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컨테이너 화물의 흔들림 방지를 위한 컨테이너 크레인의 LQ 제어기 설계
소명옥(Myung-ok So),이병찬(Byung-chan Lee),신선근(Sun-gun Shin),김동섭(Dong-sup Kim),최재준(Jae-jun Choi),이영재(Yung-jae Lee),이찬하(Chan-ha Lee) 한국해양대학교 해사산업연구소 2000 海事産業硏究所論文集 Vol.10 No.-
컨테이너 항만에서는 저렴한 비용으로 항만서비스의 질과 하역효율을 향상시키려는 노력이 꾸준히 이루어지고 있으며, 이를 해결하기 위한 방법으로 물류의 병목현상이 심한 컨테이너 크레인에 대한 자동화 연구가 활발하게 진행되고 있다. 크레인의 가ㆍ감속 운전으로 인해 필수적으로 수반되는 화물의 흔들림을 효율적으로 제어하면서 원하는 목표 위치에 화물을 빨리 이동시키는 것이 사이클 시간을 줄이고 하역 효율을 높이는 방법이며 크레인 자동화의 핵심 문제이다. 본 논문에서는 크레인의 트롤리를 가능한 빠른 속도로 목표지점으로 이동시키면서 목표점에서 화물의 흔들림이 빨리 제어되도록 하는 LQ 제어기의 설계 기법을 제안하고, 제안한 제어기에 대해 목표치 변경에 대한 추종성과 파라미터 변화, 외란 등의 제어환경 변화에 대한 강인성을 컴퓨터 시뮬레이션을 통해 검토하였다. Together with the recent increasing amount of container freight, the low efficiency of container crane causes jamming frequently in transportation and cargo handling at port. In this paper, a LQ controller for container crane is proposed to accomplish an optimal design of improved control system for minimizing the swing motion at destination. 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 a container crane system.
컨테이너 크레인을 위한 레일 클램프 유압 시스템의 3D 모델링
소명옥(Myung-Ok So),오세준(Sea-Jun Oh),권석경(Seok-Kyung Kwon),김다애(Da-Ae Kim),김진희(Jin-Hee Kim),이선호(Sun-Ho Lee),이정훈(Jeong-Hun Lee),천정성(Jeong-Sung cheon),황태웅(Tae-Woong Hwang),소건백(Gun-Baek So),강선이(Sun-Yi Kang),윤석 한국마린엔지니어링학회 2007 한국마린엔지니어링학회 학술대회 논문집 Vol.2007 No.-
본 연구는 컨테이너 크레인의 레일 클램프 유압 시스템을 3D로 모델링한고, 키보드나 마우스의 간단한 조작으로 분해조립을 실습할 수 있으며 실제 장비와 거의 유사하게 작동할 수 있는 컨테이너 크레인용 레일 클램프 유압 시뮬레이터를 개발하기 위한 기초에 목표를 둔다.
소명옥(Myung-Ok So),오세준(Sea-Jun Oh),김다애(Da-Ae Kim),김진희(Jin-Hee Kim),황태웅(Tae-Woong Hwang),이선호(Suh-Ho Lee),천정성(Jung-Sung Cheon),이정훈(Jung-Hun Lee),소건백(Gun-Baek So),강선이(Sun-Yi Kang),박하늘(Ha-Neul Park),이종은(Jon 한국마린엔지니어링학회 2007 한국마린엔지니어링학회 학술대회 논문집 Vol.2007 No.-
본 연구는 와이어 로프 텐션너의 유압 시스템을 3D로 모델링한고, 키보드나 마우스의 간단한 조작으로 분해조립을 실습할 수 있으며 실제 장비와 거의 유사하게 작동할 수 있는 로프 텐션너의 유압 시뮬레이터를 개발하기 위한 기초에 목표를 둔다.
소명옥(Myung-Ok So),이찬하(Chan-Ha Lee),오세준(Sea-Jun Oh),유희한(Heui-Han Yoo),박재식(Jae-Sik Park),최한우(Han-Woo Choi),이윤형(Yun-Hyung Lee),강인철(In-Chul Kang),남택근(Taek-Kun Nam) 한국해양대학교 해사산업연구소 2002 海事産業硏究所論文集 Vol.12 No.-
Nowdays marine diesel engines are becoming slow speed, long stroke and using fewer cylinders for saving fuel oil and increasing output per cylinder to get improved propulsion efficiency. Consequently the variation of rotational torque became larger because of the longer delay-time in fuel oil injection process. Focusing on the speed control of a marine diesel engine, the hydraulic governors are still used where the speed variation is allowed to some degree. When the engine load varies abruptly in rough sea, the conventional hydraulic governors are not enough for good control. For solving this problem, we present a fuzzy-PID controller which unifies both fuzzy control technique and PID control technique. Finally the effectiveness of the proposed controller is verified through computer simulation of a long stroke low speed marine diesel engine.
