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Preliminary experimental results for neck injury in mobile robot-human constrained-collision
SooYong Yun,Jong-Hyeok Park,Ho-Yeon Kim,Kwan-Woong Gwak 제어로봇시스템학회 2016 제어로봇시스템학회 국제학술대회 논문집 Vol.2016 No.10
Following the increased use of mobile robots in the field, the injury problem caused by the collision between human and the mobile robot has become an issue of growing importance in the society. Neck injury is considered as one of the major injury mode in collision-induced injury. Hence in this paper, AIS of the neck injury was predicted using the index of neck injury on collision through the mobile robot-dummy collision tests.
Power Plant Pump Process Model Error Minimization Technique for Improving Simulator Fidelity
SooYong Yun,Kwan-Woong Gwak,Seung-Hyun Byun,Deockho Kim,Jaeyong Cho,Man-su Shin,ChangHyun Kim 제어로봇시스템학회 2021 제어로봇시스템학회 국제학술대회 논문집 Vol.2021 No.10
The power plant simulator is used to simulate the actual operation of a power plant, and for training and control verification. The simulator is built with the design data during the plant construction. The fidelity is low in the initial stage of operation because power plant modifications, deterioration, and logic corrections are not sufficiently reflected in a timely manner. To solve this problem, we propose a model error minimization technique for a pump process, one of the fundamental elements of the plant process, to improve fidelity. Model accuracy is improved by adjusting the parameters of the pump rated speed and characteristic curve based on the actual operating data. Performance is verified using actual operation data of the boiler feedwater pump in the circulating fluidized bed power plant.
다변수 제어성능 최적화를 위한 유전자 알고리즘 기반 발전소 PID 제어 파라미터 튜닝 기법
윤수용(SooYong Yun),이학성(Hak-Sung Lee),우주희(JooHee Woo),변승현(Seung-Hyun Byun),최인규(InKyu Choi),이주현(JooHyun Lee),서인용(In-Yong Seo) 대한전기학회 2020 전기학회논문지 Vol.69 No.1
PID controllers are widely used in the power plant control system. Generally, to calculate PID control parameters, the dynamic characteristics should be identified by investigating the variation of the process value according to the variation of the controller output. Based on this characteristics, several tuning methods can be applied to minimize the cumulative error based performance index. The applicability of ITAE(Integral Time Absolute Error) tuning method which has been studied for decades is determined by the range of time-delay/time-constant ratio. By using this method the fast rising time can be expected, but overshoot and oscillation are inevitable. These effects may lead to shorter life spans of the power plant materials because of excessive movement of the parts. To solve these problems, this paper proposed a PID tuning technique that minimizes cumulative error and overshoot simultaneously by applying genetic algorithm. The performance of the proposed PID tuning technique was verified using power plant simulator, and the performance was excellent compared with ITAE tuning method.