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전기식 2-축 대부하 플랫폼의 함정운동에 대한 고성능 자세 안정화 제어장치 설계에 관한 연구
최병창(Byungchang Choi),김동욱(Donguk Kim) 대한전자공학회 2018 전자공학회논문지 Vol.55 No.6
본 논문에서는 전기식 2-축 대부하 플랫폼(THLP)의 함정운동에 대한 자세 안정화 및 추적 구동 제어장치 설계에 관한 연구내용을 기술하였다. 외부통제장치에서 전송하는 진북기준의 고각 및 방위각 명령을 THLP 구동명령으로 변환하는 규칙과 함정운동을 포함한 THLP 구동장치의 동역학 모델을 도출하였다. 자세 안정화 제어기를 설계하기 위해 매트랩/시뮬링크 모델을 개발하였다. 위치제어기는 APTOS 제어기를 제안하였고, 전류와 속도제어기는 안티 와인드업 제어기가 적용된 비례적분 제어기로 설계되었다. 각 제어기의 이득들은 오버슈트가 발생하지 않으면서 자세 안정화 제어 오차가 가장 작은 값을 가지도록 결정되었다. 2-축 대부하 플랫폼과 플랫폼제어기의 시제품을 제작하여 함정운동 모사장치를 이용하여 설계된 알고리즘의 유효성을 검토하고 개선하였다. 정의된 함상상태 4의 함정운동 환경에서 임의의 고각 및 방위각 동시 추적구동 명령에 대한 안정화 및 추적 제어 성능이 요구 성능을 만족하였다. 개발된 모델링은 정밀자세제어를 수행하는 다른 대부하 시스템의 설계 시 적용가능 할 것이라 판단된다. A design research of the electrical two-axis heavy load platform(THLP) attitude-stabilization-controller(ASC) for ship motions is described in this paper. The methods to transform to the actual drive command of the THLP from elevation and azimuth command of true north, and the dynamics model of the THLP’s actuators which includes ship motions are derived. Matlab simulink model is developed to design the attitude stabilization controller. APTOS position controller is proposed as a position controller and the P-I controller with anti-windup controller is designed as a speed and current controller. Gain of the each controller is determined to have a minimum control error of attitude stabilization, and it should not have any overshoot. The THLP and platform controller prototype were built and they were used to verify and improve the effectiveness of designed algorithm using ship motion simulator. Stabilization and tracking control performances under the defined sea state 4 ship motions met the requirement sufficiently by performing simultaneous tracking driving commands of elevation and azimuth. It is possible to apply the developed models to the design of any other heavy load systems required accurate attitude control in the future.
성병창(Sung ByungChang),김달효(Kim DalHyo) 한국교육행정학회 2007 敎育行政學硏究 Vol.25 No.2
지방교육자치제의 시대적 흐름에 따라 각 시ㆍ도의 교육 및 학예의 권한과 책임을 갖는 교육감의 지위는 더욱 중요시 되고 있다. 그러나 교육감 선출의 방식과 과정에 문제점이 지적되어 왔고, 지속적인 변화를 거쳐 2006년 말경에는 주민직선제에 의해 선출되는 것으로 개정되었다. 그리고 2007년 2윌 14일에는 전국 중 부산에서 가장 먼저 교육감 주민직선제가 실시되었다. 이에, 본 연구에서는 부산시내에 소재하는 초ㆍ중등학교 교원들을 대상으로 교육감 주민직선제에 관한 전반적인 인식을 조사하여 시사점을 제공하고자 하였다. 연구방법으로, 부산시내에 소재하는 초ㆍ중등학교 교원 1,200명을 대상으로 설문조사를 하였고, 자료처리는 단순빈도분석 및 x² 검증을 사용하였다. 주요 연구결과로는, 교육감 선출방식 변화의 인지도에서 여교원보다는 남교원이, 20대부터 40대의 교원보다는 50대 이상의 교원이, 초등학교 및 중학교 교원보다는 고등학교 교원이, 일반교사 및 부장교사보다 교장 및 교감이 좀 더 잘 알고 있는 것으로 나타났다. 그리고 대부분의 교원들이 교육감 주민직선제로의 변화에 반대를 많이 하였고, 반대의 이유로는 ‘교육에 대해 잘 모르는 일반시민이 교육감을 선출하기 때문에’를 가장 높게 꼽았다. The purpose of this study was to investigate the recognition of elementary and secondary school teachers' about inhabitants' direct election for superintendent. And simple frequency analysis and x² test were used as research methods. The results of this study are as follow. First, male teachers know better than female teachers, high school teachers know better than elementary and middle school teachers, and principals and vice-principals know better than general teacher about the change of election procedures for superintendent. Second, most teachers objected to the change of inhabitants' direct election for superintendent. And most teachers chose 'inhabitants who do not know well about education elect superintendent' as the main reason of the objection. Third, most teachers chose 'if good candidates run for superintendent', 'if election day becomes temporary holiday', 'if participation of election can be easy' as the main condition of more positive participation of