구분적선형시스템을 이용한 해양 구조물의 거동분석

마호성 한국전산구조공학회 1997 전산구조공학 Vol.10 No.4

A piecewise-linear system is utilized to model the offshore mooring system. The approximated piecewise-linear restoring force is obtained to be compared with the analytically derived restoring force of a mooring system. Two systems are compared to verify the applicability of the piecewise-linear system to evaluate responses of the mooring system. Using the piecewise-linear system, the response behaviors of mooring systems are examined under various excitations. Nonlinearity of the system and effects of both system and excitation parameters are intensively examined. System responses are identified mainly by observing Poincare maps. The mooring system is found to have various types of responses such as regular harmonic, subharmonic and complex nonlinear behaviors, including chaos by utilizing a piecewise-linear system. Various values of parameters are applied to determine the effects of parameters upon system responses. Response domains are determined by establishing parametric maps. 해양계선시스템(offshore mooring system)의 거동을 구분적선형시스템(piecewise-linear system)을 이용하여 분석하였다. 계선시스템의 복원력을 유도하고 거기에 상응하는 근사치 구분적선형시스템의 복원력을 구하여 두 시스템의 복원력을 비교하였다. 다양한 파력 하에서의 계선시스템의 응답거동을 분석하였다. 시스템의 비선형정도 및 매개변수의 영향에 대하여 집중적으로 연구하였다. 시스템의 응답거동의 특성은 포인케어맵(Poincare map)을 통하여 확인하였다. 구분적선형시스템을 이용하여 분석한 결과, 계선시스템은 일반 조화, 열조화 및 복잡한 비선형거동인 chaos를 포함한 다양한 응답거동을 갖음을 알아냈다. 여러 값의 매개변수를 적용하여 시스템의 응답거동에 미치는 영향을 알아냈으며, 매개변수지도를 통하여 응답거동의 영역을 확인하였다.

구분적선형시스템을 이용한 해양 구조물의 거동분석

마호성 한국전산구조공학회 1997 한국전산구조공학회논문집 Vol.10 No.4

해양계선시스템(offshore mooring system)의 거동을 구분적선형시스템(piecewise-linear system)을 이용하여 분석하였다. 계선시스템의 복원력을 유도하고 거기에 상응하는 근사치 구분적선형시스템의 복원력을 구하여 두 시스템의 복원력을 비교하였다. 다양한 파력 하에서의 계선시스템의 응답거동을 분석하였다. 시스템의 비선형정도 및 매개변수의 영향에 대하여 집중적으로 연구하였다. 시스템의 응답거동의 특성은 포인케어맵(Poincare map)을 통하여 확인하였다. 구분적선형시스템을 이용하여 분석한 결과, 계선시스템은 일반 조화, 열조화 및 복잡한 비선형거동인 chaos를 포함한 다양한 응답거동을 갖음을 알아냈다. 여러 값의 매개변수를 적용하여 시스템의 응답거동에 미치는 영향을 알아냈으며, 매개변수지도를 통하여 응답거동의 영역을 확인하였다. A piecewise-linear system is utilized to model the offshore mooring system. The approximated piecewise-linear restoring force is obtained to be compared with the analytically derived restoring force of a mooring system. Two systems are compared to verify the applicability of the piecewise-linear system to evaluate responses of the mooring system. Using the piecewise-linear system, the response behaviors of mooring systems are examined under various excitations. Nonlinearity of the system and effects of both system and excitation parameters are intensively examined. System responses are identified mainly by observing Poincare maps. The mooring system is found to have various types of responses such as regular harmonic, subharmonic and complex nonlinear behaviors, including chaos by utilizing a piecewise-linear system. Various values of parameters are applied to determine the effects of parameters upon system responses. Response domains are determined by establishing parametric maps.

