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트랜스퍼 크레인의 이송위치제어를 위한 서보계 설계 : 가중 H<sub>∞</sub> 오차사양을 만족하는 동일차원 관측기 설계
김영복(Y. B. Kim),정황훈(H. H. Jeong),양주호(J. H. Yang),문덕홍(D. H. Moon),황이철(I. C. Hwang) 한국동력기계공학회 2008 한국동력기계공학회 학술대회 논문집 Vol.2008 No.11
The most important job in the container terminal area is to handle the cargo effectively in the limited time. To achieve this object, many strategies have been introduced and applied to. If we consider the automated container terminal, it is necessary that the cargo handling equipments are equipped with more intelligent control systems. From the middle of the 1990's, an automated rail-mounted gantry crane(RMGC) and rubber-tired gantry crane(RTG) have been developed and widely used to handle containers in the yards. Recently, in these cranes, the many equipments like CCD cameras and sensors are mounted to cope with the automated terminal environment. In this paper, we try to support the development of more intelligent automated cranes which make the cargo handling be performed effectively in the yards. For this plant, the modelling, tracking control, anti-sway system design, skew motion suppressing and complicated motion control and suppressing problems must be considered. Especially, in this paper, the system modelling and tracking control approach are discussed. And, we design the tracking control system incorporating an observer based on the 2DOF servosystem design approach to obtain the desired state informations. In the case of observer design, a weighted error bound approach for a state estimator is considered. Based on an algebraic Riccati equation(inequality) approach, a necessary and sufficient condition for the existence of a full-order estimator which satisfies the weighted H<sub>2</sub> error bound is introduced. Where, the condition for existence of the estimator is denoted by a Linear Matrix Inequality(LMI) which gives an optimized solution and observer gain. Based on this result, we apply it to the tracking control system design for the transfer crane.
컨테이너 크레인의 모델링 및 로버스트 제어에 관한 연구
양주호(J. H. Yang),김영완(Y. W. Kim),최교호(G. G. Choi),정황훈(H. H. Jeong) 한국동력기계공학회 2004 한국동력기계공학회 학술대회 논문집 Vol.- No.-
This paper introduce the anti-sway control for container crane. We have separated the system two parts and modeled mathematically for container crane. One is the container part having swing motion and the other is the actuator part with a auxiliary mass. The actuator part is installed on the spreader and have a small auxiliary mass which reduce swing motion in the desired manner. In this paper, the H∞ control theory was used in this control system to get robust controller. It's shown that the desirable performances is confirmed through the mathematical simulation. That is the robustness of this control system which use H∞ control theory is confirmed for the ability of disturbance rejection and modeling error.
드레인 오리피스를 갖는 포펫 밸브의 유동력을 고려한 동특성 모델링
정황훈(H. H. Jeong),임광호(G. H. Lim),박세창(S. C. Park),윤소남(S. N. Yun),윤종일(J. I. Yoon) 유공압건설기계학회 2019 유공압건설기계학회 학술대회논문집 Vol.2019 No.6
A poppet valve has better specification on responsibility and leakage than a spool valve. But poppet valve has disadvantage on fluid flow force because poppet lie on unstable suspension condition that is supported by mechanical spring and electro magnetic force. If poppet system is unstable in the valve, poppet raises system’s noise and decreases system’s responsibility. To avoid poppet’s bad affection, poppet valve has to analysis its stability when valve was designed. A poppet valve’s stability already had studied when its parameters were changed such as poppet’s shape, displacement, spring constant. This study concerns about mathematical model for poppet valve system that deals with fluid flow force. For this purpose, poppet valve’s flow force was induced by momentum theory on divergent flow condition. And induced flow force was imported on poppet’s motion equation.
정황훈(H.H. Jeong),한성민(S.M. Han),신정우(J.W. Shin),유충목(C.M. Yoo) 유공압건설기계학회 2014 유공압건설기계학회 학술대회논문집 Vol.2014 No.4
This study concerns about stability analysis of slipper bearing in swash type piston pump that used in the EHA(electro hydrostatic actuator) system. The slipper bearing is a kind of hydraulic bearing that locates between swash plate and piston shoe. This hydraulic bearing needs high supply pressure and speed of pump’s rotation to be activated under the stable condition. The EHA system is some power pack that combines bidirectional pump and motor with hydraulic actuator to drive the actuator with motor’s speed and direction. In this system, a hydraulic pump is driven under the low supply pressure and speed of pump’s rotation because the actuator is controlled by pump’s flow. In this study, the author tries to find the stability criterion using Lyapunov function. For this purpose, the motion equation of piston was quoted from reference and the state equation was delivered. After that the Lyapunov function was defined to find the stable condition on equilibrium point.
수정된 가정자로법과 RCGA를 활용한 shading coil의 형상 최적화(1)
정황훈(H.H. Jeong),한성민(S.M. Han),정경빈(K.B. Jung) 유공압건설기계학회 2014 유공압건설기계학회 학술대회논문집 Vol.2014 No.4
This Paper is concerned about the PFPM(probable flux path method) to be applied nonlinear permeability of magnetic substance and a characteristics of shading coil to be delivered by a modified probable flux path method. The AC solenoid valve is most famous device in hydrostatic control system because it has simple structure, easy control and low cost to use. But this useful AC solenoid valve has an acoustic emission that was come from alternative coil current. The shading coil is some device that reduced the acoustic noise in AC solenoid valve with eddy current. To optimize the shading coil, attraction force have been computed. The PEPM is the most useful method that designs a solenoid actuator even if has lots of error between real actuator and computed one. The most big error in PEPM is come from and assumption that permeability is linear. In this study, the author tries to improve the probable flux path method to care about saturation of flux density. And using some example to verify a suggest method’s validity. After that, the shading coil’s attraction force is delivered by modified PFPM. And it is used to confirm the shading coil’s characteristics