한국항해항만학회지 (Journal of Navigation and Port Research)

  • 제35권3호
  • /
  • Pages.227-233
  • /
  • 2011
  • /
  • 1598-5725(pISSN)
  • /
  • 2093-8470(eISSN)
한국항해항만학회 (Korean Institute of Navigation and Port Research)
권호 표지
DOI QR코드

DOI QR Code

해상감시용 NV 시스템의 추종 및 안정화

Tracking and Stabilization of a NV System for Marine Surveillance

  • 투고 : 2010.12.28
  • 심사 : 2011.03.11
  • 발행 : 2011.04.30
PDF 다운로드
⟨ 이전 논문 다음 논문 ⟩

초록

본 연구는 선박용 Night Vision 시스템을 개발하기 위한 선행연구로 2축 지그와 이를 구동할 수 있는 PCU 보드를 제작하고, 추종 및 안정화 제어루틴을 얻는 문제를 다룬다. 개발한 지그와 PCU 보드를 6DOF 모션 시뮬레이터와 결합하여 실험환경을 구축하고 RCGA를 이용하여 지그 모델의 파라미터를 얻고, 추정된 모델과 RCGA를 이용하여 2DOF PID 제어기를 동조한다. 실험과 시뮬레이션을 통해 제안하는 2자유도 PID 제어기의 유효성을 검토한다.

This paper presents the tracking and stabilization problem of a night vision system for marine surveillance. Both a hardware system and software modules are developed to control azimuth and elevation axes independently with compensation for ship motion. A two degree of freedom(2DOF) PID controller is designed and its parameters are tuned using a real-coded genetic algorithm(RCGA). Simulation demonstrates the effectiveness of the proposed method.

키워드

참고문헌

  1. Araki, M. and Taguchi, H.(2003), “Two-Degree-of-Freedom PID Controllers”, Int. J. of Control, Automation, and Systems, Vol. 1, No. 4, pp. 401-412.
  2. Astrom, K. J. and Hagglund, T. (1995), PID Control Theory, Design and tuning, ISA.
  3. Debruin, J.(2008), “Control Systems for Mobile Satcom Antennas,” IEEE Control Systems Magazine, pp. 86-101. https://doi.org/10.1109/MCS.2007.910205
  4. Fossen, T. I.(1994), Guidance and Control of Ocean Vehicles, John Wiley & Sons, N.Y.
  5. Horowitz, I. M.(1963), Synthesis of feedback systems, Academic Press Edition, N.Y.
  6. Holland, J. H.(1975), Adaptation in natural and artificial systems, The University of Michigan Press, Michigan.
  7. Pierson, W. J. and Moskowitz, L.(1963), “A Proposed Spectral Form for Fully Developed Wind Seas Based on the Similarity Theory of S. A. Kitaigorodsku",U.S. Naval Oceanographic Office Contact 62306-1042.
  8. Saelid, S., Jenssen, N. A. and Balchen, J. G.(1983), “Design and Analysis of a Dynamic Positioning System Based on Kalman Filtering and Optimal Control", IEEE Tran. on Automatic Control, Vol. AC-28, No. 3, pp. 331-339. https://doi.org/10.1109/TAC.1983.1103225
  9. Seong, K. J., Kang, H. G., Yeo, B. Y., Lee, H. P.(2006), “The Stabilization Loop Design for a Two-Axis Gimbal System Using LQG/LTR Controller,” SICE-ICASE Int. Joint Conf., Busan Korea, pp. 755-759. https://doi.org/10.1109/SICE.2006.315268
  10. Smith, B.J., Schrenk, W.J., Gass, W.B., and Shtessel, Y.B. (1999), “Sliding mode control in a two-axis gimbal system,” Proc. of 1999 IEEE Aerospace Conf., Vol.5, pp. 457-470. https://doi.org/10.1109/AERO.1999.790222
  11. Shtessel, Y. B.(1995), “Decentralized Sliding Mode Control in Three-Axis Inertial Platfoms", J. of Guidance Control, and Dynamics, Vol 18, No. 4, pp 773-781. https://doi.org/10.2514/3.21459