• 제어로봇시스템학회:학술대회논문집
• /
• 1994.10a
• /
• pp.152-155
• /
• 1994

The presence of joint elasticity or the arm flexibility causes low damped oscillatory position error along a desired trajectory. We utilize a stochastic model for describing the fast dynamics and the approximation error. A second order shaping filter is synthesized such that its spectrum matches that of the fast dynamics. Augmenting the state vector of slow part with that of shaping filter, we obtain a nonlinear dynamics to which a Gaussian white noise is injected. This modeling approach leads us to the design of an extended Kalman filter(KEF) and a linear quadratic Gaussian(LQG) control scheme. We present the simulation results of this control method. The simulation results show us that our Kalman filtering approach is one of prospective methods in controlling the flexible arms.

• Proceedings of the Korean Society of Precision Engineering Conference
• /
• 1997.04a
• /
• pp.101-106
• /
• 1997

This paper proposes a stable adaptive neural network control(NNC) for fixable joint manipulators. For designing the stable adaptive NNC, the flexible system dynamics is separated into fast and slow subdynamics according to singular perturbation concept. For the slow subdynamics, an adaptive NNC is designed to warrant the system stability and NN learning by lyapunov stability criterion. And to stabilize the fast dynamics, derivative control loop is installed. Through numerical simulation, the performance of the proposed NNC was compared to that of an adaptive controller designed based on the knowledge of the system dynamics. The proposed NNC shows much improvement over the conventional adaptive controller.

• Nuclear Engineering and Technology
• /
• v.55 no.5
• /
• pp.1665-1670
• /
• 2023

It is shown that in the IBR-2M reactor by the end of the reactor cycle, changes in dynamics are observed associated with a strong weakening of the fast power feedback (PF), as a result of which the reactor becomes oscillatorily unstable. After each week of zero-power operation the negative changes in reactor dynamics disappear and the stability of the reactor is restored. Thus, the reactor undergoes cyclic changes in the oscillatory instability. The correlation between of a fast PF and a slow PF is experimentally observed, which makes it possible to almost completely eliminate the cyclic component of instability by changing the control mode of rods of the control system.

• New & Renewable Energy
• /
• v.7 no.4
• /
• pp.50-57
• /
• 2011

A wind turbine simulation program for the coupled dynamics of aerodynamics, elasticity, multi-body dynamics and controls of turbine is newly developed by combining an aero-elastic code and a multi-body dynamics code. The aero-elastic code, based on the blade momentum theory and generalized dynamic wake theory, is developed by NREL(National Renewable Energy Laboratory, USA). The multi-body dynamics code is commercial one which is capable of accounting for geometric nonlinearity and twist deflection. A turbulent wind load case is simulated for the NREL 5-MW baseline wind turbine model by the developed program and FAST. As a result, the two results agree well enough to verify the reliability of the developed program.

• Bulletin of the Korean Space Science Society
• /
• 2004.04a
• /
• pp.41-41
• /
• 2004

We report the results on the investigation of the association of solar wind dynamics and the occurrence of geosynchronous relativistic electron events. This study analyzed E>2MeV electron fluxes measured by GOES 10 satellite and solar wind parameters by ACE satellite for April, 1999 to December, 2002. Most of the relativistic events during the time period are found to be accompanied by the prolonged period of quiet solar wind dynamics which is characterized as low solar wind pressure, weak interplanetary magnetic field, and fast fluctuations in IMF Bz. (omitted)

• Nuclear Engineering and Technology
• /
• v.55 no.8
• /
• pp.2835-2843
• /
• 2023

After an emergency shutdown of a lead-bismuth fast reactor, thermal stratification occurs in the upper Plenum, which negatively impacts the integrity of the reactor structure and the residual heat removal capacity of natural circulation flow. The research on thermal stratification of reactors has mainly been conducted using an experimental method, a system program, and computational fluid dynamics (CFD). However, the equipment required for the experimental method is expensive, accuracy of the system program is unpredictable, and resources and time required for the CFD approach are extensive. To overcome the defects of thermal stratification analysis, a high-precision full-order thermal stratification model based on CFD technology is prepared in this study. Furthermore, a reduced-order model has been developed by combining proper orthogonal decomposition (POD) with Galerkin projection. A comparative analysis of thermal stratification with the proposed full-order model reveals that the reduced-order thermal stratification model can well simulate the temperature distribution in the upper plenum and rapidly elucidate the thermal stratification interface characteristics during the lead-bismuth fast reactor accident. Overall, this study provides an analytical tool for determining the thermal stratification mechanism and reducing thermal stratification.

