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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.
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.
강민식(Min Sig Kang) 한국소음진동공학회 2013 한국소음진동공학회 논문집 Vol.23 No.11
Measurement or estimation of tilt angle is necessary for balancing robot such as Segway which is considered as a next generation transportation vehicle. However, it requires high-cost accurate sensors to hold balancing during stationary and moving situations. In this paper, a tilt angle estimation of a plane rotating in a vertical plane using low-cost sensors. Estimation using a set of 2-axis orthogonal accelerometers along with an inaccurate rate gyro has been considered. Feasibility and performance of the proposed technique has been verified through some experimental results.
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.
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.