비병치 유연계의 시간지연 이산제어에서 한스텝선행 미분제어기의 특성

강민식,Kang, Min-Sig 대한기계학회 1993 대한기계학회논문집 Vol.17 No.7

This paper considers a time delay control of noncolocated flexible mechanical systems in discrete time domain. A stability criterion suggested in the previous paper is,extended in the consideration of infinite mode property of flexible systems and finite control sampling frequency. Based on the stability criterion, the one step advanced discrete time derivative control is suggested, which can stabilize infinite number of modes of a flexible system. The sensitivity analysis shows the robustness of the one step advanced control to the system parameter uncertainties and time delay errors. Application to a simply supported beam verifies the extended stability criterion and the effectiveness of the one step advanced D-control.

관성형 능동 댐퍼를 이용한 구조물 진동 제어에서 댐퍼 질량의 변위 제한을 고려한 FxLMS 알고리즘

강민식,Kang, Min Sig 한국군사과학기술학회 2021 한국군사과학기술학회지 Vol.24 No.5

Engine is the main source of vibration that generates unwanted noise and vibration of vehicle chassis. Especially, in submarine applications, radiation of noise signatures can be detected at some distance away from the submarine using a sonar array. Thus quiet operation is crucial for submarine's survivability. This study addresses reduction of the force transmissibility originating from engines and transmitted to hull through engine mounts. An inertial damper, as an actuator of hybrid mount system, is addressed to reduce even further the level of vibration. Narrow band FxLMS algorithms are broadly used to cancel the vibration of engine mount because of its excellent performance of canceling narrow band noise. However, in real active dampers, the maximum displacement of damper mass is kinematically restricted. When the control input signal from the FxLMS algorithm exceeds this limitation, the damper mass will collide with the mechanical stops and results in many problems. Originated from these, a modified narrow band FxLMS algorithm based on the equalizer technique with the maximum allowable displacement of active damper mass is proposed in this study. Some simulation results showed that the propose algorithm is effective to suppress vibration of engine mount while ensuring given displacement constraint.

위치추적 시스템의 안정화 제어

강민식(Min Sig Kang),송원길(Won Gil Song),윤주홍(Ju Hong Yoon),김창재(Chang Jae Kim) 한국정밀공학회 1998 한국정밀공학회 학술발표대회 논문집 Vol.1998 No.5월

탄성 케이블로 구동되는 조작기 링크의 외란 관측기 기반 슬라이딩모드 제어

강민식(Kang, Min-Sig) 한국소음진동공학회 2012 한국소음진동공학회 논문집 Vol.22 No.10

Position tracking control of a link of a slave manipulator which needed to track the corresponding link of a master manipulator was addressed in this paper. Since driving torque from motor is transmitted through a set of flexible cable to link, the motion control system is modeled by a two-mass model connected with elastic coupling which has finite stiffness. Relative vibration of two-mass resonant system is a serious problem to operate manipulator. This paper proposed sliding mode control to reduce resonant vibration and fine position tracking control. Also, a pseudo-sliding mode control which uses a saturation function instead of a signum function was discussed and showed that the pseudo-sliding mode control can improve disturbance regulation performance as well as guarantees fine command tracking without chattering which is an inherent drawback of basic sliding mode control. In addition, a disturbance observer based sliding mode control has been suggested to improve disturbance regulation performance. The feasibility of the proposed control design was verified along with some simulation results.

기어와 유연축을 갖는 구동계로 구동되는 OTM 안테나 시선의 안정화 제어

강민식(Kang, Min-Sig),윤우현(Yoon, Wo-Hyun),이종비(Lee, Jong-Bee) 한국소음진동공학회 2011 한국소음진동공학회 논문집 Vol.21 No.10

In this study, an OTM(on-the-move) antenna which is mounted on ground vehicles and is used for mobile communication between vehicle and satellite while moving was addressed. Since LOS(line-of-sight) of antenna should direct satellite consistently while vehicle moving to guarantee high satellite communication quality, active antenna LOS stabilization is a core technology for OTM antenna. Stabilization of a satellite tracking antenna which consists of 2-DOF gimbals, an elevation gimbal over an azimuth gimbal, was considered in this study. In consideration of driving mechanism which consists of gear train and flexible driving shafts, a two-mass-system dynamic model coupled with vehicle motion was presented. An internal PI-control loop + outer PI-control loop structure has been suggested in order to damp the torsional vibration and stabilize control system. The classical pole-placement method was applied to design control gains. In addition, a vehicle motion compensation control beside of the feedback control loop has been suggested to improve LOS stabilization performances. The feasibility of the proposed control design was verified along with some experimental results.

