• International Journal of Naval Architecture and Ocean Engineering
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• v.11 no.1
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• pp.211-224
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• 2019

This paper deals with a nonlinear controller based on saturation functions with variable parameters for set-point regulation and trajectory tracking control of an Autonomous Underwater Vehicle (AUV). In many cases, saturation functions with constant parameters are used to limit the input signals generated by a classical PD (Proportional-Derivative) controller to avoid damaging the actuators; however this abrupt bounded harms the performance of the controller. We, therefore, propose to replace the conventional saturation function, with constant parameters, by a saturation function with variable parameters to limit the signals of a PD controller, which is the base of the nonlinear PD with gravitational/buoyancy compensation and the nonlinear PD + controllers that we propose in this paper. Consequently, the mathematical model is obtained, considering the featuring operation of the underwater vehicle LIRMIA 2, to do the stability analysis of the closed-loop system with the proposed nonlinear controllers using the Lyapunov arguments. The experimental results show the performance of an AUV (LIRMIA 2) for the depth control problems in the case of set-point regulation and trajectory tracking control.

• 제어로봇시스템학회:학술대회논문집
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• 1993.10a
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• pp.189-194
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• 1993

This paper presents an ARW(Anti-Reset Windup) method for discrete-time control systems with saturation nonlinearites. The method is motivated by the concept of the equilibrium point. The design parameters of the ARW scheme is explicitly derived by minimizing a reasonable performance index. The proposed method is closely related with the singular perturbed theory. The proposed method is applicable to any open-loop stable plants with saturation nonlinearities whose controllers are determined a priori by some design technique.

• The Transactions of the Korean Institute of Electrical Engineers A
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• v.53 no.4
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• pp.214-220
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• 2004

This paper describes a busbar current differential relay in conjunction with a current transformer(CT) compensating algorithm irrespective of the level of the remanent flux. The compensating algorithm detects the start of first saturation if the third-difference function of the current exceeds the threshold; it estimates the core flux at the first saturation start by inserting the negative value of the third-difference function of the current into the magnetization curve; thereafter, it calculates the core flux during the fault and compensates the distorted current using the magnetization curve. The algorithm estimates the correct secondary current irrespective of the level of the remanent flux and needs no saturation point of the magnetization curve. The proposed relay can improve not only security of the relay on an external fault with CT saturation but sensitivity of the relay on an internal fault; the relay can improve the operating speed on n internal fault with CT saturation. This paper concludes by implementing the relay into a digital signal processor based prototype relay.

• Preventive Nutrition and Food Science
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• v.3 no.2
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• pp.123-127
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• 1998

Fixed-bed adsorption was adapted to separate phenolic acids from diluted phenolic solution. Break-through curve was obtained by nonlinear curve fitting method, and breakpoint, saturation time, and mass transfer coeffi-cient were calculated . Break point and saturation time were reached slower with $\rho$-coumaric acid than ferulic acid .The p-coumaric acid, having small molecular weight, is suposedly traveled longer pathway in characoal than ferulic acid. Fixed-bed adsorption iwht gallic acid having more hydroxyl functional group than other phenolic acids showed break point arrival and the largest saturation time. This fact means that there was bigger electrostatic affinity between gallic acid and charcoal than between other phenolic acids and charcoal.

• Journal of the Korean Society for Precision Engineering
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• v.22 no.12 s.177
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• pp.87-92
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• 2005

In microcellular injection molding, gas supply system is needed. But, that device is very expensive to attach to the injection molding machines. So, new method is needed and gas-pellets MCPs is one of the solutions. In gas-pellets MCPs, there will be strange characteristics. In this paper, some characteristics are described on the view point of saturation pressure and saturation time.

• Proceedings of the Materials Research Society of Korea Conference
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• 2012.05a
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• pp.107.2-107.2
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• 2012

We used the electrophoretic deposition (EPD) process to fabricate a glass composite and investigated the EPD parameters to find the optimum deposition time by understanding the relationship among the process parameters of zeta potential (ZP), pH, deposition yield and saturation point. A binder and a dispersing agent were mixed properly with glass frit ($0.2{\sim}25{\mu}m$, d50=$8.77{\mu}m$) in an ethyl alcohol medium for the preparation of the slurry. The pH and ZP were in an inverse relationship to each other due to the generation of $H_3O^+$ ions with the addition of the dispersing agent in the slurry. The acidic nature of the dispersing agent was resulted in a decrease of the pH and an increase of the ZP. Otherwise, the pH increased with the addition of the glass frit in the slurry because $H_3O^+$ ions were absorbed on the glass frit. Therefore, the $OH^-$ ions correspondingly increased. The saturation point of EPD was strongly correlated with the variation of the pH in the slurry; this is caused by a chemical reaction between the ethyl alcohol and the ions that make up the glass frit. An adjustment of the pH variation and the saturation point in the slurry can be established with respect to the optimum deposition time in the slurry.

• Transactions of the Korean Society of Mechanical Engineers B
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• v.34 no.10
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• pp.947-955
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• 2010

Most oil and gas reservoirs, which have some light hydrocarbon components, show sensitive phase behavior in response to changes in the composition of the internal fluid. When evaluating and developing plans for oil and gas fields, flash calculation, PVT analysis, and saturation-property calculation are necessary for analyzing reservoir characteristics and pipeline flows. In general, the determination of saturation properties such as dew point and bubble point is considered a difficult task because of the poor convergence of the calculation methods. In this study, several new initial-value-guessing methods and root-finding methods are proposed; parametric analysis were carried out to verify the improvement in convergence. Finally, these new ideas and methods were successfully applied to the new GUI based multi-phase behavior simulator.

• 한국연소학회:학술대회논문집
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• 2012.11a
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• pp.233-236
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• 2012

In order to estimate the efficiency of an evaporative heat exchanger having mini channel, the equations to calculate heat exchanger properties, those are air temperatures and water temperatures etc, are derived from the governing equations based on the Navier-Stokes equation, even though there are several assumptions to make problem simplify. There are three heat transfer zones at the mini channel heat exchanger depending on the water condition. So, there are three governing equations and solutions to calculate the properties. As a results of this study, the equations to calculate a saturation point and a dry point are derived to evaluate an evaporative heat exchanger having micro channel. It is supposed to predict the performance and evaluate a mini channel heat exchanger.

• Journal of the Institute of Electronics Engineers of Korea SC
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• v.45 no.6
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• pp.102-107
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• 2008

We propose an autotuning algorithm for PI controller with unknown plant. The proposed algorithm uses a saturation function and time delay element as a test signal. Since the integral element of PI controller reduces a phase margin in the closed loop system, the closed loop system could be resulted in unstable with PI controller. To avoid unstable in the closed loop system with PI controller, the proposed algorithm identifies one point information in the 3rd quadrant of Nyquist plot with a time delay element. The proposed method improves an accuracy of one point identified information with one saturation function. We demonstrate a performance of the proposed method via a simulation.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10a
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• pp.161-164
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• 1996

The authors have recently proposed a new method for identifying Volterra kernels of nonlinear control systems by use of M-sequence and correlation technique. A specially chosen M-sequence is added to the nonlinear system to be identified, and the crosscorrelation function between the input and output is calculated. Then every crosssection of Volterra kernels up to 3rd order appears at a specified delay time point in the crosscorrelation. This method is applied to a saturation-type nonlinear feedback control system of mechanical-electrical servo system having torque saturation nonlinearity. Simulation experiments show that we can obtain Volterra kernels of saturation-type nonlinear system, and a good agreement is observed between the observed output and the calculated one from the measured Volterra kernels.