance would take place on the vehicle. A similar resonance phenomenon occurs on a beam subject to sequential moving loads with identical axle-intervals. To reduce both resonant phenomena of a vehicle moving on guideway girders, this study proposed an additional feedback controller based the condensed virtual dynamic absorber (C-VDA) scheme. This condensation scheme has the following advantages: (1) the feedback tuning gains required to adapt the control currents or voltages are directly obtained from the tuning forces of the VDA; (2) the condensed VDA scheme does not need additional DoFs of the absorber to control the vibration of the maglev-vehicle/guideway system. By decomposing the maglev vehicle-guideway coupling system into two sub-systems (the moving vehicle and the supporting girders), an incremental-iterative procedure associated with the Newmark method is presented to solve the two sets of sub-system equations. From the present studies, the proposed C-VDA scheme is a feasible approach to suppress the interaction response for a maglev vehicle in resonance moving on a series of guideway girders.

• Journal of Power Electronics
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• 제13권4호
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• pp.656-668
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• 2013

This paper presents a wavelet-fuzzy based controller for indirect field oriented control of three-phase induction motor drives. The discrete wavelet transform is used to decompose the error between the actual speed and the command speed of the induction motor drive into different frequency components. The transformed error coefficients along with the scaling gains are used for generating the control component of the motor. Self-tuning fuzzy logic is used for online tuning of the scaling gains of the controller. The proposed controller has the ability to meet the speed tracking requirements in the closed loop system. The complete indirect field oriented control scheme incorporating the proposed wavelet-fuzzy based controller is investigated theoretically and simulated under various dynamic operating conditions. The simulation results are compared with a conventional proportional integral controller and a fuzzy based controller. The speed control scheme incorporating the proposed controller is implemented in real time using a digital processor control board. Simulation and experimental results validate the effectiveness of the proposed controller.

• 한국추진공학회:학술대회논문집
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• 한국추진공학회 2017년도 제48회 춘계학술대회논문집
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• pp.240-244
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• 2017

가스터빈 엔진의 구성품 개발단계에서 블레이드의 Aeromechanics 시험은 블레이드 진동설계와 구조 안정성 검증 프로세스 사이에서 중요한 연결 고리를 제공한다. 이 전제에 근거하여 본 연구에서는 NSMS(Non-Intrusive Stress Measuring Systems)를 축류 압축기 구성품 시험리그에 적용하여 Tip Timing 센서가 장착된 단에서 모든 블레이드의 정적/동적 변위를 시험적으로 측정하였다. 진동 특성 분석을 통해 블레이드 고주기 손상을 유발할 수 있는 피로임계위치(Fatigue Critical Location)에서의 진동 응력을 평가하였으며, 공력가진에 의한 비동기 진동응답 및 개별 블레이드 Mistuning 패턴을 제시하였다.

• 한국항행학회논문지
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• 제14권6호
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• pp.874-881
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• 2010

무인기의 자동 비행 제어 시스템은 기체의 형태, 크기, 무게 등의 정적 및 동적 변화에 따라 스스로 비행계수를 조정하여 목표 비행궤적을 정확히 따라가도록 제어할 필요가 있다. 본 논문에서는 PID 제어 기법을 이용하는 비행제어시스템에 기계학습모듈(MLM)을 추가하여 기체의 특성 변화에 따라 제어계수를 비행중 실시간 자동으로 조정하는 시스템을 제안한다. MLM은 선형회귀분석과 보정학습을 이용하여 설계되었으며 MLM을 통해 학습된 제어계수의 적합성을 평가하는 평가모듈(EvM)을 함께 모델링 하였다. 이 시스템은 FDC 비버 시뮬레이터를 기반으로 실험하였으며 그 결과를 분석 제시하였다.

• 로봇학회논문지
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• 제17권1호
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• pp.76-85
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• 2022

One of the most fundamental challenges when designing controllers for dynamic systems is the adjustment of controller parameters. Usually the system model is used to get the initial controller, but eventually the controller parameters must be manually adjusted in the real system to achieve the best performance. To avoid this manual tuning step, data-driven methods such as machine learning were used. Recently, reinforcement learning became one alternative of this problem to be considered as an agent learns policies in large state space with trial-and-error Markov Decision Process (MDP) which is widely used in the field of robotics. However, on initial training step, as an agent tries to explore to the new state space with random action and acts directly on the controller parameters in real systems, MDP can lead the system safety-critical system failures. Therefore, the issue of 'safe exploration' became important. In this paper we meet 'safe exploration' condition with Control Barrier Function (CBF) which converts direct constraints on the state space to the implicit constraint of the control inputs. Given an initial low-performance controller, it automatically optimizes the parameters of the control law while ensuring safety by the CBF so that the agent can learn how to predict and control unknown and often stochastic environments. Simulation results on a quadrotor UAV indicate that the proposed method can safely optimize controller parameters quickly and automatically.

• Smart Structures and Systems
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• 제13권4호
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• pp.711-730
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• 2014

In this paper the system dynamic influences in actuators with variable stiffness as contemporary used in robotics for safety and efficiency reasons are investigated. Therefore, different configurations of serial and parallel elasticities are modeled by dynamic equations and linearized transfer functions. The latter ones are used to identify the characteristic behavior of the different systems and to study the effect of the different elasticities. As such actuation concepts are often used to reach energy-efficient operation, a power consumption analysis of the configurations is performed. From the comparison of this with the system dynamics, strategies to select and control stiffness are derived. Those are based on matching the natural frequencies or antiresonance modes of the actuation system to the frequency of the trajectory. Results show that exclusive serial and parallel elasticity can minimize power consumption when tuning the system to the natural frequencies. Antiresonance modes are an additional possibility for stiffness control in the series elastic setup. Configurations combining both types of elasticities do not provide further advantages regarding power reduction but an input parallel elasticity might enable for more versatile stiffness selection. Yet, design and control effort increase in such solutions. Topologies incorporating output parallel elasticity showed not to be beneficial in the chosen example but might do so in specific applications.

• 한국시뮬레이션학회논문지
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• 제22권3호
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• pp.81-87
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• 2013

본 논문은 컴퓨터 해석프로그램인 SimulationX를 이용하여 굴삭기 주행모터의 내부에서 발생하는 서지압력의 저감 방법에 대하여 분석하는 연구이다. 설계민감도 해석을 통하여 설계상의 문제점을 파악하고 해결책에 접근하는 방법을 다룬다. 진행순서는 다음과 같다. 우선 현재 설계 된 주행모터에 장착된 밸브들의 동적거동을 분석하여 설계의 문제점을 찾아낸다. 그 후 많은 설계변수들 중 동적성능향상에 민감하다고 판단되는 변수를 도출하고 설계치수를 조정하여 동적성능 안정화의 경향을 살펴본다. 마지막으로 민감한 변수가 다수 일 경우 변수조합을 통해 효과적인 튜닝방법을 제안한다.