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컨테이너 크레인의 흔들림 제어 (Part II): 트롤리 주행속도 조절을 통한 진자운동의 제어
홍금식,손성철,이만형,Hong, Keum-Shik,Sohn, Sung-Chull,Lee, Man-Hyung 제어·로봇·시스템학회 1997 제어·로봇·시스템학회 논문지 Vol.3 No.2
Six different types of velocity profiles of trolley movement of a container crane are investigated for the minimal sway angle at the target trolley position. Three velocity patterns which include trapezoidal, stepped and notched-type velocity patterns are obtained assuming constant rope length. The notched type velocity pattern is shown to be derived from the time-optimal bang-bang control. The stepped type velocity pattern can be shown to be derived as bang-off bang control as well. Considering the damping effect due to hoist motion a double stage acceleration pattern is also analyzed. The main objective of the paper is to show how much time-reduction can be obtained among several velocity patterns appearing in the literature.
Note on behavior of a coupled nonautonoumous ordinary differential equation
홍금식,한명철,이석,윤중선,Hong, Keum-Shik,Han, Myung-Chul,Lee, Suk,Yun, Joong-Sun Institute of Control 1995 제어·로봇·시스템학회 논문지 Vol.1 No.1
결합된 시변 상미분 방정식의 해외 점근적 성질에 관한 연구이다. 리아프노프 직접 방법에 의하면 평등 안정성(uniform stability)만 얻어졌을 경우이지만, 추가적으로 상태 벡터 중 일부가 0으로 점근적 수렴함을 보이는데 있다. 얻어진 결과는 특히 불변원리(invariance principle)가 성립하지 않는 시변 시스템에 유용하다.
컨테이너의 자동랜딩을 위한 레이저센서 기반의 절대위치 검출 알고리즘: 2차원 측정 (Part II)
홍금식,임성진,강민우,Hong, Keum-Shik,Lim, Sung-Jin,Kang, Min-Woo 한국해양공학회 2007 韓國海洋工學會誌 Vol.21 No.4
In contrast to the method in Part I, which is considered to be the general approach, Part II pursues a closed-form solution. However, this closed-form solution is available only in the 2D situation under the assumption that the moving object is restricted to a 2D space, and also requires the use of only two laser-slit sensors. Since the motion of the container loaded on top of an AGV is restricted to a plane parallel to the ground, it can be considered a 2D motion. As a simple method, but with a high cost, the use of a laser scanner is also discussed. Since the approach in Part I already uses three laser-slit sensors, it is desirable to use the schemes presented in Part II for supplementary purposes.
Control of Axially Moving Systems: A Review
홍금식,Phuong-Tung Pham 제어·로봇·시스템학회 2019 International Journal of Control, Automation, and Vol.17 No.12
This paper presents a comprehensive review of significant works on active vibration control of axially moving systems. Owing to their broad applications, vibration suppression techniques for these systems have generated active research over decades. Mathematical equations for five different models (i.e., string, beam, coupled, plate, and approximated model) are outlined. Active vibration control of axially moving systems can be performed based on a finite-dimensional model described by ordinary differential equations (ODEs) or an infinite-dimensional model described by partial differential equations (PDEs). For ODE models, the sliding mode control is most representative. For PDE models, however, there exist various methods, including wave cancellation, Lyapunov method, adaptive control, and hybrid control. Control applications (lifting systems, steel industry, flexible electronics, and roll-to-roll systems) are also illustrated. Finally, several issues for future research in vibration control of axially moving systems are discussed.