• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.1404-1409
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• 2003

The sway control problem of the pendulum motion of the container crane hanging on the trolley, which transports containers from the container ship to the truck, is considered in this paper. In the container crane control problem, the main issue is to suppress the residual swing motion of the container at the end of the acceleration, deceleration or the case of that the unexpected disturbance input exists. For this problem, in general, the trolley motion control strategy is introduced and applied to real plants. In this paper, we suggest a new type of swing motion control system for a crane system in which a small auxiliary mass is installed on the spreader. The actuator reacting against the auxiliary mass applies inertial control forces to the spreader of the container crane to reduce the swing motion in the desired manner. In this paper, we consider that the length of the rope varies is we design the anti-sway control system based on LMI(linear matrix inequality) approach. And, it will be shown that the proposed control strategy is useful and it can be easily applicable to the real world. So, in this study, we investigate usefulness of the proposed anti-sway system and evaluate system performance from simulation and experimental studies.

• International Journal of Aerospace System Engineering
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• v.4 no.1
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• pp.13-21
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• 2017

In this paper, we present some results on performance analysis for flap actuation system of aircraft. For this, by utilizing MATLAB/Simulink solution, which is widely used physical model-based design tool, we particularly construct the architecture of the analysis model consisting of the main three phases: 1)commanding and outer-controlling the flap angle through flight control computer; 2)generating hydraulic/mechanical power through control module and power drive unit; 3)transmitting torque and actuating the flap through torque tube and rotary geared actuators. For mimicking the motion of the actual flap, we apply each mechanical component, which is already being used in actual aircraft, to our performance analysis model so that it guarantees the congruency of the simulation results. That is, we reflect the actual specifications of flap hardware and software as parameters of the model. Finally, simulation results are presented to illustrate the model.

• Transactions of the Korean Society of Mechanical Engineers
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• v.16 no.7
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• pp.1332-1340
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• 1992

A novel approach based on a nonlinear compensator is prposed to prevent 'windup', which is caused by the saturation of the acutator and the integral action of the controller. The anti-windup compensator is located between the conventional linear controller, designed neglecting the saturation, and the actuator. It was proven based on the describing function method that, if the closed loop control systems are stable assuming no saturation, then there may exist a range of compensator gain which prevents any limit-cycle. The computer simulation results show that the compensator proposed in the manuscript can eliminate the limit cycle and improve the transient response.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2004.10a
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• pp.261-264
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• 2004

This paper presents the design and test of elliptical vibration assisted cutting tool post. It is actuated by two piezoelectric actuators which are connected to the moving part through the elastic hinge with its role of imposing the preliminary pressures. These two actuators are located at right angles so that the resulting tool tip moves like a two-dimensional ellipse. Also, the tool post is activated within the region of linear actuation in order to overcome the distorted elliptical motion. For the precise measurement of the displacement of the tool tip, three-dimensional experimental apparatus was designed and the strokes of the tool post in major and minor axes were measured. The results show that the tool post can produce the variety of vibration locus from a circle with a radius of 5 ${\mu}{\textrm}{m}$ to an ellipse with a major axis, a =10 ${\mu}{\textrm}{m}$, and a minor axis, b =2.5 ${\mu}{\textrm}{m}$

• The Transactions of The Korean Institute of Electrical Engineers
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• v.66 no.9
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• pp.1364-1372
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• 2017

In this paper, a problem of event-triggered model predictive control is investigated for continuous-time Takagi-Sugeno (T-S) fuzzy systems with input quantization. To efficiently utilize network resources, event-trigger is employed, which transmits limited signals satisfying the condition that the measurement of errors is over the ratio of a certain level. Considering sampling and quantization, continuous Takagi-Sugeno (T-S) fuzzy systems are regarded as a sector bounded continuous-time T-S fuzzy systems with input delay. Then, a model predictive controller (MPC) based on parallel distributed compensation (PDC) is designed to optimally stabilize the closed loop systems. The proposed MPC optimize the objective function over infinite horizon, which can be easily calculated and implemented solving linear matrix inequalities (LMIs) for every event-triggered time. The validity and effectiveness are shown that the event triggered MPC can stabilize well the systems with even smaller average sampling rate and limited actuator signal guaranteeing optimal performances through the numerical example.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.33 no.10
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• pp.1045-1053
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• 2009

