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컨테이너 크레인의 모델링 및 로버스트 제어에 관한 연구
양주호(J. H. Yang),김영완(Y. W. Kim),최교호(G. G. Choi),정황훈(H. H. Jeong) 한국동력기계공학회 2004 한국동력기계공학회 학술대회 논문집 Vol.- No.-
This paper introduce the anti-sway control for container crane. We have separated the system two parts and modeled mathematically for container crane. One is the container part having swing motion and the other is the actuator part with a auxiliary mass. The actuator part is installed on the spreader and have a small auxiliary mass which reduce swing motion in the desired manner. In this paper, the H∞ control theory was used in this control system to get robust controller. It's shown that the desirable performances is confirmed through the mathematical simulation. That is the robustness of this control system which use H∞ control theory is confirmed for the ability of disturbance rejection and modeling error.
트랜스퍼 크레인의 이송위치제어를 위한 서보계 설계 : 가중 H<sub>∞</sub> 오차사양을 만족하는 동일차원 관측기 설계
김영복(Y. B. Kim),정황훈(H. H. Jeong),양주호(J. H. Yang),문덕홍(D. H. Moon),황이철(I. C. Hwang) 한국동력기계공학회 2008 한국동력기계공학회 학술대회 논문집 Vol.2008 No.11
The most important job in the container terminal area is to handle the cargo effectively in the limited time. To achieve this object, many strategies have been introduced and applied to. If we consider the automated container terminal, it is necessary that the cargo handling equipments are equipped with more intelligent control systems. From the middle of the 1990's, an automated rail-mounted gantry crane(RMGC) and rubber-tired gantry crane(RTG) have been developed and widely used to handle containers in the yards. Recently, in these cranes, the many equipments like CCD cameras and sensors are mounted to cope with the automated terminal environment. In this paper, we try to support the development of more intelligent automated cranes which make the cargo handling be performed effectively in the yards. For this plant, the modelling, tracking control, anti-sway system design, skew motion suppressing and complicated motion control and suppressing problems must be considered. Especially, in this paper, the system modelling and tracking control approach are discussed. And, we design the tracking control system incorporating an observer based on the 2DOF servosystem design approach to obtain the desired state informations. In the case of observer design, a weighted error bound approach for a state estimator is considered. Based on an algebraic Riccati equation(inequality) approach, a necessary and sufficient condition for the existence of a full-order estimator which satisfies the weighted H<sub>2</sub> error bound is introduced. Where, the condition for existence of the estimator is denoted by a Linear Matrix Inequality(LMI) which gives an optimized solution and observer gain. Based on this result, we apply it to the tracking control system design for the transfer crane.
양주호(J. H. Yang),정황훈(H. H. Jeong),김영완(Y. W. Kim) 한국동력기계공학회 2005 한국동력기계공학회 학술대회 논문집 Vol.- No.-
The suspension system is to be classified into two types. One is the suspension installed between a car-body and a wheel. It is used for coupling a car-body and a wheel and decrease shock from the road surface. The other type called the seat-suspension is installed under the seat. So this type of seat-suspension is limited at space, because of severely limited freedom of layout in the cab interior. Recently, the studies of the seat-suspension using magnet and MR damper which have even less space than the conventional type suspension. In this paper, we concern about to make the mathematical model and to design controller of the suspension with MR damper using Fuzzy control. And the simulation result is shown that the proposed controller is useful.
양주호(J. H. Yang),정황훈(H. H. Jeong),최교호(G. H. Choi),정광교(G. G. Jeong) 한국동력기계공학회 2004 한국동력기계공학회 학술대회 논문집 Vol.- No.-
F-NFS is that fuzzy inference based Neuro-Fuzzy System. It take aim at intelligently system model that can do learning, reasoning, memorizing and recognizing as human's thinking action. But F-NFS couldn't use learning rule to study learning set for neural network. Because it had structural fuzzy inference part. This study consider about F-NFS's learning method with GA. It take aim at learning F-NFS without any special learning method. And it also can deduce inference part from learning set, neural network's weighting matrix, bias matrix.
양주호(J. H. Yang),정황훈(H. H. Jeong),김영완(Y. W. Kim),최교호(G. H. Choi) 한국동력기계공학회 2005 한국동력기계공학회 학술대회 논문집 Vol.- No.-
The magnetic bearing system is the plant that studied a lot because it hasn't only disadvantage like nonlinearity, unstability, high price but also has advantage like low fiction, low noise, low heat generating as one of discontacted mechanical elements. This MBS is controlled by PID, H infinite, Sliding mode and so on. These control method has disadvantage that need system parameter cleary or can't have high quality response easily. In this study concern about F-NFS(Fuzzy inference based Neuro-Fuzzy System) that have robust with high quality response as PID.
양주호(J. H. Yang),정황훈(H. H. Jeong),김영완(Y. W. Kim) 한국동력기계공학회 2006 한국동력기계공학회 학술대회 논문집 Vol.- No.-
The current type optional amplifier is the device that is used actuator for active load as motor's torque controller. This kind of amplifier need to make the circuit for actuator such as VCCS (voltage controlled current source), CCCS (current controlled current source). Normally, this study deal with VCCS because of control signal from DAC(Digital Analog Converter) is the voltage. The transfer function of VCCS is so complex that can't find the parameter easily. the engineer use data sheet to find the parameter with liner interpolation on the ground. but in this case, they can't find good quality output. And the method that can find parameter with transfer function is too difficult to search the parameter because of it has too large solution domain. The study concern about the method to find the VCCS's parameter with GA.