• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.13 no.12
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• pp.903-910
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• 2003

A two-degree-of-freedom model is suggested to describe basic dynamical behaviors of the interaction between the pad and the disc of a disc brake system. Although a pad (and a disc) has many modes of vibration in practice, only one mode of each component Is considered. In this paper, a linear analysis is performed by means of the stability analysis to show various conditions for the system to become unstable, and is based on the assumption that the existence of limit cycle (this corresponds to an unstable equilibrium point inside the limit cycle) represents the squeal state of the disc brake system. The results of the stability analysis show that the damping of the disc is as much Important as that of the pad, whereas the damping of the pad only is considered In most practical situations.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.60 no.2
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• pp.407-415
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• 2011

In this study, we propose the design of optimized fuzzy controller for the rotary inverted pendulum system by using differential evolution algorithm. The structure of the differential evolution algorithm has a simple structure and its convergence to optimal values is superb in comparison to other optimization algorithms. Also the differential evolution algorithm is easier to use because it have simpler mathematical operators and have much less computational time when compared with other optimization algorithms. The rotary inverted pendulum system is nonlinear and has a unstable motion. The objective is to control the position of the rotating arm and to make the pendulum to maintain the unstable equilibrium point at vertical position. The output performance of the proposed fuzzy controller is considered from the viewpoint of performance criteria such as overshoot, steady-state error, and settling time through simulation and practical experiment. From the result of both simulation and practical experiment, we evaluate and analyze the performance of the proposed optimal fuzzy controller from the comparison between PGAs and differential evolution algorithms. Also we show the superiority of the output performance as well as the characteristic of differential evolution algorithm.

• Journal of the Korean Institute of Intelligent Systems
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• v.21 no.3
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• pp.283-289
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• 2011

In this research a controller based on velocity estimator for a Wheeled Inverted Pendulum (WIP) is designed and various numerical simulation studies are carried out. The WIP has stable and unstable equivalent points. To Keep the unstable equilibrium point, a controller should control carefully the wheels persistently. There are angle, angular velocity, displacement, and velocity of the WIP for controller inputs. The velocity is obtained by differentiating the encoder signals from the motor and is subject to the resolution of the encoder. An improved velocity detection method is proposed based on low resolution encoder and velocity estimator. Various numerical simulations are carried out for showing the validation of the velocity estimator in case of the inclined road condition.

• Journal of Korean Association for Spatial Structures
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• v.4 no.3 s.13
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• pp.103-109
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• 2004

The lowest load when the equilibrium condition becomes to be unstable is defined as the buckling load. The primary objective of this paper is to be analyse stability boundaries for star dome under combined loads and is to investigate the iteration diagram under the independent loading parameter. In numerical procedure of the geometrically nonlinear problems, Arc Length Method and Newton-Raphson iteration method is used to find accurate critical point(bifurcation point and limit point). In this paper independent loading vector is combined as proportional value and star dome was used as numerical analysis model to find stability boundary among load parameters and many other models as multi-star dome and arch were studied. Through this study we can find the type of buckling mode and the value of buckling load.

• 제어로봇시스템학회:학술대회논문집
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• 1992.10a
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• pp.993-998
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• 1992

The paper treated the oscillation control of cargo rope and the position control of cart for a tower crane system by adopting the optimal regulator method. Since the tower crane has nonlinearity and it is very unstable when the cargo is mobiling, an insensitive control system with respect to oscillation of cargo rope and disturbance such as wind is required. In this paper, model equation of the tower crane is induced by using Lagrange equation and it is linearized at equilibrium point. The real time control of tower crane syste is implemented by 16bits microcomputer with A/D and D/A convetters to illustrate the application of the adopted optimal desgn method.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.58 no.12
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• pp.2311-2315
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• 2009

This paper presents a method to apply energy margin for assesment of total transfer capability (TTC). In order to calculate energy margin, two values of the transient energy function have to be computed. The first value is transient energy that is the sum of kinetic and potential energy at the end of fault. The second is critical energy that is potential energy at controlling UEP(Unstable Equilibrium Point). It is seen that TTC level is determined by not only bus voltage magnitudes and line thermal limits but also transient stability. TTC assessment is compared by the repeated power flow(RPF) method and optimization method.

• KCID journal
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• v.17 no.2
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• pp.42-48
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• 2010

This study was carried out to investigate the changing of benthic macrobenthos community in Saemangeum subtidal area. The distribution of macrobenthic community is important to assume the benthic environment in study area. Macrobenthic community was investigated three times in 2007 (March, June and September) in the Saemangeum subtidal area. The mean density of macrobenthos was $345{\sim}838ind./m^2$ and the most dominant taxa was benthic polychaete. Opportunistic species such as E.cordatum, T.fragilis, H.filiformis, and Tharyx sp. were shown high appearance rate in study area. The dominance of these opportunistic species suggest that the benthic environment of study area was unstable due to environmental disturbance. But, there are only few point that these species were recorded high densities, and also equilibrium species was dominant, too. It means disturbance and un stability of benthic environment in Seamangeum was not serious yet. so the dynamics and trends of these opportunistic species should be concerned.

• Proceedings of the KIEE Conference
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• 1997.07c
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• pp.911-913
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• 1997

This paper presents a method for optima] placement of series capacitors in order to improve the power system transient stability, using genetic algorithms. For the formulation, this paper considers the objective function which is the energy margin as the difference between transient energy and critical energy. The most important factor in determining an accurate critical energy is the controlling unstable equilibrium point (UEP). This paper proposes the controlling UEP methods, concurrently with the DFP(Davidon-Fletcher-Powell) method, which enables the enhancement of multi-machine analysis. The proposed method is applied to 6-bus, 7-line, 4-machine model system to show its effectiveness in determining the locations to install series capacitors and the it's size to be installed in system, simultaneously.

• Journal of Institute of Control, Robotics and Systems
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• v.22 no.5
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• pp.346-352
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• 2016

This paper proposes an adaptive robust control method for an acrobot system in the presence of input disturbance. The acrobot system is a typical example of the underactuated system with complex nonlinearity and strong dynamic coupling. Also, disturbance can cause limit cycle phenomenon which appears in the acrobot system around the desired unstable equilibrium point. To minimize the effect of the disturbance, we apply a fuzzy disturbance estimation method for the swing-up and balancing control of the acrobot system. In this paper, both disturbance observer and controller for the acrobot system are designed and verified through mathematical proof and simulations.

• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 2000.05a
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• pp.249-255
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• 2000

HRIV(Hybrid Rule-Interval Variation) method is presented to stabilize a class of nonlinear systems, where SMC(Sliding Mode Control) and ADC (ADaptive Control) schemes are incorporated to overcome the unstable characteristics of a conventional FLC(Fuzzy Logic Control). HRIV method consists of two modes: I-mode (Integral Sliding Mode PLC) and R-mode(RIV method). In I-mode, SMC is used to compensate for MAE(Minimum Approximation Error) caused by the heuristic characteristics of FLC. In R-mode, RIV method reduces interval lengths of rules as states converge to an equilibrium point, which makes the defined Lyapunov function candidate negative semi-definite without considering MAE, and the new uncertain parameters generated in R-mode are compensated by SMC. In RIV method, the overcontraction problem that the states are out of a rule-table can happen by the excessive reduction of rule intervals, which is solved with a dynamic modification of rule-intervals and a transition to I-mode. Especially, HRIV method has advantages to use the analytic upper bound of MAE and to reduce Its effect in the control input, compared with the previous researches. Finally, the proposed method is applied to stabilize a simple nonlinear system and a modified inverted pendulum system in simulation experiments.