• 제어로봇시스템학회논문지
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• 제8권5호
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• pp.385-392
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• 2002

This paper introduces a new approach to analysis of error convergence for a class of iterative teaming control systems. Firstly, a nonlinear plant is represented using a Takagi-Sugeno(T-S) fuzzy model. Then each iterative learning controller is designed for each linear plant in the T-S fuzzy model. From the view point of two-dimensional(2-D) system theory, we transform the proposed learning systems to a 2-D error equation, which is also established if the form of T-S fuzzy model. We analyze the error convergence in the sense of induced L$_2$-norm, where the effects of disturbances and initial conditions on 2-D error are considered. The iterative teaming controller design problem to guarantee the error convergence can be reduced to the linear matrix inequality problem. This method provides a systematic design procedure for iterative teaming controller. A simulation example is given to illustrate the validity of the proposed method.

• 한국정밀공학회지
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• 제26권4호
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• pp.100-106
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• 2009

The current tendency toward light weight and fast machines has lead to a need to suppress vibration of flexible dynamic systems. Input shaping is an efficient tool to eliminate transient and residual vibration caused by motion of these systems. This paper proposes a new formulation of the design method for multi-mode input shapers to eliminate residual vibration in flexible dynamic systems. The essence of the proposed method is to minimize the number of impulses to be n+1 for n-mode input shapers. This paper also suggests a solution procedure to solve the complex-valued nonlinear matrix equation for the input shapers. The proposed method is applied to two-mode input shapers. This paper discusses characteristics of several input shapers obtained under the same condition. Simulations and experiments show that the proposed method is very useful for designing multi-mode input shapers.

• 대한기계학회논문집A
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• 제26권10호
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• pp.2104-2113
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• 2002

A finite element model is developed for the process of squeeze casting of metal matrix composites (MMCs) in cylindrical molds. The fluid flow and the heat transit. are fundamental phenomena in squeeze casting. To describe heat transfer in the solidification of molten aluminum, the energy equation is written in terms of temperature and enthalpy are applied in an axisymmetric model which is similar to the experimental system. A one dimensional flow model simulates the transient metal flow. A direct iteration technique was used to solve the resulting nonlinear algebraic equations, using a computer program to calculate the enthalpy, temperature and fluid velocity. The cooling curves and temperature distribution during infiltration and solidification were calculated fer pure aluminum. Experimentally, the temperature was measured and recorded using thermocouple wire. The measured time-temperature data were compared with the calculated cooling curves. The resulting agreement shows that the finite element model can accurately estimate the solidification time and predict the cooling process.

• 한국전산구조공학회논문집
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• 제18권4호통권70호
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• pp.395-404
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• 2005

본 논문에서는 동적하중 재하 시 공간 강뼈대 구조물의 비선형 시간이력 해석에 대한 간편하고 효율적인 수치해석 기법을 제시하였다. 뼈대의 강성행렬에 안정함수를 적용함으로서 기하학적 비선형성 즉 P-$\delta$ 및 P-$\Delta$ 효과를 고려하였다. 접선계수 개념 및 New Orbison 완전 소성면에 기초한 연화소성힌지를 적용하여 축방항력에 의한 부재의 점진적 항복 및 휨에 의한 부재의 부분 소성화를 고려하였다. 증분형태로 정식화된 뼈대 구조의 동적평형방정식의 해를 수치적으로 구하기 위하여 적분형태의 평균가속도법을 사용하여 컴퓨터 프로그램을 개발하였다. 검증 예제에 대하여 보요소 모델을 사용한 ABAQUS 및 개발된 프로그램에 의한 해석결과를 비교함으로서 개발된 프로그램의 정밀도와 해석시간에 대한 효율성을 입증하였다.

• 지구물리와물리탐사
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• 제10권2호
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• pp.147-153
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• 2007

CG (conjugate gradient) 법은 선형 연립방정식을 반복적으로 푸는 가장 효율적인 해법 중 하나이고, 또한 비선형 최소자승문제에도 적용할 수 있다. 자기지전류(MT) 역산 문제를 풀 때에는 최소자승문제의 목적함수 자체의 최소화에 직접 CG 법을 적용하거나, Gauss-Newton 법에 기초한 반복역산의 각 반복단계에서 모형의 변화량 계산에 CG 법을 이용할 수 있다. CG 법을 적용할 경우, 임의의 벡터에 대한 감도행렬의 영향 및 그 전치행렬의 전치행렬의 영향을 감도행렬을 직접 구하지 않고 계산할 수 있다는 장점이 있기 때문에 감도행렬의 계산 규모가 방대한 3차원 역산 문제에서 계산시간을 월등히 줄일 수 있다.

• 한국항행학회논문지
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• 제22권6호
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• pp.630-635
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• 2018

본 논문에서는 시변 지연이 있는 선형 이산 시스템에 비구조화된 불확실성이 존재하는 경우에 대하여 시스템의 안정성을 다룬다. 고려된 시스템은 지연 없는 상태변수와 지연 상태 변수에 대한 시스템 행렬들은 시불변이나 지연시간이 구간범위에서 시변으로 변동하고, 크기에 대한 정보만을 얻을 수 있는 비구조화된 비선형 불확실성이 있는 시스템이다. 기존의 많은 결과들은 시변지연과 비구조화된 불확실성을 동시에 고려하지 못하고 한 가지 요소만 고려하여 연구되었다. 본 논문에서는 이 두 가지 요소를 모두 고려하여 새로운 안정조건을 도출하였고, 한 가지 요소만 고려한 기존 연구 결과와 비교하였다. 새로운 안정조건은 기존의 결과를 포함하는 매우 효과적인 수식으로 제안되며, 이는 복잡한 선형행렬부등식 혹은 리아프노프 방정식 등과 같은 복잡한 수치계산을 요구하지 않는 간단한 부등식이다. 수치예제를 통하여 제안된 안정조건이 기존의 결과들을 포함할 수 있음을 보이고 확장성과 효용성이 우수함을 확인한다.