• Journal of the Institute of Convergence Signal Processing
• /
• v.23 no.1
• /
• pp.15-20
• /
• 2022

An improvement of computational resources with a large scale cluster service is available to the individual person, which has been limited to the original industry and research institute. Therefore, the application of powerful computational resources to the engineering design has been increased fast. In naval and marine industry, the application of Computational Fluid Dynamics, which requires a huge computational effort, to a design of ship and offshore structure has been increased. Floating bodies such as the ship or offshore structure is exposed to ocean waves, current and wind in the ocean, therefore the precise modelling of those environmental disturbances is important in Computational Fluid Dynamics. Especially, ocean waves has to be nonlinear rather than the linear model based on the superposition due to a nonlinear characteristics of Computational Fluid Dynamics. In the present study, a fast reconstruction technique is suggested and it is validated from a series of simulations by using the Computational Fluid Dynamics.

• Journal of Institute of Control, Robotics and Systems
• /
• v.7 no.12
• /
• pp.993-1000
• /
• 2001

Configuration-dependent nonlinear coefficient matrices in the dynamic equation of robot manipulator impose computa- tional burden in real-time implementation of tracking control based on the inverse dynamics controller. However, parallel manipulators such as Stewart platform have relatively small workspace compared to serial manipulators. Based on the characteristics of small motion range. nonlinear coefficient matrices can be approxiamted to constant ones. The modeling errors caused by such approximation are compensated for by H-infinity controller that treats the modeling errors disturbance. The proposed inverse dynamics controller with approximate dynamics combined with H-infinity control shows good tracking performance even for fast tracking control in which computation of full inverse dynamics is not easy to implement.

• Journal of the Korean Society of Manufacturing Process Engineers
• /
• v.13 no.5
• /
• pp.90-97
• /
• 2014

This paper presents a simplified dynamics model, dynamics simulations, and computed torque control experiments of the Delta high-speed parallel robot. Using the typical Newton-Euler method, a simplified but accurate dynamics model with practical assumptions is derived. Accuracy and fast calculations of the dynamics are essential in the computed torque control for high-speed applications. It was found that the simplified dynamics equation is in very god agreement with the ADAMS model, and the calculation time of the inverse kinematics and inverse dynamics is about 0.04 msec. From the dynamics simulations, the cycle trajectory along the y-axis requires less peak motor torque and a lower angular velocity and less power than that along the x-axis. The computed torque control scheme can reduce the position error by half as compared to a PD control scheme. Finally, the developed Delta parallel robot prototype, half the size of the ABB Flexpicker robot, can achieve a cycle time of 0.43 sec with a 1.0kg payload.

• 한국전산유체공학회:학술대회논문집
• /
• 2010.05a
• /
• pp.517-523
• /
• 2010

Recently, the rapid evolution of computational fluid dynamics (CFD) has enabled its key role in industries and predictive sciences. From diverse research disciplines, however, are there strong needs for integrated analytical tools for multi-phenomena beyond simple flow simulation. Based on the concurrent simulation of multi-dynamics, multi-phenomena beyond simple flow simulation. Based on the concurrent simulation of multi-dynamics, multi-physics and multi-scale phenomena, the multi-phenomena CFD technology enables us to perform the flow simulation for integrated and complex systems. From the multi-phenomena CFD analysis, the high-precision analytical and predictive capacity can enhance the fast development of industrial technologies. It is also expected to further enhance the applicability of the simulation technique to medical and bio technology, new and renewable energy, nanotechnology, and scientific computing, among others.