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소명옥(Myung-Ok So),오세준(Sae-June Oh),유희한(Heui-Han Yoo),남택근(Taek-Kun Nam),강인철(In-Chul Kang),이찬하(Chan-Ha Lee),최한우(Han-Woo Choi) 한국해양대학교 해사산업연구소 2001 海事産業硏究所論文集 Vol.11 No.-
An Inverted Pole is one of the control mechanism that has been frequently used to verify a control theory in the laboratory. It consists of a cart which slides on a ground stainless steel shaft. This paper is to design a LQ controller for an inverted pole system which is capable of maintaining the pole at vertical position. In this scheme a mathematical model for the system is obtained in state space representation. Finally the effectiveness of the proposed controller is verified through computer simulation of an inverted pole system.
항만효율향상을 위한 컨테이너 크레인의 강인한 제어기 설계
소명옥(Myung-Ok So),이영재(Young-Jae Lee),장하룡(Ha-Ryong Jang),유희한(Hei-Han Rhyu),오세준(Sae-June Oh),류길수(Keel-Soo Rhyu) 한국마린엔지니어링학회 2006 한국마린엔지니어링학회 학술대회 논문집 Vol.2006 No.-
In this paper we present an interpolation-LQ control technique which tunes continuously the gain of controller by interpolating the gain(Lagrangian interpolation method) of sub-LQ controllers. The proposed controller design technique is applied to the container crane system for simulations. Several cases of simulations are carried out in order to prove the control effectiveness and robustness. The simulation results of proposed controller are compared with those of LQ controller. The results showed better control performance than those of LQ controller.