• 제어로봇시스템학회:학술대회논문집
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• 1991.10b
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• pp.1607-1610
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• 1991

It is difficult to design the controller of an induction motor because of its non-linearity and high order dynamics. But it is possible to get reduced order system using the theory of singular pertubation because the dynamics of induction motor consists of fast stable mode and slow one. On the other hand, the sliding mode control is well-known for its performance of robustness. This paper deals with the sliding mode controller of induction motors based on the reduced order system.

• Journal of Institute of Control, Robotics and Systems
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• v.6 no.12
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• pp.1070-1078
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• 2000

A nonlinear adaptive flight control system is proposed using a backstepping controller with neural network controller. The backstepping controller is used to stabilize all state variables simultaneously without the two-timescale assumption that separates the fast dynamics, involving the angular rates of the aircraft, from the slow dynamics which includes angle of attack, sideslip angle, and bank angle. It is assumed that the aerodynamic coefficients include uncertainty, and an adaptive controller based on neural networks is used to compensate for the effect of the aerodynamic modeling error. It is shown by the Lyapunov stability theorem that the tracking errors and the weights of neural networks exponentially converge to a compact set. Finally, nonlinear six-degree-of-freedom simulation results for an F-16 aircraft model are presented to demonstrate the effectiveness of the proposed control law.

• Bulletin of the Korean Chemical Society
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• v.24 no.3
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• pp.318-324
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• 2003

A time-resolved probe beam deflection (PBD) technique was employed to study the energy relaxation dynamics of photofragments produced by photodissociation of $CH_3I$ at 266 nm. Under 500 torr argon environment, experimental PBD transients revealed two energy relaxation processes; a fast relaxation process occurring within an acoustic transit time (less than 0.2 ㎲ in this study) and a slow relaxation process with the relaxation time in several tens of ㎲. The fast energy relaxation of which signal intensity depended linearly on the excitation laser power was assigned to translational-to-translational energy transfer from the photofragments to the medium. As for the slow process, the signal intensity depended on square of the excitation laser power, and the relaxation time decreased as the photofragment concentration increased. Based on experimental findings and reaction rate constants reported previously, the slow process was assigned to methyl radical recombination reaction. In order to determine the rate constant for methyl radical recombination reaction, a theoretical equation of the PBD transient for a radical recombination reaction was derived and used to fit the experimental results. By comparing the experimental PBD curves with the calculated ones, the rate constant for methyl recombination is determined to be $3.3({\pm}1.0)\;{\times}\;10^6\;s^{-1}torr^{-1}$ at 295 ± 2 K in 500 torr Ar.

• Journal of Magnetics
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• v.16 no.3
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• pp.308-311
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• 2011

In order to obtain mono-dispersed Fe NPs with high saturation magnetization, quantitative analysis method to investigate the growth dynamics of the Fe NPs synthesized by a conventional thermal decomposition method has been developed. As a result, fast nucleation process promotes formation of ~4 nm of initial nucleus with a non-equilibrium phase, resulting in low saturation magnetization. And slow particle growth with atomic-scaled surface precipitation mode (< 100 atoms/($min{\cdot}nm^2$)) can form the growth layer on the surface of initial nucleus with high saturation magnetization (~190 emu/$g_{Fe}$) as an equilibrium a phase of Fe. Therefore, higher stabilization of small initial nucleus generated just after the injection of $Fe(CO)_5$ should be one of the key issues to achieve much higher $M_s$ of Fe NPs.

• Transactions of the Korean Society of Automotive Engineers
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• v.12 no.5
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• pp.125-135
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• 2004

The validity of simulation has been well-established for decades in areas such as computer and communication system. Recently, the technique has become entrenched in specific areas such as transportation and traffic forecasting. Several methods have been proposed for investigating complex traffic flows. However, the dynamics of vehicles and their driver's characteristics, even though it is known that they are important factors for any traffic flow analysis, have never been considered sufficiently. In this paper, the traffic simulation using a multi-agent approach with considering vehicle dynamics is proposed. The multi-agent system is constructed with the traffic environment and the agents of vehicle and driver. The traffic environment consists of multi-lane roads, nodes, virtual lanes, and signals. To ensure the fast calculation, the agents are performed on the based of the rules to regulate their behaviors. The communication frameworks are proposed for the agents to share the information of vehicles' velocity and position. The model of a driver agent which controls a vehicle agent is described in the companion paper. The vehicle model contains the nonlinear subcomponents of engine, torque converter, automatic transmission, and wheels. The simulation has proceeded for an interrupted and uninterrupted flow model. The result has shown that the driver agent performs human-like behavior ranging from slow and careful to fast and aggressive driving behavior, and that the change of the traffic state is closely related with the distance and the signal delay between intersections. The system developed shows the effectiveness and the practical usefulness of the traffic simulation.

