• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1995년도 Proceedings of the Korea Automation Control Conference, 10th (KACC); Seoul, Korea; 23-25 Oct. 1995
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• pp.444-447
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• 1995

The satellite in a circular orbit about a planet with disturbances and a three-degree-of-freedom (3DOF) structure under seismic excitations are modeled by the linear stochastic differential equations. Then the risk-sensitive optimal control method is applied to those equations. The mean and the variance of the cost function varies with respect to the risk-sensitivity parameter, .gamma.$_{RS}$ . For a particular risk-sensitivity parameter value, risk-sensitive control reduces to LQG control. Furthermore, the derivation of the mean square value of the state and control action are given for a finite-horizon full-state-feedback risk-sensitive control system. The risk-sensitive controller outperforms a classical LQG controller in the mean square sense of the state and the control action.

• 소음진동
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• 제7권5호
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• pp.811-817
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• 1997

This paper is concerned with the active vibration controller design for the grid structure based on the positive position feedback (PPF) and the strain rate feedback (SRF) control. A new control methodology by the combination of the PPF and SRF control can suppress all the modes of the structure theoretically and can be easily implemented with analog circuits. The underlying concept for the design of the new controller is that the SRF controller stabilizes the modes higher than the second mode and the PPF controller stabilizes the fundamental mode which is destabilized by the SRF controller. In order for the new controller to be implemented succesfully, the collocated control is necessary. To this end, the piezoceramic sensor and actuator are located as close as possible, thus realizing the nearly collocated control. The combined PPF and ARF controller proves its effectiveness by experiments.

• 한국산업정보학회:학술대회논문집
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• 한국산업정보학회 1997년도 추계학술대회 발표논문집:21세기를 향한 정보통신 기술의 전망
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• pp.463-471
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• 1997

In this paper, a new variable structure controller (VSC) is presented. The presented VSC can be applicable to most mechatronic systems such as robotics. A VSC (or also called sliding mode control；SMC) algorithm is presented first, and next, a VSC with nonlinear integral control algorithms is presented. The algorithms use no linear approximation for the derivation of the control law or in the stability proof. It is shown that the robustness of the developed algorithms are guaranteed by the sliding mode control and that the algorithms are globally convergent.

• 한국정밀공학회지
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• 제13권8호
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• pp.155-163
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• 1996

This paper presents vibration and position tracking control of a smart structure using shape memory alloy(SMA) actuators. A governing equation of motion of the proposed structure is obtained via Hamilton's princeple. The dynamic characteristics of the SMA actuator are experimentally identified and incorporated with the governing equation to furnish a control system model. Subsequently, a sliding mode controller which has inherent robustness to external disturbances is formulated on the basis of the sliding mode conplacement, and also for the position tracking control of desired trajectories with low-frequency sine and square waves.

• 한국공간구조학회논문집
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• 제10권1호
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• pp.103-110
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• 2010

본 연구에서는 지진하중을 받는 대공간 구조물의 지진응답을 저감시키기 위하여 준능등 동조질량제어장치(STMD)를 이용한 제어기법의 가능성을 검토하여 보았다. 이를 위하여 대공간구조물의 기본적인 동적특성을 가지고 있으며 동시에 가장 간단한 구조이기도 한 아치 구조물에 일반적인 TMD 및 STMD를 설치하여 지진응답 제어성능을 평가하였다. STMD의 감쇠력을 조절하기 위해서 널리 사용되고 있는 준능동 제어알고리즘인 그라운드혹(groundhook) 제어기법을 이용하였다. STMD 및 수동 TMD의 성능검토를 위하여 조화지반가속도와 El Centro (1940) 및 Northridge (1994) 지진하중을 사용하였다. 해석결과 수동 TMD에 의해서 아치구조물의 지진응답을 효과적으로 저감시킬 수 있었으며 STMD를 사용하면 수통 TMD 보다 더욱 우수한 응답저감효과를 얻을 수 있는 것을 확인하였다.

