I'm not sure if your example is your real url, because it doesn't make much sense. (That's what the URL looks like decoded: http://xxx.xxx.xxx.xxx/최나연/test.xml).
Usually only reserved or non ascii characters have to be encoded. You can of course encode every ascii character but i ask my self: why? Do you want to encrypt / hide the folder from the user? That's not really possible. URL encoding is just the ascii code written as hex numbers. It's not really hard to convert that.
Short example:
"%68%65%6C%6C%6F" --> "hello"
If you use one of those many online URL decoders it can tell you the true characters.
Your encoded URL contains UTF-8 encoded characters. So one character is made of multiple bytes:
%EC%B5%9C --> 최
%EB%82%98 --> 나
%EC%97%B0 --> 연
I doubt that you web-server can understand those UTF8 symbols as a valid path of your server.
edit
Maybe i don't understant your actual problem. Do you have a folder on your webserver that's name is "%EC%B5%9C%EB%82%98%EC%97%B0" ? Why would you ever name a folder like that? Esp. in a web context?
However, if the folders real name is like that you might can just encode it once more so the % signes are replaced by %25 (which is the ascii code for %).