• International Journal of Naval Architecture and Ocean Engineering
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• 제11권2호
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• pp.851-857
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• 2019

A new robust sliding mode control with disturbance and state observers has been proposed to control the nozzle angle of a water-jet system for a Unmanned Surface Vehicle (USV). As the water-jet system of a ship is subjected to direct disturbances owing to the exposure to the marine environment in water, it requires a robust control. A state observer and a disturbance observer are added to the water jet nozzle control system to achieve a robust control against disturbances. To verify the performance of the proposed algorithm, a test bed is constructed by a propulsion system used in the popular USV. This proposed algorithm has been evaluated by comparing to the existing algorithm through experiments. The results show that the performance of the proposed algorithm is better than that of the conventional PID or sliding mode controller when controlling the steering of the USV with disturbances.

• 한국정밀공학회지
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• 제17권11호
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• pp.101-107
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• 2000

A design of the global optimal sliding mode control is presented to control the second order uncertain time varying system with torque limit. With specified ranges of parametric uncertainties and torque limit, the minimum arrival time to reference inputs can be calculated. The proposed control scheme is applied to the motor system carrying loads. The merit of the proposed control scheme is that the arriving time at the reference input, which is the revolution angle, and the maximum allowable acceleration are expressed in a closed form solution. The superior performance of the proposed control scheme is validated by the computer simulation and experiments comparing with other sliding mode controllers.

• 한국소성가공학회:학술대회논문집
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• 한국소성가공학회 2009년도 추계학술대회 논문집
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• pp.354-357
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• 2009

The effect of texture of an extruded OFHC Cu rod on its sliding wear has been explored. Disk specimens with three different orientations were machined from the Cu rod for the wear test; surfaces of the disk were perpendicular ($0^{\circ}$), inclined with a specific angle ($45^{\circ}$), and parallel ($90^{\circ}$) to the extrusion axis of the rod. The texture was analyzed using an X-ray goniometer by measuring {111}, {200}, and {220} pole figures of each specimen. The analyzed texture was correlated with wear-test results of the Cu specimen. Dry sliding wear tests were performed at room temperature using a pin-on-disk wear tester against an Al2O3 ball. Applied load, sliding distance, sliding speed were fixed as 20 N, 200 m, and 0.5 m/sec, respectively. The $45^{\circ}$-inclined (to the extrusion axis) disk specimen showed the lowest wear resistance with the least data scatters. It has been found that distribution of cube texture strongly influences wear rate of the extruded Cu rod.

• 한국지능시스템학회논문지
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• 제12권6호
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• pp.524-530
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• 2002

본 연구에서는 Sugeno-type 퍼지시스템을 이용하여 계단형 퍼지 이동 슬라이딩 평면을 구성하고 이를 이용한 슬라이딩 모드제어방식을 제안한다 이 퍼지시스템은 위상평면 상에서 상태오차벡터가 이루는 각도와 원점과의 거리를 입력으로 가지며 출력으로 1차 선형방정식을 갖는다. 이 퍼지 슬라이딩 평면을 이용하여 초기 상태를 이 평면상에 위치시키고 이 슬라이딩 평면을 회전시키거나 이동시킴으로써 도달시간을 줄이고 추적시간을 줄인다. 제안된 이동 슬라이딩 평면은 개념적으로 계단형의 이산적인 형태를 가지지만 이 평면이 퍼지시스템으로 구성되기 때문에 연속으로 이동하는 특징을 나타낸다. 제안된 퍼지 슬라이딩 평면에 대한 슬라이딩 모드의 동특성이 안정함을 증명하며 이를 2차 예제시스템을 이용하여 그 타당성을 보인다.

• 제어로봇시스템학회논문지
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• 제16권8호
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• pp.735-743
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• 2010

A new Fuzzy sliding mode controller is proposed to improve the cornering performance of the four wheel hybrid vehicles. The Fuzzy sliding mode control is applied for the control of rear motor and EHB (Electro-Hydraulic Brake) to improve the cornering performance. The modeling of the automobile is simplified that each of the two wheels is modeled as two degrees of freedom object and the friction coefficient between the wheel and the ground is assumed to be constant. The output of the Fuzzy sliding mode algorithm is the direct yaw moment for the rear wheels, which compensates for the slip angle. Through the simulations using ADAMS and MATLAB Simulink, the cornering performance of the proposed algorithm is compared to the conventional PID to show the superiority of the proposed algorithm. In the simulation experiments, the J-Turn and single lane change are used for each of the Fuzzy sliding mode algorithm and PID controller with the optimal gains which are tuned empirically.