• Bulletin of the Korean Space Science Society
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• 2010.04a
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• pp.40.4-41
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• 2010

Using magnetic field and plasma moment data obtained by THEMIS satellites(A, D, and E), we selected 203 fast flow events accompanied by dipolarization in the near-Earth region( X(GSM) = -7 ~ -12 RE) and statistically examined their properties. It was found that most of the fast flows show the maximum velocity between 1 minute before dipolarization onset and 2 minutes after onset and proceed earthward and duskward. We also found that only the flows with low velocity of less than 400 km/s are observed at X > -8 RE, while the high velocity flows(as well as low velocity flows) are observed at the further tailward region(X < -8 RE). And most of the tailward flows are slow regardless of distance at X(GSM) = -7 ~ -12 RE. On the other hand, if we consider the fast flow as a bubble (Pontius and Wolf, 1990), the entropy parameter, PV5/3 is an important factor to describe the plasma sheet dynamics. Thus we investigated the relationship between the flow velocity and the amount of change in PV5/3 before and after dipolarization onset and found out that the dipolarizations with more depleted entropy parameter tend to show higher flow velocity. Also we examined how the magnetic field at geosynchronous orbit responds to the fast flow accompanied by dipolarization in the near-earth plasma sheet, using the measurements from GOES 11 and 12 statellites. We found that most of the fast flows do not reach geosynchronous orbit as suggested by Ohtani et al. (2006).

• Journal of Institute of Control, Robotics and Systems
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• v.2 no.1
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• pp.9-13
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• 1996

슬라이딩 모드 제어기의 실현시 발생하는 고주파 chattering 현상을 제거하기 위하여 본 논문에서는 스위칭 표면 행렬의 Range-space 동특성을 이용한 연속 시간 스위칭 다이나믹을 제안한다. 전체 폐루프 시스템은 정칙 변환에 의해 빠른 부시스템과 느린 부시스템으로 분해되어, 결국 전체 폐루프 시스템의 고유치는 각각 스위칭 표면 행렬의 Range-space와 Null-space의 동특성을 지배하는 부시스템들의 고유치들로 구성됨을 보인다. 그리고, 정합된 불확실성이 존재하는 경우 제안된 스위칭 다이나믹을 가진 제어 시스템의 응답은 일정 시간이 경과된 후 스위칭 평면의 임의의 영역으로 균일하게 유계된다는 것을 증명한다. 또한, 제어 입력의 크기에 대한 제약성을 만족하면서도 전체 제어 시스템의 정상 상태 오차를 감소시키기 위하여 두개의 스위칭 다이나믹을 도입한 수정된 슬라이딩 모드제어기를 제안한다.

• International Journal of Aeronautical and Space Sciences
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• v.7 no.2
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• pp.137-144
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• 2006

The objective of this paper is to present trajectory guidance and control system with a dynamic inversion for a small unmanned aerial vehicle (UAV). The UAV model is expressed by fixed-mass rigid-body six-degree-of-freedom equations of motion, which include the detailed aerodynamic coefficients, the engine model and the actuator models that have lags and limits. A trajectory is generated from the given waypoints using cubic spline functions of a flight distance. The commanded values of an angle of attack, a sideslip angle, a bank angle and a thrust, are calculated from guidance forces to trace the flight trajectory. To adapt various waypoint locations, a proportional navigation is combined with the guidance system. By the decision logic, appropriate guidance law is selected. The flight control system to achieve the commands is designed using a dynamic inversion approach. For a dynamic inversion controller we use the two-timescale assumption that separates the fast dynamics, involving the angular rates of the aircraft, from the slow dynamics, which include angle of attack, sideslip angle, and bank angle. Some numerical simulations are conducted to see the performance of the proposed guidance and control system.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.5 no.6
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• pp.1166-1191
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• 2011

This paper presents an adaptive active tracking system with sector based scanning for a single PTZ camera. Dividing sectors on an image reduces the search space to shorten selection time so that the system can cover many targets. Upon the selection of a target, the system estimates the target trajectory to predict the zooming location with a finite amount of time for camera movement. Advanced estimation techniques using probabilistic reason suffer from the unknown object dynamics and the inaccurate estimation compromises the zooming level to prevent tracking failure. The proposed system uses the simple piecewise estimation with a few frames to cope with fast moving objects and/or slow camera movements. The target is tracked in multiple steps and the zooming time for each step is determined by maximizing the zooming level within the expected variation of object velocity and detection. The number of zooming steps is adaptively determined according to target speed. In addition, the iterative estimation of a zooming location with camera movement time compensates for the target prediction error due to the difference between speeds of a target and a camera. The effectiveness of the proposed method is validated by simulations and real time experiments.

• Wind and Structures
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• v.38 no.5
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• pp.381-398
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• 2024

This study presents a mode analysis of 3D turbulent velocity data around a square-section building model to identify the dynamic system for Kármán-type vortex shedding. Proper orthogonal decomposition (POD) was first performed to extract the significant 3D modes. Magnitude-squared coherence was then applied to detect the phase consistency between the modes, which were roughly divided into three groups. Group 1 (modes 1-4) depicted the main vortex shedding on the wake of the building, with mode 2 being controlled by the inflow fluctuation. Group 2 exhibited complex wake vortexes and single-sided vortex phenomena, while Group 3 exhibited more complicated phenomena, including flow separation. Subsequently, a third-order polynomial regression model was used to fit the dynamics system of modes 1, 3, and 4, which revealed average trend of the state trajectory. The two limit cycles of the regression model depicted the two rotation directions of Kármán-type vortex. Furthermore, two characteristic periods were identified from the trajectory generated by the regression model, which indicates fast and slow motions of the wake vortex. This study provides valuable insights into 3D mode morphology and dynamics of Kármán-type vortex shedding that helps to improve design and efficiency of structures in turbulent flow.