마스터-슬레이브 조작기에서 제한된 힘반영제어기 구조를 고려한 Tendon 설계

강민식(Kang, Min-Sig),윤우현(Yoon, Woo-Hyun) 한국소음진동공학회 2009 한국소음진동공학회 논문집 Vol.19 No.10

In this work, a master-slave manipulator system which will be used for handling objects contaminated by radioactivity has been addressed. The links of manipulators are driven independently by individual motors installed on the base and the driving torque is transmitted through pre-tensioned tendons. Since the measurable variables are the positions and rates of master/slave motors, only a constrained specific bilateral control structure is available. In the consideration of the flexibility of the tendon and constrained control structure, we derived a necessity for tendon design to prevent uncontrollable vibration mode through a modal analysis. Based on a reduced rigid body model, a control design was suggested and tendons were selected. The feasibility of the proposed analysis and tendon design were verified along with some simulation results.

청주한씨의 연원과 시조 전승

강민식(Kang, Min-sig) 한국학중앙연구원 2013 장서각 Vol.0 No.30

삼한거족을 자처하는 청주한씨의 시조는 고려 개국공신 한란으로 알려져 있다. 그런데 실제 시조 전승과 성씨의 연원을 추적한 결과 이러한 전승 체계의 상한은 고려 말 조선 초를 상회하지 않는 것으로 밝혀졌다. 고려 말에 처음 시조 전승이 기록에 보이기 시작하였고, 조선 전기 공신과 외척으로 크게 성장하면서 시조와 상대 세계를 갖추게 된 것으로 보았다. 또한 청주한씨는 기자의 후예라 자처하는데, 임진왜란 직후에 형성된 전승 체계라 할 수 있으며 조선 말기까지도 다원적인 계보가 남아있었다. 그리고 성씨의 연원인 기자후예설은 임진왜란을 거치며 시조 전승과 결합하여 시조제단비의 건립과 족보 간행을 통해 족내외의 완성된 전승 체계를 마련하였다. The Cheongju Han family considers itself a great family in history and claims that Han-Ran, who contributed to the founding of the Koryo dynasty, is its forefather. However, the genealogical traces of the origin and the progenitor of the Cheongju Han family indicate that its family lineage was not formed until the late Koryo or the early Joseon dynasty. The Cheongju Han family’s genealogy was first recorded in the late Koryo period. Later on, its family lineage consolidated its structure while the family grew as a founding member of Joseon and the queen’s relatives. Although Cheongju Han saysthat the family is a descendant of Ki-Ja, its genealogy was shaped only after the Imjin War (the Japanese invasion of Korea), and several genealogical lines of the family remained until the end of Joseon Dynasty. The theory on the family’s lineage with Ki-Ja, which explains the root of the surname (“Han”), was combined with the tale of the progenitor. Thereafter, as the progenitor’s stone monument was erected and the family’s pedigree was printed, a solid family lineage system was established.

서동설화(薯童說話)의 생성과 전개

강민식 ( Min Sig Kang ) 韓國古代學會 2003 先史와 古代 Vol.19 No.-

552년 백제의 한강유역 포기[棄]와 신라,고구려의 밀약설(密約說)

