• Transactions of the Korean Society of Mechanical Engineers
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• v.17 no.5
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• pp.1029-1040
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• 1993

Recently the Time Delay Control (TDC) method has been proposed as a promising technique in the robust control area, where the plants have nonlinear dynamics with parameter variations and substantial disturbances are present. TDC method, however, requires the measurements of all the state variables, together with their derivatives. This requirement imposes a severe limitation on the applications to most real systems. In order to solve this measurement problem, we proposed an observer design method that can stably reconstruct the state variables and their derivatives. the stability of the overall system has been analyzed and proved. Then, for a simulation study, the controller/observer based on our design method has been applied to a nonlinear plant, the result of which confirmed that the controller/observer performs satisfactorily as predicted, Finally we made experimentations on a DC servo motor that is substantial amount of inertia variations and external disturbances. the results showed that the controller/observer performs quite robustly under those variations and disturbances, and is much less sensitive to sensor noise than the controller using numerical differentiations.

• 한국전산유체공학회:학술대회논문집
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• 2009.11a
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• pp.88-92
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• 2009

When exposed to uniform magnetic fields externally applied, paramagnetic particles acquire dipole moments and the induced moments interacting with each other lead to the formation of chainlike structures or clusters of particles aligned with the field direction. A direct simulation method, based on the Maxwell stress tensor and a fictitious domain method, is applied to solve flows with magnetic chains in simple shear flow. We assumed that the particles constituting the chains are paramagnetic, and inertia of both flow and magnetic particles is negligible. The numerical scheme enables us to take into account both hydrodynamic and magnetic interactions between particles in a fully coupled manner, enabling us to numerically visualize breakup and reformation of the chains by the combined effect of the external field and the shear flow. Simple shear flow with suspended magnetic chains is solved in a periodic domain for a given magnetic field. Dynamics of interacting magnetic chains is found to be significantly affected by a dimensionless parameter called the Mason number, the ratio of the viscous force to the magnetic force in the shear flow. The effect of particle area fraction on the chain dynamics is investigated as well.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.60 no.10
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• pp.1978-1983
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• 2011

BLDC motor is used in a wide variety of industrial and servo applications. Its features and advantages mainly consist in high value of torque/inertia ratio, high efficiency with speed range and high dynamic performance. This paper deals with the speed control of a trapezoidal type brushless DC motor using Fuzzy PI controller. The conventional PI controller has been widely used in industrial applications. If we select a optimal PI control gain, the PI controller shows very good control performance. But it is very difficult to find the optimal PI control gain. Fuzzy control does not need any model of plant and is basically adaptive and gives robust performance for plant parameter variation. Therefore the combinations of conventional PI controller and fuzzy controller seem to be very effective. This paper deals with PI controller with 4-rule based fuzzy controller. The proposed fuzzy PI controller increases the control performance of the conventional PI controller. Simulation and experimental results show that fuzzy PI controller has a good robustness regarding the improper tuned PI controller.

• Proceedings of the KIEE Conference
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• 2007.04c
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• pp.91-93
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• 2007

This paper presents multi-PI controller of IPMSM drive using fuzzy and neural-network. In general, PI controller in computer numerically controlled machine process fixed gain. To increase the robustness, fred gain PI controller, Multi-PI controller proposes a new method based fuzzy and neural-network. Multi-PI controller is developed to minimize overshoot and settling time following sudden parameter changes such as speed, load torque, inertia, rotor resistance and self inductance. The results on a speed controller of IPMSM are presented to show the effectiveness of the proposed gain tuner. And this controller is better than the fixed gains one in terms of robustness, even under great variations of operating conditions and load disturbance.

• The Journal of Korea Robotics Society
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• v.7 no.1
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• pp.9-19
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• 2012

This paper proposes a performance index for the multiple shape object handling of dual arm manipulator to determine whether a robot is good or not. When the dual-arm manipulator grasps a fixed object and is posed, the dual-arm manipulator should procure a space to freely control the manipulator. As a performance evaluation parameter, each joint torque from current sensor signal is utilized. From the current information, torque and energy for each joint are estimated. In this paper an performance index for an unstructured object is defined by an energy-cost function, and stability analysis for each motion is derived by the maximum force to the object. The maximum force to the object is computed by the inertia of object and acceleration information of end-effector. The acceleration data are derived by the double derivation of each encoder signal. Manipulability measure which implies how efficiently the dual-arm manipulator can move with the grasped object, can be represented by the intersection of the two manipulability ellipsoids for the left and right arms. Effectiveness of the proposed algorithm has been verified through the practical simulations and real experiments.