보행보조시스템의 조작 편리성 향상을 위한 사용자의 선속도 및 회전각속도 검출 알고리즘

김병철,이원영,엄수홍,장문석,김평수,이응혁 한국재활복지공학회 2016 재활복지공학회논문지 Vol.10 No.4

본 논문에서는 신체의 노화로 인해 보행활동이 제한되는 고령자가 사용하는 전동형 보행보조시스템의 조작 편리성 향상을 위해 기존의 조작 기법인 보행의지 기법과 융합이 가능한 보행상태 기법을 제안한다. 이것은 사용자가 핸들바를 파지하고 있는지 여부를 파악하고 그에 따라 사용자의 보행의지를 판별하는 단순 트리거 신호로 사용한다. 또한 보행의지 파악을 위한 사용자의 보행상태 확인은 레이저 거리 측정 장치를 사용하여 검출된 사용자의 선속도와 회전각속도를 보행보조시스템 중심의 선속도와 회전각속도로 사용한다. 이를 위해 사용자의 양측 다리 중심점을 추정하여 가상의 인체중심점 검출 기법을 제안한다. 실험은 보행자의 선속도 및 회전각속도와 보행보조시스템 중심의 선속도 및 회전각속도를 비교 분석하는 실험을 진행하였다. 실험 결과, 사용자와 보행보조시스템 중심 간에 선속도와 회전각속도의 오차율은 각각 1%와 2.77%로 나타냈으며, 이는 사용자의 선속도와 회전각속도를 보행보조시스템의 양측구동기, 속도산출기에 적용이 가능한 것으로 확인했다. 이를 통해 본 논문에서 제안하는 보행의지 기법과 보행상태 기법을 융합한다면 사용자가 보행보조시스템에 끌려가는 현상과 조작 미숙으로 인한 오작동 등이 예방 가능할 것으로 확인되었다. In this paper, we propose a walk status method which can be fused with conventional walk intention method to improve convenience of an electric assistive walking system for elder people with restricted walking capabilities. The system uses a handlebar as a trigger and regards grabbing a handlebar as expressing will to walk. And the system uses a user’s linear velocity and angular velocity as linear velocity and angular velocity of a system, checked by laser range finder. To achieve this, we propose a method to find a virtual central point of a human body by estimating a central point between two legs. The experiments are carried out by comparing user’s linear velocity and angular velocity, and system’s linear velocity and angular velocity. The results show that the error of linear velocity and angular velocity between a user and a system are 1% and 2.77%, which means the linear velocity and angular velocity of a user can be applied to a system. And it is confirmed that the proposed fusion method can prevent a user from being dragged by an assistive walking system or a malfunction caused by lack of experience

Ill- versus well-posed singular linear systems: scope of randomized algorithms

S.K. Sen,Ravi P. Agarwal,Gholam Ali Shaykhian 한국전산응용수학회 2009 Journal of applied mathematics & informatics Vol.27 No.3

The linear system Ax = b will have (i) no solution, (ii) only one non-trivial (trivial) solution, or (iii) infinity of solutions. Our focus will be on cases (ii) and (iii). The mathematical models of many real- world problems give rise to (a) ill-conditioned linear systems, (b) singular linear systems (A is singular with all its linearly independent rows are suffi- ciently linearly independent), or (c) ill-conditioned singular linear systems (A is singular with some or all of its strictly linearly independent rows are near-linearly dependent). This article highlights the scope and need of a randomized algorithm for ill-conditioned/singular systems when a reason- ably narrow domain of a solution vector is specified. Further, it stresses that with the increasing computing power, the importance of randomized algorithms is also increasing. It also points out that, for many optimization linear/nonlinear problems, randomized algorithms are increasingly domi- nating the deterministic approaches and, for some problems such as the traveling salesman problem, randomized algorithms are the only alterna- tives. The linear system Ax = b will have (i) no solution, (ii) only one non-trivial (trivial) solution, or (iii) infinity of solutions. Our focus will be on cases (ii) and (iii). The mathematical models of many real- world problems give rise to (a) ill-conditioned linear systems, (b) singular linear systems (A is singular with all its linearly independent rows are suffi- ciently linearly independent), or (c) ill-conditioned singular linear systems (A is singular with some or all of its strictly linearly independent rows are near-linearly dependent). This article highlights the scope and need of a randomized algorithm for ill-conditioned/singular systems when a reason- ably narrow domain of a solution vector is specified. Further, it stresses that with the increasing computing power, the importance of randomized algorithms is also increasing. It also points out that, for many optimization linear/nonlinear problems, randomized algorithms are increasingly domi- nating the deterministic approaches and, for some problems such as the traveling salesman problem, randomized algorithms are the only alterna- tives.

The Control of Nonlinear Thermal System with Large Delay Time Using Feedback Linerarization Strategy

Seiyed Hamid Zareh,Ali-Fellah Jahromi,Amir Ali Khayyat 제어로봇시스템학회 2011 제어로봇시스템학회 국제학술대회 논문집 Vol.2011 No.10

This paper first will describe the Feedback Linearization Method when the Proportional-Integral-Derivative (PID) controllers are inactive in procedures that have large delay time (LDT) in transfer stage. Therefore in those states, Feedback Linearization has a better performance with respect to PID controllers. Feedback linearization is a common approach used in controlling nonlinear systems by an equivalent linear system through a change of variables and a suitable control input. This nonlinear control strategy studies how to apply existing linear methods to these more general control systems. Eventually, a nonlinear thermal system, which circulates hot air to keep the temperature of a chamber constant have been linearized and control by Feedback Linearization theory and finally the results are analyzed and compared.

