• 대한전기학회:학술대회논문집
• /
• 대한전기학회 2005년도 제36회 하계학술대회 논문집 D
• /
• pp.2684-2686
• /
• 2005

This paper presents design of nonlinear controller based on genetic-fuzzy algorithm. Motor system that is included at a humanoid robot has many nonlinear parameters such as saturation, backlash and so on. So, it is hard to control a humanoid robot because of these nonlinearities. Also, tracking following ability is also reduced by these nonlinearities. In this paper, fuzzy PID controller is proposed for reducing efficiency by saturation. At that time, genetic algorithm is supplied at making fuzzy rule in order to make optimal fuzzy PID controller. Also, disturbance observer is used to reduce the efficiency of backlash. All these processes are verified by simulation and experiment in the real humanoid robot.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
• /
• pp.1000-1003
• /
• 1996

Nonlinear unified predictive control(UPC) algorithm was applied to the temperature control of a batch polymerization reactor for polymethylmethacrylate(PMMA). Before the polymerization reaction is initiated, the parameters of the process model are determined by the recursive least squares(RLS) method. During the reaction, nonlinearities due to generation of heat of reaction and variation of heat transfer coefficients are predicted through the nonlinear model developed. These nonlinearities are added to the process output from the linear process model. And then, the predicted process output is used to calculate the control output sequence. The performance of nonlinear control algorithm was verified by simulation and compared with that of the linear unified predictive control algorithm. In the experiment of a batch PMMA polymerization, nonlinear unified predictive control was implemented to regulate the temperature of the reactor, and the validity of the nonlinear model was verified through the experimental results. The performance of the nonlinear controller turned out to be superior to that of the linear controller for tracking abrupt changes in setpoint.

• 한국콘크리트학회:학술대회논문집
• /
• 한국콘크리트학회 2009년도 춘계 학술대회 제21권1호
• /
• pp.181-182
• /
• 2009

본 연구에서는 축력과 2축 휨을 받는 철근콘크리트 장주의 장기 저항능력을 산정할 수 있는 비선형 해석 모델을 제안하였다. 제안된 모델에서는 콘크리트의 장기 거동에 의해 발생하는 비역학적 변형 및 P- $\Delta$효과로 인한 기하 비선형 뿐 만 아니라 콘크리트의 균열 및 철근의 항복 등 재료 비선형성이 고려되었다. 다른 연구자들의 실험 결과와의 비교를 통하여 제안된 모델을 검증 하였다.

• 대한전기학회:학술대회논문집
• /
• 대한전기학회 1999년도 하계학술대회 논문집 B
• /
• pp.693-695
• /
• 1999

In this paper, the adaptive nonlinear state observer is proposed to estimate the internal states and the nonlinearities of 4-cylinders 4-cycles spark ignition(SI) engines. The observed states and nonlinearities will be used to design the adaptive feedback linearization controller for reducing the fluctuation of idle speed. The simulation results are represented to show the validity of the proposed nonlinear observer-based adaptive controller.

• 한국해양공학회지
• /
• 제16권4호
• /
• pp.61-69
• /
• 2002

In the actual control systems, there exist many kinds of restrictions or nonlinearities. However, due to the nonlinearities in actuators and sensors, the designed controller may not be applicable in some practical situations. One such nonlinearity is amplitude saturation in actuators. Although sometimes it may be ignored, in other cases failure to consider actuator saturation may severely degrade closed-loop system performance and even lead to instability. On the other hand, limiting the controller gain to avoid saturation sacrifices control effort and may lead to loss of performance. Consequently, in some cases, the actuator saturation must be explicitly taken into account to ensure desired performance. However, in this paper, an anti-windup control system design method is introduced to suppress the windup due to the amplitude saturation of the actuator. The proposed control system has very simple design process and guarantees the good control performance. The validity of the proposed control system will be shown by comparing with the results of a reported paper.

• International Journal of Precision Engineering and Manufacturing
• /
• 제3권1호
• /
• pp.13-19
• /
• 2002

Although the design of magnetic bearing needs a systematic optimization due to several design variables, constraints, geometric limitations, nonlinearities, and so on, the present designs for magnetic bearings have been conducted in the linear region of the characteristics for magnetic materials by trial and error considering design constraints. This article, therefore, provides the possibility of a genetic algorithm(GA) based optimization with two dimensional nonlinear finite element magnetic field analysis for the design of a radial heteropolar magnetic bearing. The magnetic bearing design by GA based optimization makes good agreements with that by a commercial optimization software DOT using the sensitivity analysis.

• 한국해양공학회지
• /
• 제4권2호
• /
• pp.35-40
• /
• 1990

해양 산업에서 심해로의 이동은 해양 구조물의 계류 장치의 중요성을 부각시켰고 그에 따른 기본적인 연구로서의 케이블 동력학에 대한 흥미를 일깨웠다. 거친 해상에서 케이블에 형성될 수 있는 큰 동장력과 기하학적 비선형성의 고려는 케이블의 비선형적 거동 해석에 주요 인자가 될 것이다. 또한 매우 큰 동장력 증폭에 의한 음의 큰 동장력은 케이블의 양의 정장력을 초과할 수 있고, 따라서 전체장력은 영 또는 음이 될 수 있다. 비선형 유체 항력을 포함한 모든 비선형성을 갖는 케이블의 이론적 해석 모델을 개발하고, 수치 결과와 기존의 실험 결과를 비교한다.

• 대한수학회지
• /
• 제54권5호
• /
• pp.1573-1594
• /
• 2017

This paper deals with the existence and energy estimates of solutions for a class of degenerate nonlocal problems involving sub-linear nonlinearities, while the nonlinear part of the problem admits some hypotheses on the behavior at origin or perturbation property. In particular, for a precise localization of the parameter, the existence of a non-zero solution is established requiring the sublinearity of nonlinear part at origin and infinity. We also consider the existence of solutions for our problem under algebraic conditions with the classical Ambrosetti-Rabinowitz. In what follows, by combining two algebraic conditions on the nonlinear term which guarantees the existence of two solutions as well as applying the mountain pass theorem given by Pucci and Serrin, we establish the existence of the third solution for our problem. Moreover, concrete examples of applications are provided.

• 한국정밀공학회지
• /
• 제6권1호
• /
• pp.33-44
• /
• 1989

A controller disign method is proposed for multivariable nonlinear stochastic systems with hard nonlinearities such as Coulomb friction, backlash and saturation. In order to take the nonlinearities into account statistical linearization techniques are used. And multi- variable pole placement techniques are applied to design controller for the statistically linearized multivariable systems. The basic concept of the controller design method is to solve two coupled equations, characteristic equation and Lyapunov equation, simultaneously and iteratively for statistically linearized multivariable stochastic systems. An aircraft with saturation serves as a design example. The design example illustrates the influence of nonlinear effects. The results of the analysis are compared to Monte Carlo simulation to test their accuracy.

• 한국정밀공학회지
• /
• 제16권8호
• /
• pp.53-58
• /
• 1999

Although the design of magnetic bearing needs a systematic optimization du e to several design variables, constraints, geometric limitations, nonlinearities, and so on, the present for magnetic bearings have been conducted in the linear region of the characteristics for magnetic by trial and error considering design constraints. This article, therefore, provides the possibility of a genetic algorithm(GA) based optimization with two dimensional-nonlinear finite element magnetic field analysis for design of a radial heteropolar magnetic bearing. The magnetic bearing design by GA based optimization makes good agreements with that by a commercial optimization software DOT using the sensitivity analysis.