• Transactions of the Korean Society of Mechanical Engineers B
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• v.29 no.5 s.236
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• pp.537-544
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• 2005

The present study numerically investigates two-dimensional fluid flow in the confined jet flow in the presence of applied magnetic field. Numerical simulations to calculate the fluid flow and heat transfer in the confined jet are performed for different Reynolds numbers in the absence and presence of magnetic fields in the range of $0{\le}N{\le}0.05$, where N is the Stuart number (interaction parameter) which is the ratio of electromagnetic force to inertia force. The present study reports the detailed information of flow in the channel at different Stuart numbers. As the intensity of applied magnetic fields increases, the vortex shedding formed in the channel becomes weaker and the oscillating amplitude of impinging jet decreases. The flow fields become the steady state if the Stuart number is greater than a critical value. Thus the pressure coefficients at the stagnation point also vary as a function of Stuart number.

• Transactions of the Korean Society of Mechanical Engineers B
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• v.29 no.6 s.237
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• pp.653-661
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• 2005

The present study numerically investigates two-dimensional fluid flow and heat transfer ir the confined jet flow in the presence of applied magnetic field. For the purpose of controlling vortex shedding and heat transfer, numerical simulations to calculate the fluid flow and heat transfer in the confined jet are performed for different Reynolds numbers in the absence and presence of magnetic fields and for different Prandtl numbers of 0.02 (liquid metal), 0.7 (air) and 7 (water) in the range of $0{\le}N{\le}0.05$, where N is the Stuart number (interaction parameter) which is the ratio of electromagnetic force to inertia force. The present study reports the detailed information of flow and thermal quantities in the channel at different Stuart numbers. As the intensity of applied magnetic fields increases, the vortex shedding formed in the channel becomes weaker and the oscillating amplitude of impinging jet decreases. The flow and thermal fields become the steady state if the Stuart number is greater than the critical value. Thus the Nusselt number at the stagnation point representing the heat transfer characteristics also vary as a function of Stuart number.

• Structural Engineering and Mechanics
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• v.16 no.2
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• pp.195-217
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• 2003

This paper, which is an extension of a previous work by Viola et al. (2002), deals with the dynamic stability of beams under a triangularly distributed sub-tangential forces when the effect of an elastically restrained end is taken into account. The sub-tangential forces can be realised by a combination of axial and tangential follower forces, that are conservative and non-conservative forces, respectively. The studied beams become unstable in the form of either flutter or divergence, depending on the degree of non-conservativeness of the distributed sub-tangential forces and the stiffness of the elastically restrained end. A non-conservative parameter ${\alpha}$ is introduced to provide all possible combinations of these forces. Problems of this kind are usually, at least in the first approximation, reduced to the analysis of beams according to the Bernoulli-Euler theory if shear deformability and rotational inertia are negligible. The equation governing the system may be derived from the extended form of Hamilton's principle. The stability maps will be obtained from the eigenvalue analysis in order to define the divergence and flutter domain. The passage from divergence to flutter is associated with a noticeable lowering of the critical load. A number of particular cases can be immediately recovered.

• Journal of the Earthquake Engineering Society of Korea
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• v.9 no.6 s.46
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• pp.1-12
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• 2005

For a shear-deformable beam-column element subjected io non-conservative forces, equations of motion and a finite element formulation are presented applying extended Hamilton's principle. The influence of non-conservative force's direction parameter, internal and external damping forces, and shear deformation and rotary inertia effects on divergence and flutter loads of Beck's columns are intensively investigated based on element stiffness, damping and mass matrixes derived for the non-conservative system.

• KSTLE International Journal
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• v.3 no.1
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• pp.1-6
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• 2002

The purpose of this paper is to investigate the effects of design parameters on the friction loss in piston skirt. An analytical model to describe the friction characteristics of piston skirt has been presented, which is based on the secondary motion of piston and mixed lubrication theory, It could be shown that the skirt friction closely depends on the side force acted on the piston pin. The side force is inf1uenced by cylinder pressure at low engine speed, but by inertia force at high engine speed. The usage of extensive skirt area and low weight piston is effective to reduce the friction loss at high speed. The low viscosity oil considerably decreases viscous friction as engine speed increases, but it increases boundary friction at low engine speed. From the parametric study, it is found that the skirt axial profile is the most important design parameter related to the reduction of skirt friction.