• Journal of Korean Society of Coastal and Ocean Engineers
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• v.21 no.4
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• pp.267-277
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• 2009

Partial safety factors of the load, resistance, and reliability function are evaluated according to the target probability of failure on sliding mode of monolithical vertical caisson of composite breakwaters. After reliability function is formulated for sliding failure mode of caisson of composite breakwaters regarding bias of wave force, uncertainties of random variables related to loads, strengths are analyzed. Reliability analysis for the various conditions of water depth, geometric, and wave conditions is performed using Level II AFDA model for the sliding failure. Furthermore, the reliability model is also applied to the real caisson of composite breakwaters of Daesan, Dong- hae, and Pohang harbor. By comparing the required width of caisson of composite breakwater according to target probability of failure with the other results, the partial safety factors evaluated in this study are calibrated straightforwardly. Even though showing a little difference on the 1% of target probability, it may be found that the present results agree well with the other results in every other target probability of failure.

• Korean Journal of Air-Conditioning and Refrigeration Engineering
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• v.8 no.1
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• pp.65-75
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• 1996

A pilot plant, which is simplified the hot water heating control system of a large scale residential building, is used to investigate the effects of control methods and operating conditions on the system performance and to compare control characteristics. Digital variable structure controller(DVSC) and digital PI controller are implemented to control the speed of the circulating pump for the pilot plant using PC. For the DVSC, a control algorithm is suggested, which using a nonlinear sliding surface and a PID sliding surface outside and inside of output error boundary layer, respectively. Smith predictor algorithm is used for the compensation of long dead time. The suggested DVSC yields improved control performance compared with existing DVSC using linear sliding surface only. the system responses with the suggested DVSC shows good responses without overshoot for various operating conditions and robust under external disturbances compared with digital PI controller.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.495-495
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• 2000

The Stewart platform manipulator is a closed-kinematis chain robot manipulator that is capable of providing high st겨ctural rigidity and positional accuracy. However, this is a complex structure, so controllability of the system is not so good. In this paper, it introduces a new robust motion control algorithm using partial state feedback for a class of nonlinear systems in the presence of modelling uncertainties and external disturbances. The major contribution of this work introduces the development and design of robust observer for the slate and the perturbation w.hich is integrated into a variable structure controller(VSC) structure. The combination of controller/observer gives rise to the robust routine called sliding mode control with sliding perturbation observer(SMCSPO). The optimal gains of SMCSPO are easily obtained by genetic algorithm. Simulation and experiment are presented in order to apply to the stewart platform manipulator. There results show highly' accuracy and performance.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 2006.10a
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• pp.115-120
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• 2006

The rail clamp is the device to prevent the crane slips along rails from the wind blast as well as to locate a container crane in the set position in operating mode. In this study we conduct the research for the sliding distance of rail clamp and the proper position of supporter with respect to the wedge angle in the wedge type rail clamp. The sliding distance to display the clamping force of the jaw pad corresponding to the design wind speed criteria is determined by the total displacement of the rail clamp at the roller center and the wedge angle. And the supporter is the device to prevent the overload which is applied on each part of the rail clamp by wind speed increment, because a clamping force is generated by the sliding of the wedge due to the wind. Accordingly the position of the supporter to prevent the overload is determined by analyzing the forces applied to the rail clamp. In order to analyze the sliding distance and the proper position of supporter with respect to the wedge angle as the wind speed is 40m/s, 5-kinds of wedge angles, such as 2, 4, 6, 8, $10^{\circ}$, were adopted as the design parameter.

• Journal of the Korean Institute of Intelligent Systems
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• v.12 no.6
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• pp.524-530
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• 2002

This note suggests a stepwise fuzzy moving sliding surface using Sugeno-type fuzzy system and presents a sliding mode control scheme using it. The fuzzy system has the angle of state error vector and the distance from the origin in the phase plane as inputs and a first-order linear differential equation as output. The surface initially passes arbitrary initial states and subsequently moves towards a predetermined surface via rotating or shifting. This method reduces the reaching and tracking time and improves robustness. Conceptually the slope of the Proposed fuzzy moving sliding surface increases stepwise in the stable region of the phase plane. The surface, however, rotates continuously because the surface is a fuzzy system. The asymptotic stability of the fuzzy sliding surface is proved. The validity of the proposed control scheme is shown in computer simulation for a second-order nonlinear system.