• 한국공간구조학회논문집
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• 제12권1호
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• pp.99-108
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• 2012

본 연구에서는 지진하중을 받는 대공간 구조물의 지진응답을 저감시키기 위하여 돔 구조물에 대한 동조질량제어장치(TMD)의 적용성을 검토하였다. 이를 위하여 돔 구조물의 기본적인 동적특성을 가지고 있으며 가장 간단한 구조이기도 한 스타 돔 구조물에 수동형 TMD를 설치하여 지진응답 제어성능을 평가하였다. 본 연구에서는 KBC2009에 따른 인공 지진하중을 수평방향과 연직방향으로 가하여 스타 돔 구조물에 대한 지진응답을 분석하였으며 이를 바탕으로 TMD의 설치에 따른 스타 돔 구조물의 지진응답 제어성능을 분석하였다. 해석결과 다음과 같은 결론을 얻을 수 있었다. 지진하중의 방향에 반응하는 스타 돔 구조물의 진동모드 분석을 통하여 수동 TMD를 설치하는 것이 지진응답 제어에 있어서 효과적인 것을 확인할 수 있었다.

• IEIE Transactions on Smart Processing and Computing
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• 제1권3호
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• pp.152-160
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• 2012

This paper proposes a frame-level rate control algorithm for low delay video applications to reduce the fluctuations in the bitrate. The proposed algorithm minimizes the bitrate fluctuations in two ways with minimal coding loss. First, the proposed rate control applies R-Q model to all frames including the first frame of every group of pictures (GOP) except for the first one of a sequence. Conventional rate control algorithms do not use any R-Q models for the first frame of each GOP and do not estimate the generated-bit. An unexpected output rate result from the first frame affects the remainder of the pictures in the rate control. Second, a rate-distortion (R-D) cost is calculated regardless of the hierarchical coding structure for low bitrate fluctuations because the hierarchical coding structure controls the output bitrate in rate distortion optimization (RDO) process. The experimental results show that the average variance of per-frame bits with the proposed algorithm can reduce by approximately 33.8% with a delta peak signal-to-noise ratio (PSNR) degradation of 1.4dB for a "low-delay B" coding structure and by approximately 35.7% with a delta-PSNR degradation of 1.3dB for a "low-delay P" coding structure, compared to HM 8.0 rate control.

• Structural Engineering and Mechanics
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• 제20권2호
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• pp.191-207
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• 2005

Time delay exists inevitably in active control, which may not only degrade the system performance but also render instability to the dynamic system. In this paper, a novel active controller is developed to solve the time delay problem in flexible structures. By using the independent modal space control method, the differential equation of the controlled mode with time delay is obtained from the time-delay system dynamics. Then it is discretized and changed into a first-order difference equation without any explicit time delay by augmenting the state variables. The modal controller is derived based on the augmented system using the discrete variable structure control method. The switching surface is determined by minimizing a discrete quadratic performance index. The modal coordinate is extracted from sensor measurements and the actuator control force is converted from the modal one. Since the time delay is explicitly included throughout the entire controller design without any approximation, the system performance and stability are guaranteed. Numerical simulations show that the proposed controller is feasible and effective in active vibration control of dynamic systems with time delay. If the time delay is not explicitly included in the controller design, instability may occur.

• 한국소음진동공학회논문집
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• 제18권2호
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• pp.255-262
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• 2008

In this study, seismic response control performance of decentralized response-dependent MR damper which generates the control force using only the response of damper-installed floor, was experimentally investigated through the tests of a full-scale structure installed with large MR dampers. The performance of the decentralized control algorithm was compared to those of the centralized ones such as Lyapunov, modulated homogeneous friction, and clipped-optimal control. Hybrid mass damper were controlled to induce seismic response of the full-scale structure under El Centro earthquake. Experimental results indicated that the proposed decentralized MR damper provided superior or equivalent performance to centralized one in spite of using damper-installed floor response for calculating input voltage to MR damper.

• 전기학회논문지
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• 제64권12호
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• pp.1703-1708
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• 2015

This paper deals with the position and torque control of a toroidal type rotor which has a magnetic bearing structure. The proposed magnetic bearing structure supports the rotor by the repulsive forces of permanent magnets, and has a two degree of freedom for rotor position when the rotor is rotating. Permanent magnets and coils in the stator allow for a two degree of freedom control of the rotor position and torque generation by reacting with permanent magnets of the rotor. The executed gyro actuator has a number of poles such as five-phase permanent magnet motors and 10 stator coils for the rotor position control. In this study, the verification of the stability of the magnetic bearing was conducted using the equation of motion when the rotor was rotating, and the coil current commutation method for the position control and torque generation was studied. As a result, the feasibility of the proposed structure and control was verified by simulations of Finite Element Method (FEM) and experiments using the executed gyro actuator.