• 지질공학
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• 제26권4호
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• pp.447-460
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• 2016

이 연구에서는 직접적으로 기본마찰각을 측정할 수 있는 직접전단시험과 삼축압축시험, 간접적으로 측정할 수 있는 기울임 시험을 이용하여 톱 절단면, #100 연마면, #600 연마면 등 총 3종류의 면을 갖는 황등 화강암과 Berea 사암의 기본마찰각을 측정하고 시험 결과들을 서로 비교하였다. 직접전단시험과 삼축압축시험에서 측정된 기본마찰각은 대체로 정확하지만 면의 상태에 따라서는 매우 차이가 나는 값이 측정되기도 한다. 기울임 시험은 모든 암종에서, 모든 면의 상태에서 유사한 결과를 산출하여 기본마찰각의 측정에 유용하게 사용될 수 있음을 보여주지만, 오차의 범위는 직접적인 시험에 비하여 비교적 넓은 범위를 보인다. 안정된 기본마찰각을 측정하기 위해서는 톱 절단면 보다는 전단면을 항상 일정하게 유지시킬 수 있는 연마면을 사용하는 것이 유리하며, 연마면 중에서도 #600 연마면 같이 매우 매끄러운 면 보다는 #100 연마면 같은 부드러운 수준의 면에서 보다 안정된 결과를 얻을 수 있다. 그러므로 #100 연마면 시료에서 직접전단시험이나 삼축압축시험으로 측정된 기본마찰각이 가장 신뢰성이 높을 것으로 예상되며, #100 연마면 시료에 대한 기울임 시험도 기본마찰각을 측정하는데 있어서 충분한 신뢰성을 갖는 것으로 판단된다.

• 제어로봇시스템학회논문지
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• 제19권1호
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• pp.1-9
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• 2013

This paper presents a new control algorithm for dynamic control of a unicycle robot. The unicycle robot motion consists of a pitch that is controlled by an in-wheel motor and a roll that is controlled by a reaction wheel pendulum. The unicycle robot doesn't have any actuator for a yaw axis control, which makes the derivation of the dynamics relatively simple. The Euler-Lagrange equation is applied to derive the dynamic equations of the unicycle robot to implement the dynamic speed control of the unicycle robot. To achieve the real time speed control of the unicycle robot, the sliding mode control and LQ regulator are utilized to guarantee the stability while maintaining the desired speed tracking performance. In the roll controller, the sigmoid-function based sliding mode controller has been adopted to minimize the chattering by the switching function. The LQR controller has been implemented for the pitch control to drive the unicycle robot to follow the desired velocity trajectory in real time using the state variables of pitch angle, angular velocity, angle and angular velocity of the wheel. The control performance of the two control systems form a single dynamic model has been demonstrated by the real experiments.

• 대한물리의학회지
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• 제9권3호
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• pp.293-299
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• 2014

PURPOSE: The purpose of this study was to investigate the effect of functional training using a sliding rehabilitation machine (SRM) on the mobility of the ankle joint and balance in children with cerebral palsy (CP). METHODS: The subjects consisted of 11 children who were diagnosed with spastic CP. They carried out the functional training using the SRM for 30 minutes, three times a week, for 8 weeks. Before and after all of the training sessions, the subjects were tested using the Pediatric Balance Scale (PBS) and Gross Motor Function Measurement (GMFM), range of motion (ROM) in the ankle joint, the pennation angle of the gastrocnemius muscle and the fascicle length of gastrocnemius muscle were measured to determine the mobility of the ankle joint and balance ability. RESULTS: There were significant differences between the pre-test and post-test in the PBS and GMFM. The ROM of the ankle joint was significantly increased after the functional training using the SRM. Moreover, the fascicle length was increased and the pennation angle was decreased after the functional training using the SRM, but the difference was not significant. CONCLUSION: These results suggest that functional training using the SRM may have some effect on the mobility of ankle joint and balance in children with CP. According to the results, this study could present an approach to the rehabilitation or treatment of children with CP.

• Nuclear Engineering and Technology
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• 제48권4호
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• pp.915-924
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• 2016

After a severe accident to the nuclear reactor, the in-vessel retention strategy is a key way to prevent the leakage of radioactive material. Nanofluid is a steady suspension used to improve heat-transfer characteristics of working fluids, formed by adding solid particles with diameters below 100nm to the base fluids, and its thermal physical properties and heat-transfer characteristics are much different from the conventional working fluids. Thus, nanofluids with appropriate nanoparticle type and volume concentration can enhance the heat-transfer process. In this study, the moving particle semi-implicit method-meshless advection using flow-directional local grid method is used to simulate the bubble growth, departure, and sliding on the downward-facing heating surface in pure water and nanofluid (1.0 vol.% $Al_2O_3/H_2O$) flow boiling processes; additionally, the bubble critical departure angle and sliding characteristics and their influence are also investigated. The results indicate that the bubble in nanofluid departs from the heating surface more easily and the critical departure inclined angle of nanofluid is greater than that of pure water. In addition, the influence of nanofluid on bubble sliding is not significant compared with pure water.

• Geomechanics and Engineering
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• 제24권1호
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• pp.81-89
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• 2021

Uniaxial compression tests were conducted on sandstone-CGFB composite samples with different interface angles, and their strength, acoustic emission (AE), and failure characteristics were investigated. Three macro-failure patterns were identified: the splitting failure accompanied by local spalling failure in CGFB (Type-I), the mixed failure with small sliding failure along with the interface and Type-I failure (Type-II), and the sliding failure along with the interface (Type-III). With an increase of interface angle β measured horizontally, the macro-failure pattern changed from Type-I to Type-II, and then to Type-III, and the uniaxial compressive strength and elastic modulus generally decreased. Due to the small sliding failure along with the interface in the composite sample with β of 45°, AE events underwent fluctuations in peak values at the later post-peak failure stage. The composite samples with β of 60° occurred Type-III failure before the completion of initial compaction stage, and the post-peak stress-time curve initially exhibited a slow decrease, followed by a steep linear drop with peaks in AE events.