강민식 ( Kang Min Sig ) 한국고대학회 2014 先史와 古代 Vol.40 No.-

백제 성왕은 고구려의 공세를 막아내고, 가야세력의 이탈을 막아야 하는 이중의 과제를 안고 있었다. 이러한 위기를 극복하기 위해 성왕은 공동의 적을 구체화하여 신라 혹은 가야와 왜 세력을 끌어들여 연합전선을 형성해 나갔던 것이다. 이탈과 배반을 막고 전쟁을 통해 영향 력을 강화하려는 의도였다. 성왕은 541년 신라와의 동맹 이후 가야지역에 대한 적극적인 정책으로 전환하면서 대가야 를 영향력 아래에 둘 수 있었고, 신라와 함께 고구려에 대한 적극적인 공세에 나서게 되었다. 그것은 고구려 내부에 사정을 적극 활용한 것이었지만, 상대적으로 신라의 도움 없이는 불가 능한 상황을 고려한 것이었다. 이러한 백제의 한계를 간파한 신라는 백제에게 참전에 따른 대가를 요구하게 되었고 이에 따라 백제는 550~551년 전역(戰役)의 결과로 얻은 상당 부분의 영토를 할양하게 된 것이다. 한편 544년 이래 성왕이 끊임없이 고구려와 신라의 공모를 언급한 것은 가야와 왜 세력을 영향권 아래 두려는 시도였다. 실제 551년까지 대고구려전에 신라가 포함된 연합군을 형성할 수 있었고, 이후 관산성 전투에도 가야와 왜의 병력을 동원할 수 있었다. 따라서 한강유역 회복 후 백제가 한성 평양지역을 포기하고 왕녀를 시집보낸 일 등이 단순히 신라와 고구려의 밀약에 따른 후퇴라기보다는 동맹의 실체였던 것이다. 결국 관산성 전투는 주변 정세에 따라 신라를 끌어들여 고구려를 공략하고 가야지역에 대한 우위를 차지한 후 신라에 대해 공세로 전환한 사건이었다. 그동안의 외교활동을 통해 대가야와 왜 연합군을 이루어 마침내 신라에 대한 총공세를 단행한 것이다. From the beginning of King Seong`s reign, Baekje suffered from Goguryeo`s military attacks, and after being defeated by Goguryeo in the Battle of 529, Baekje moved its capital. King Seong had two important missions: he had to defend Baekje from Goguryeo on the one hand, and he had to keep Kaya from breaking away on the other. In order to overcome the crisis, King Seong carried out a dual foreign policy. Clearly indentifying the mutual enemy, he formed an alliance with Silla or Kaya and with Japan. This was to fortify its power through war as well as to prevent the severance of the alliance. From the year 523 to 538, Baekje kept two war fronts. On the northern front, Baekje was struggling with Goguryeo`s attacks, and on the southern front, it was in conflict with Kaya over the occupation of the Sum-Jin Basin. Baekje conducted a non-violent campaign in the Anla region; however, after Geum-Gwan Kaya surrendered to Silla, it fell into a difficult situation. After the year of 541, Baekje implemented an aggressive foreign policy in the Kaya region. As a result, Baekje was able to put Dae Kaya under its control. Also, after the annexation with Silla, Baekje launched aggressive military assaults against Goguryeo. Baekje was able to do this by taking advantage of Goguryeo`s state of internal affairs at that time. However, it would have been impossible if it were not for the help of Silla. Silla, recognizing the importance of its role, demanded compensation for its military assistance, and Baekje ceded Silla a large portion of territory that it had gained between 550 and 551. In the mean time, King Seong constantly claimed that Baekje was being attacked by the allies of Goguryeo and Silla, with the intent to draw Kaya and Japan into its forces. Through this strategy, Backje, until 551, was able to form an alliance that included Silla during the battles with Goguryeo, and to mobilize troops from Kaya and Japan during the battles with Silla. Hence, it is problematic to view Baekje`s resignation of Hansung and Pyongyang nd the marrying of its princess to the King of Silla as an act of retreat, simply a esult of Silla and Goguryeo`s secret treaty. Although the treaty was for the mutual nterests of Silla and Goguryeo, as evidenced in the erection of the Hwangchoryong nd Maunryong steles(568), it is problematic to view Silla`s occupation of the Han asin and its northeastern territorial expansion after the Gwansansung Battle simply as a esult of the secret treaty with Goguryeo. To conclude, the Gwansansung Battle was ntended to be a turning point for Baekje. It was a battle in which Baekje planned to ttack Goguryeo with the help of Silla, to take Kaya under control, and then, to attack illa.

케이블 진동 측정을 통한 실시간 케이블 장력 추정

강민식(Min Sig Kang) 한국소음진동공학회 2018 한국소음진동공학회 논문집 Vol.28 No.1