• Journal of Institute of Control, Robotics and Systems
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• v.17 no.4
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• pp.295-298
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• 2011

Almost all of control methods proposed so far have been designed such that the overall system guarantees asymptotic stability. It implies that the output converges to zero but not reaches to zero in a finite time. In many actual cases, however, it is preferable to design the controller such that the output gets to zero in a finite time. In this paper, we proposed a novel elliptical sliding surface. To show the effectiveness of the proposed method, experimental results are given.

• Proceedings of the KIEE Conference
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• 1993.07b
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• pp.883-885
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• 1993

This paper presents a integral-augumented nonlinear sliding surface without a reaching phase. The conventional linear sliding surface has reaching phase, and sliding mode can't realized during this phase, the trajectories may he sensitive to the load disturbances. An proposed algorithm does not have reaching phase, so robust to the load disturbances.

• Structural Engineering and Mechanics
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• v.84 no.4
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• pp.503-515
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• 2022

Based on the sliding isolation concrete LSS (liquid-storage structure), the specific seismic vulnerability is analyzed according to the general failure mode. In this study, 12 seismic inputs with different characteristics are used, and their acceleration peak values are modulated. By inputting these waves to the sliding isolation concrete storage structure, the finite-element models of different concrete rectangular LSSs are obtained and analyzed, and the failure probabilities are obtained according to the IDA (incremental dynamic analysis) curves of the structure. The results show that when the seismic acceleration peak value gradually increases from 0.1 g to 1.0 g, the failure probability of LSS gradually increases with the increase in friction coefficient. However, the failure probability of a sliding isolation LSS is less than 100% and far less than the failure probability of a non-isolated rectangular LSS, which shows that an isolated liquid storage structure continues working under a big earthquake. Thus, the sliding isolation for the concrete LSS has a significant damping effect.

• KEPCO Journal on Electric Power and Energy
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• v.2 no.3
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• pp.403-407
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• 2016

In general, drum-type boilers are designed for base load duty and applied under constant pressure operation mode. Recently, however conditions often occur that even drum-type boilers have to operate at partial load conditions. A feasibility study on adopting the sliding pressure operation for drum-type boiler was conducted, and corresponding performance changes and effects on the equipment were analyzed by utilizing a process simulation model. As a result, the conclusion was reached that drum type boilers are able to adopt the sliding pressure operation and can improve of net efficiency at part load operation in spite of the Rankine cycle efficiency reduction due to the decreases in main steam pressure. Because of thank to improvement of high pressure turbine stage-1 internal efficiency and power savings of boiler feed water pump. The sliding pressure operation is advantageous in terms of stress level relief for boiler tube as well as maintaining the rating steam temperature at part load condition. However, cautions are required because the drum boilers have poor dynamic response characteristics which may get worse during the sliding pressure operation.

• The Journal of Korea Robotics Society
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• v.17 no.2
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• pp.221-229
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• 2022

Sliding mode control (SMC) is a robust control method to control a robot arm with nonlinear properties. A high switching gain of SMC causes chattering problems, although the SMC allows the adequate control performance by giving high switching gain, without the exact robot model containing nonlinear and uncertainty terms. In order to solve this problem, SMC with sliding perturbation observer (SMCSPO) has been researched, where the method can reduce the chattering by compensating the perturbation, which is estimated by the observer, and then choosing a lower switching control gain of SMC. However, optimal gain tuning is necessary to get a better tracking performance and reducing a chattering. This paper proposes a method that the Q-learning automatically tunes the control gains of SMCSPO with an iterative operation. In this tuning method, the rewards of reinforcement learning (RL) are set minus tracking errors of states, and the action of RL is a change of control gain to maximize rewards whenever the iteration number of movements increases. The simple motion test for a 7-DOF robot arm was simulated in MATLAB program to prove this RL tuning algorithm. The simulation showed that this method can automatically tune the control gains for SMCSPO.