inhabitants' direct election for superintendent. Fourth, most teachers chose 'inhabitants' indifference about election for superintendent' as the main cause of the low participation ratio of inhabitants' direct election for superintendent. Fifth, many teachers chose 'profession on education', 'right vision on education' as the main virtue for superintendent. Sixth, many teachers chose 'normalization of public education', 'quit of administration for exposition' as the main expectation for superintendent. Seventh, most teachers chose 'advantage of political candidates', 'indifference about election', 'the winning possibility of non-expert on education' as the main problems of inhabitants' direct election for superintendent.
배관계 파손 감지 센서 네트워크 설계를 위한 확률론적 시뮬레이션 모델
김정언(Chungeon Kim),오현석(Hyunseok Oh),정병창(Byungchang Jung),신윤호(Yun-ho Shin) 대한기계학회 2018 대한기계학회 춘추학술대회 Vol.2018 No.12
With the emphasis on safety and reliability for key infrastructure structures such as power and petrochemical plants, structural health monitoring received significant attentions from the academia and industry. In this paper, a simulation model for optimal sensor network design is proposed to detect the fracture of the pipeline systems. A water distribution system simulation model, EPANET, is incorporated to compute the pressure at individual nodes in pipeline systems. However, a deterministic approach for the sensor network design is limited due to uncertainties and inherent randomness of real-world systems. Thus, a probabilistic approach is used to calculate the response of simulation models in this study. A parametric study is conducted to evaluate the effect of uncertain input parameters on the simulation responses. Finally, the optimal sensor network is designed using the proposed simulation model and the mixed-integer nonlinear programming. To evaluate the performance of the proposed simulation model, a case study of a pipeline system testbed is presented.
손미아 ( Mia Son ),전거송 ( Geo-song Jeon ),배동철 ( Dong-chul Bae ),손병창 ( Byungchang Son ),김태운 ( Taeun Kim ),윤재원 ( Jae-won Yun ) 한국산업보건학회 (구 한국산업위생학회) 2021 한국산업보건학회지 Vol.31 No.2
Objectives: To investigate the trends of industrial injuries among long-term health care workers in Korea Methods: T7866 injuries were selected from the total industrial injuries approved by the Industrial Accident Compensation Insurance Act(Occupational Safety and Health Act) among long-term health care workers between 2007 and 2016 in Korea. We analyzied the trends of industrial injuries according to work process, occurrence type, and causes. Results: The industrial injuries among long-term health care workers increased since 2012. The mostly occurred area for industrial injuries were low back areas, which is related that the most serious industrial injuries occurred when the one long-term healthcare worker lift manually the recipient, from bed(ondol, Korean floor heating system) to a wheelchair, bed to bath bed, and wheelchair to bath chair. In addition to this, lack of workforce, increased work intensity due to overwork contributed the increasing of occupational injury. Conclusions: This study suggests that the main causes of industrial injuries were Lack of facilities and equipment for small private long-term care institutions, The physical load that goes into lifting the recipient directly, work intensity such as excessive workload and increased work speed. We suggest that the social publicization of long-term care service for the elderly, avoiding ways to lift recipients directly, introducing lifting machines as well as improving working methods, and reducing the workload of caregivers are required.