Precision stages for 6-DOF positioning, actuated by PZT stacks, which are fed back by gap sensors and guided by flexure hinges, have enlarged their application territory in micro/nano manufacturing and measurement area. The precision stages inherently have such limitations as the nonlinearity between input and output in piezoelectric stacks, feedback signal noise in precision capacitive gap sensors and low material damping in precision kinematic linkages of mechanical flexures. To surmount these limitations, the precision stage is modeled with physics-based variables, which are identified by transient response correspondence, and a gain margin calculation algorithm using the Prandtl-Ishlinskii model and describing function is newly developed to assess system performance more precisely than linear controller design schemes. Based on such analyses, a precision positioning controller is designed. Excellent positioning accuracy with rapid settlement accomplished by the controller is shown in step responses of the closed-loop system.

• Journal of Sensor Science and Technology
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• v.7 no.6
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• pp.446-451
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• 1998

Recently, conductive polymer is known to be direct-drive active material which can convert electrical energy directly into mechanical energy. In this paper, the polymerized thickness of polypyrrole is measured with change of polymerization conditions and the mechanical bending is analyzed for various polymerized thickness. In order to detect of mechanical bending, bending beam method using the bridge shaped sample is used. Thickness of polypyrrole is proportional to polymerization time in fixed current density. Also it shows a linear relation with the applied current except high current density. Maximum displacement appears at the thickness of $18.35{\mu}m$ which has been polymerized at $5.4{\mu}A/mm^2$ and for 120min and actuated at the frequency of 0.1Hz.

• Bulletin of the Korean Space Science Society
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• 2008.10a
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• pp.36.1-36.1
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• 2008

An Unscented Kalman Filter(UKF) for estimation of attitude and rate of a spacecraft using only magnetometer vector measurement is presented. The dynamics used in the filter is nonlinear rotational equation which is augmented by the quaternion kinematics to construct a process model. The filter is designed for low Earth orbit satellite, so the disturbance torques include gravity-gradient torque, magnetic disturbance torque, and aerodynamic drag. The magnetometer measurements are simulated based on time-varying position of the spacecraft. The filter has been tested not only in the standby mode but also in the detumbling mode. To stabilize the attitude, linear PD controller is applied and the actuator is assumed to be thruster. A Monte-Carlo simulation has been done to guarantee the stability of the filter performance to the various initial conditions. The UKF performance is compared to that of EKF and it reveals that UKF outperforms EKF.

• Smart Structures and Systems
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• v.16 no.2
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• pp.329-345
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• 2015

As commonly known, sensor errors and faulty signals may potentially lead structures in vibration to catastrophic failures. This paper presents a new approach to deal with sensor errors/faults in vibration control of structures by using the Fault detection and isolation (FDI) technique. To demonstrate the effectiveness of the approach, a space truss structure with semi-active devices such as Magneto-Rheological (MR) damper is used as an example. To address the problem, a Linear Matrix Inequality (LMI) based fixed-order $H_{\infty}$ FDI filter is introduced and designed. Modeling errors are treated as uncertainties in the FDI filter design to verify the robustness of the proposed FDI filter. Furthermore, an innovative Fuzzy Fault Tolerant Controller (FFTC) has been developed for this space truss structure model to preserve the pre-specified performance in the presence of sensor errors or faults. Simulation results have demonstrated that the proposed FDI filter is capable of detecting and isolating sensor errors/faults and actuator faults e.g., accelerometers and MR dampers, and the proposed FFTC can maintain the structural vibration suppression in faulty conditions.

• Structural Engineering and Mechanics
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• v.34 no.4
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• pp.449-474
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• 2010

A smart hollow cylinder consisting of a host functionally graded elastic core layer and two surface homogeneous piezoelectric layers is presented in this paper. The bonding between the layers can be perfect or imperfect, depending on the parameters taken in the general linear spring-layer interface model. The effect of such weak interfaces on free vibration and steady-state response is then investigated. Piezoelectric layers at inner and outer surfaces are polarized axially or radially and act as a sensor and an actuator respectively. For a simply supported condition, the state equations with non-constant coefficients are obtained directly from the formulations of elasticity/piezoelasticity. An approximate laminated model is then introduced for the sake of solving the state equations conveniently. It is further assumed that the hollow cylinder is embedded in an elastic medium and is simultaneously filled with compressible fluid. The interaction between the structure and its surrounding media is taken into account. Numerical examples are finally given with discussions on the effect of some related parameters.