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H<SUB>∞</SUB>제어에 의한 전기ㆍ유압 서보계의 위치제어
박경섭(K. S. Park),김도태(D. T. Kim) 한국생산제조학회 2005 한국생산제조시스템학회 학술발표대회 논문집 Vol.2005 No.5
In this paper, a controller design procedure for an electro-hydraulic positioning systems have developed using H<SUB>∞</SUB> control theory. The generalized models and weighting functions for a multiplicative uncertainty modelling error is presented along with H<SUB>∞</SUB> controller designs in order to investigate the robust stability and performance. The multiplicative uncertainty case is specifically suited for the design of an electro-hydraulic positioning control systems using H<SUB>∞</SUB> control.
최희철,송준익,권두중,곽정훈,양창범,유용희,박영태,박경섭,박동금,김용국,Choi, H.C.,Song, J.I.,Kwon, D.J.,Kwag, J.H.,Yan, C.B.,Yoo, Y.H.,Park, Young-Tae,Park, K.S.,Park, D.K.,Kim, Y.K. 한국축산환경학회 2007 축산시설환경학회지 Vol.13 No.3
본 시험은 축분을 이용한 활성탄소를 제조하는 기술을 개발하고 이의 활용방안을 연구하여 축분의 처리방법을 다변화하고 제조된 활성탄소의 토양개량재, 악취흡착재 등 농업적 이용을 모색하기 위하여 악취제거시험 등을 수행하였으며 그 결과는 다음과 같다. 1. 가축분을 건조, 펠렛화 과정을 거친 후 $400^{\circ}C$에서 1시간 탄화처리하고 $750^{\circ}C$에서 1시간 활성화처리시 활성탄소가 제조되었다. 2. 축분의 회분 함량은 돈분퇴비가 11.9%로 낮았으나 계분퇴비 29.8%, 젖소깔짚 40.7%로 높았다. 휘발성물질은 젖소깔짚 11.6%, 계분퇴비 18.8%, 계분 31.0%, 돈분퇴비 22.3% 이었으나 육계깔짚은 49.8%로 높았다. 3. 축분활성탄소의 비표면적은 계분퇴비 259.8, 계분 209.8, 돈분퇴비 442.3, 젖소깔짚 $812.9\;m^2/g$으로 야자각 활성탄소 $1,040\;m^2/g$ 보다 낮았으며 미세기공의 크기는 육계깔짚 $5.02\;{\AA}$으로서 큰 반면 젖소깔짚은 $0.39\;{\AA}$으로 야자각 활성탄소와 비슷하였다. 4. 축분활성탄소의 요오드 흡착능력은 $530{\sim}580mg/g$으로 야자각 활성탄소의 1,000 mg/g 보다 낮았다. 5. 암모니아가스의 흡착율은 계분이나 계분퇴비로 만든 활성탄소가 가장 낮았으며 젖소깔짚 활성탄소가 가장 높았으며 계분퇴비 활성탄소는 20분 경에 흡착 포화에 도달하는 반면 젖소깔짚 활성탄소는 40분이 되어서 흡착 포화에 도달하였다. 6. 황화수소의 경우 휘발성물질이 비교적 많은 육계깔짚, 계분퇴비, 산란계분 등으로 만든 활성탄소에서 흡착율이 낮았으며 젖소깔짚 활성탄소에서 높았다. This study was carried out to develop the technique for manufacturing activated carbon from livestock manure and to analyse it's odor absorptiveness. Each of layer manure(LM), litter from broiler house(BL) and litter from dairy barn(DL), compost from layer manure(LC) and pig manure(PC), and coconut shell(CS) was used as a raw material. Activated carbon by grinding the raw material, adding the coal tar as a binder, palletizing, drying, heating with $N_2$ gas at $400^{\circ}C$ for 1 hour, activating by reaction with steam at a temperature of $750^{\circ}C$ for 1 hour. Moisture contents of raw material was 44.9% in layer compost, 71.9% in layer manure, 24.4% in broiler litter, 47% in pig manure compost and 33.9% in dairy litter. Volatile matter in layer compost, layer manure, broiler litter, pig manure compost and dairy litter was 18.8%, 31.0%, 49.8%, 22.3% and 11.6%, respectively. Surface area(BET) of activated carbon from layer compost, layer manure, broiler litter, pig manure compost, dairy litter and coconut shell was 259.8, 209.8, 63.5, 442.3, 812.9 and $1,040\;m^2/g$, respectively. Activated carbon made by livestock manure or litter were examined with scanning electron microscope, and micropore was a type of sponge like particles honeycombed with chambers. Pore size of activated carbon was ranged from 0.39 to $5.02\;{\AA}$, but coconut shell was $0.30\;{\AA}$. Iodine absorptiveness of activated carbon from livestock manure was $530{\sim}580mg/g$. But activated carbon made by coconut shell was 1000 mg/g. Each activated carbon could absorb odor compound very well. Absorptiveness of activated carbon from layer manure for hydrogen sulfide and trimethyl amino was 74.5% and 73.9% at the accumulated flux of 60,000 ml, but, in the case of ammonia was only 15.2% at the accumulated flux of 10,000 ml