소명옥(Myung-Ok So),안종갑(Jong-Kap Ahn),이윤형(Yun-Hyung Lee),최재준(Jae-Jun Choi),류기탁(Ki-Tak Ryu),이창호(Chang-Ho Lee) 한국마린엔지니어링학회 2009 한국마린엔지니어링학회 학술대회 논문집 Vol.2009 No.-
The T-S fuzzy model of a ship is made from Nomoto 2nd order nonlinear extension model as the previous step before designing of the fuzzy type autopilot system to consider of the design specifications and the economic efficiency. The T-S fuzzy model is considered as a design variable of the heading angular velocity of ship. The linear models will be combined as "IF-THEN" fuzzy rules after get in this one area of the linear model(sub-system) by change of the heading angular velocity of a ship. The dynamic characteristic of a ship with the parameters of linear models and fuzzy membership functions are estimated to match by using the model adjustment technic with input/ouput datas and a RCGA.
소명옥(Myung-Ok So),이윤형(Yun-Hyung Lee),최명성(Myung-Seong Choi),김성건(Seong-Gun Kim),윤학진(ack-Jin Yoon) 한국해양대학교 해사산업연구소 2003 海事産業硏究所論文集 Vol.13 No.-
The conventional PID controller has been extensively used to an industrial world though modem control theory has been developed in these days. Because control action of PID controller depends on three parameters engineers easily understand how to deal with control parameters. As a result many kinds of tuning methods of PID controller such as Ziegler-Nichols method, Cohen-Coon method, Pole-Zero placement method, IMC method etc. But these methods need the experience on the controlled system. Genetic Algorithm which is a sort of optimization methods can search the control parameters for the selected plant via systematic procedure. In this paper, the author present searched PID control parameters using a GA for a marine diesel engine and prove the excellence of GA through a simulation.
소명옥(Myung-Ok So),박재식(Jae-Sik Park),이윤형(Yun-Hyung Lee),윤학진(Hak-Chin Yun),최재준(Jae-Jun Choi) 한국마린엔지니어링학회 2003 한국마린엔지니어링학회 학술대회 논문집 Vol.2003 No.-
The conventional PID controller has been extensively used to an industrial world though modern control theory has been developed in these days. Because control action of PID controller is consist of three parameters so that engineers easily understand how to deal with control parameters. As a result many kinds of tuning methods of PID controller has been proposed(Ziegler-Nichols method, Cohen-Coon method. Pole-Zero placement method, IMC method etc.). But these methods have a tendency to depend on experience.<br/> Genetic Algorithm{a sort of optimization methods) can search control parameters according to systematic procedure in selected plant.<br/> In this paper, we will select marine diesel engine and present searched PID control parameters using a GA. Finally we will prove excellence of GA through a simulation.<br/>
보간-LQ 기법을 이용한 컨테이너 크레인의 강인한 제어기 설계
소명옥(Myung-Ok So),이영재(Young-Jae-Lee),이윤형(Yun-Hyung Lee),안종갑(Jong-Kap Ahn),최우철(Woo-Chul Choi) 한국마린엔지니어링학회 2004 한국마린엔지니어링학회 학술대회 논문집 Vol.2004 No.-
It is essential to reduce the working cycle time of container crane for high efficiency in cargo handling. The quick movement of trolley without big overshoot and residual swing motion of container in the vicinity of target position is required for the high productivity of container crane. The system parameters of container crane such as the length of hoist wire rope and cargo mass change in operation. The conventional container crane using controller with fixed gains is not robust and causes big overshoot near the target position and poor swing control problems. Because the system parameters of container crane change during operation, The robustness and good control performance can not be obtained the by conventional controller such as LQ and PID controllers based on fixed control gains although controller gains are well tuned correctly at initial status,<br/> In this paper we present an interpolation-LQ control technique which tunes continuously gains of controller by interpolating the gains of sub-LQ controllers. In this, we use Lagrangian interpolation method. 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.<br/>
이주연(Joo-Yeon Lee),소건백(Gun-Baek So),이윤형(Yun-Hyung Lee),소명옥(Myung-Ok So),진강규(Gang-Gyoo Jin) 제어로봇시스템학회 2015 제어·로봇·시스템학회 논문지 Vol.21 No.5
CSTR (Continuous Stirred Tank Reactor) which plays a key role in the chemical plants exhibits highly nonlinear behavior as well as time-varying behavior during operation. The control of CSTRs in the whole operating range has been a challenging problem to control engineers. So, a variety of feedback control forms and their tuning methods have been implemented to guarantee the satisfactory performance. This paper presents a scheme of designing a nonlinear PID controller incorporating with a GA (Genetic Algorithm) for the temperature control of a CSTR. The gains of the NPID controller are composed of easily implementable nonlinear functions based on the error and/or the error rate and its parameters are tuned using a GA by minimizing the ITAE (Integral of Absolute Error). Simulation works for reference tracking and disturbance rejecting performances and robustness to parameter changes show the feasibility of the proposed method.