Hydraulic Control System Using a Feedback Linearization Controller and Disturbance Observer - Sensitivity of System Parameters -

Kim, Tae-hyung,Lee, Ill-yeong,Jang, Ji-seong The Korean Society for Fluid Power and Constructio 2019 드라이브·컨트롤 Vol.16 No.2

Hydraulic systems have severe nonlinearity inherently compared to other systems like electric control systems. Hence, precise modeling and analysis of the hydraulic control systems are not easy. In this study, the control performance of a hydraulic control system with a feedback linearization compensator and a disturbance observer was analyzed through experiments and numerical simulations. This study mainly focuses on the quantitative investigation of sensitivity on system uncertainties in the hydraulic control system. First, the sensitivity on the system uncertainty of the hydraulic control system with a Feedback Linearization - State Feedback Controller (FL-SFC) was quantitatively analyzed. In addition, the efficacy of a disturbance observer coupled with the FL-SFC for the hydraulic control system was verified in terms of overcoming the control performances deterioration owing to system uncertainty.

Hydraulic Control System Using a Feedback Linearization Controller and Disturbance Observer - Sensitivity of System Parameters -

Tae-hyung Kim,Ill-yeong Lee,Ji-seong Jang 유공압건설기계학회 2019 드라이브·컨트롤 Vol.16 No.2

Hydraulic systems have severe nonlinearity inherently compared to other systems like electric control systems. Hence, precise modeling and analysis of the hydraulic control systems are not easy. In this study, the control performance of a hydraulic control system with a feedback linearization compensator and a disturbance observer was analyzed through experiments and numerical simulations. This study mainly focuses on the quantitative investigation of sensitivity on system uncertainties in the hydraulic control system. First, the sensitivity on the system uncertainty of the hydraulic control system with a Feedback Linearization - State Feedback Controller (FL-SFC) was quantitatively analyzed. In addition, the efficacy of a disturbance observer coupled with the FL-SFC for the hydraulic control system was verified in terms of overcoming the control performances deterioration owing to system uncertainty.

인덱서 시스템에 대한 횡축형 선형 전동기의 적용에 관한 연구

김지원,안종보,강도현,장정환,김장목,방덕제,전진용 전력전자학회 2004 전력전자학회 논문지 Vol.9 No.6

기존의 선형 이송 시스템은 구동원으로 서보 모터를 사용하고 있다. 서보 모터의 회전 운동을 직선 운동으로 변환하기 위해서는 기계적인 동력전달 장치가 필요하며, 이는 위치 오차의 발생이나 주기적인 시스템의 유지보수의 필요성 등의 문제점을 야기한다. 본 논문에서는 단위 체적당 추력비가 기존의 모터에 비해 우수한 횡축형 선형전동기를 이용하여 LCD 공정에 사용되는 인덱서(indexer) 시스템의 선형 추진부에 적용하는 연구를 수행하였다. 실험결과 횡축형 선형전동기는 가속능력, 최대속도 및 위치결정 정밀도 등에서 인덱서 시스템에 적용하기에 적합한 것을 검증하였다. The servo motor is used for the driving power source of the conventional linear conveyor system. The mechanical power transfer system is needed for converting the circular to the linear operation. But this system causes some problems of position error, the necessity of the periodical maintenance. In this paper the study on application of transverse flux linear motor(TFLM) is carried out for the indexer system of LCD processing because TFLM has much thrust per a volume than the conventional motor. TFLM is suitable system for the indexer system because of capacity of acceleration, maximum speed and precision of the position, etc.

Hydraulic Control System Using a Feedback Linearization Controller and Disturbance Observer - Sensitivity of System Parameters -

김태형,이일영,장지성 사단법인 유공압건설기계학회 2019 드라이브·컨트롤 Vol.16 No.2

Hydraulic systems have severe nonlinearity inherently compared to other systems like electric control systems. Hence, precise modeling and analysis of the hydraulic control systems are not easy. In this study, the control performance of a hydraulic control system with a feedback linearization compensator and a disturbance observer was analyzed through experiments and numerical simulations. This study mainly focuses on the quantitative investigation of sensitivity on system uncertainties in the hydraulic control system. First, the sensitivity on the system uncertainty of the hydraulic control system with a Feedback Linearization - State Feedback Controller (FL-SFC) was quantitatively analyzed. In addition, the efficacy of a disturbance observer coupled with the FL-SFC for the hydraulic control system was verified in terms of overcoming the control performances deterioration owing to system uncertainty.

Model Reduction for the Descriptor Systems by Linear Matrix Inequalities

오도창,정은태 제어·로봇·시스템학회 2010 International Journal of Control, Automation, and Vol.8 No.4

In this paper we propose the singular structure preserving model reduction for SISO(single-input/single-output) descriptor systems. A continuous-time descriptor system is decomposed into the slow system and the fast system, and then the fast system is projected into a discrete-time system with controllability and observability matrices the same as those of the original fast system. As a result, we found the respective solutions of H2 and H∞ model reduction problems for the singular system using corresponding linear matrix inequalities. Especially frequency weighted H∞ model reduction and mixed H2 and H∞ model reduction are suggested as giving better frequency characteristics. The validity of the proposed method is shown by a numerical example.