• Journal of Power Electronics
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• 제19권1호
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• pp.190-200
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• 2019

The flyback converter, which can be regarded as a nonlinear time-varying system, has complex dynamics and nonlinear behaviors. These phenomena can affect the stability of the converter. To simplify the modeling process and retain the information of the output capacitor branch, a special sampled-data model of a peak current-mode (PCM) controlled flyback converter is established in this paper. Based on this, its dynamic behaviors are analyzed, which provides guidance for designing the circuit parameters of the converter. With the critical stability boundary equation derived by a Jacobian matrix, the stable operation range with a varied output capacitor, proportional coefficient of error the amplifier, input voltage, reference voltage and slope of the compensation ramp of a PCM controlled flyback converter are investigated in detail. Research results show that the duty ratio should be less than 0.5 for a PCM controlled flyback converter without ramp compensation to operate in a stable state. The stability regions in the parameter space between the output capacitor and the proportional coefficient of the error amplifier are enlarged by increasing the input voltage or by decreasing the reference voltage. Furthermore, the ramp compensation also can extend to the stable region. Finally, time-domain simulations and experimental results are presented to verify the theoretical analysis results.

• Ocean Systems Engineering
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• 제4권4호
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• pp.327-342
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• 2014

The tension leg platform (TLP) is one of the compliant structures which are generally used for deep water oil exploration. With respect to the horizontal degrees of freedom, it behaves like a floating structure moored by vertical tethers which are pretension due to the excess buoyancy of the platform, whereas with respect to the vertical degrees of freedom, it is stiff and resembles a fixed structure and is not allowed to float freely. In the current study, a numerical study for square TLP using modified Morison equation was carried out in the time domain with water particle kinematics using Airy's linear wave theory to investigate the effect of changing the tether tension force on the stiffness matrix of TLP's, the dynamic behavior of TLP's; and on the fatigue stresses in the cables. The effect was investigated for different parameters of the hydrodynamic forces such as wave periods, and wave heights. The numerical study takes into consideration the effect of coupling between various degrees of freedom. The stiffness of the TLP was derived from a combination of hydrostatic restoring forces and restoring forces due to cables. Nonlinear equation was solved using Newmark's beta integration method. Only uni-directional waves in the surge direction was considered in the analysis. It was found that for short wave periods (i.e., 10 sec.), the surge response consisted of small amplitude oscillations about a displaced position that is significantly dependent on tether tension force, wave height; whereas for longer wave periods, the surge response showed high amplitude oscillations that is significantly dependent on wave height, and that special attention should be given to tethers fatigue because of their high tensile static and dynamic stress.

• 제어로봇시스템학회논문지
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• 제13권7호
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• pp.637-648
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• 2007

This paper presents a sensor fusion method based on indirect Kalman filter(IKF) for error compensation of low-cost inertial sensors and its application to the determination of attitude and position of small flying robots. First, the analysis of the measurement error characteristics to zero input is performed, focusing on the bias due to the temperature variation, to derive a simple nonlinear bias model of low-cost inertial sensors. Moreover, from the experimental results that the coefficients of this bias model possess non-deterministic (stochastic) uncertainties, the bias of low-cost inertial sensors is characterized as consisting of both deterministic and stochastic bias terms. Then, IKF is derived to improve long term stability dominated by the stochastic bias error, fusing low-cost inertial sensor measurements compensated by the deterministic bias model with non-inertial sensor measurement. In addition, in case of using intermittent non-inertial sensor measurements due to the unreliable data link, the upper and lower bounds of the state estimation error covariance matrix of discrete-time IKF are analyzed by solving stochastic algebraic Riccati equation and it is shown that they are dependant on the throughput of the data link and sampling period. To evaluate the performance of proposed method, experimental results of IKF for the attitude determination of a small flying robot are presented in comparison with that of extended Kaman filter which compensates only deterministic bias error model.

• 대한조선학회논문집
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• 제39권1호
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• pp.28-37
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• 2002

본 연구에서는 저장력 예인케이블의 비선형 동적거동을 수치적으로 해석하였다. 고장력 케이블해석에서는 흔히 무시되는 굽힘강성의 효과가 저장력 케이블에서는 중요한 역할을 하므로 본 연구에서는 이를 고려하였다. 또한 저장력 케이블에서는 대변위가 발생하기 쉬우므로 기하학적인 비선형 및 유체 비선형 효과가 크므로 이를 고려하였다. 저장력 예인케이블에 대한 3차원 비선형 운동방정식을 수립하고 유한차분법을 적용하여 이산화 시켰다. 시간적분에 있어서 안정적인 해를 얻을 수 있는 음해법(implicit method)을 적용하였으며 비선형 해를 구하기 위하여 Newton-Raphson 반복법을 사용하였다. 케이블과 같이 양단경계조건을 갖고 대각선 주변 성분만 있는 행렬식을 계산하는 경우에는 Gauss-Jordan 방법 등과 같이 일반적인 방법 보다 블록삼중대각행렬 풀이법이 계산시간을 상당히 줄일 수 있음을 알 수 있었다. 몇 가지 예제해석을 수행하였으며 실해역 실험결과에 의해 이미 검증되어 있는 케이블 해석프로그램인 WHOI Cable 프로그램의 해석결과와 비교 검토한 결과 서로 잘 일치함을 알 수 있었다.