• The Journal of the Korea institute of electronic communication sciences
• /
• v.17 no.1
• /
• pp.59-70
• /
• 2022

In this paper, we proposed an active fault tolerant control (AFTC) method for the position control of a quadrotor with complete loss of effectiveness of one motor. We obtained the dynamics of a quadrotor using Lagrangian equation without small angle assumption. For detecting the fault on a motor, we designed a fault detection module, which consists of the fault detection and diagnosis (FDD) module and the fault detection and isolation (FDI) module. For the FDD module, we designed a nonlinear observer that observes the states of a quadrotor based on the obtained dynamics. Using the observed states of a quadrotor, we designed residual signals and set the appropriate threshold values of residual signals to detect the fault. Also, we designed an FDI module to identify the fault location using the designed additional conditions. To make a quadrotor track the desired path after detecting the fault of a motor, we designed a fault tolerant controller based on the multiple sliding surface control (MSSC) technique. Finally, through simulations, we verified the effectiveness of the proposed AFTC method for a quadrotor with complete loss of effectiveness of one motor.

• Journal of IKEEE
• /
• v.25 no.3
• /
• pp.548-555
• /
• 2021

This paper outlines the basic concepts, approaches and research trends of fault diagnosis and fault tolerant control applied to industrial processes, facilities, and motor drives. The main role of fault diagnosis for industrial processes is to create effective indicators to determine the defect status of the process and then take appropriate measures against failures or hazadous accidents. The technologies of fault detection and diagnosis have been developed to determine whether a process has a trend or pattern, or whether a particular process variable is functioning normally. Firstly, data-driven based and model-based techniques were described. Secondly, fault detection and diagnosis techniques for industrial processes are described. Thirdly, passive and active fault tolerant control techniques are considered. Finally, major faults occurring in AC motor drives were listed, described their characteristics and fault diagnosis and fault tolerant control techniques are outlined for this purpose.

• Bulletin of the Korean Space Science Society
• /
• 2005.04a
• /
• pp.129-132
• /
• 2005

This paper describes BAUSAT-2 orbital thermal analysis and preliminary design of thermal control subsystem. To design thermal control subsystem of HAUSAT-2, we have considered active & passive thermal control method based on basic theory and themal equilibrium equation. Using this result, suitable thermal control method and material have been selected. We have designed thermal control subsystem based on analysis of HAUSAT-2's thermal environments on sun synchronous orbit with altitude 650km, inclination $98^{\circ}$ and thermal distribution and range expectation of each HAUSAT-2's surface. Thermal analysis consists of system level, box level and board level analysis. We have completed system level and box level analysis. Till now, board level analysis of main heat dissipation board in progress. Thermal control subsystem has designed according to thermal analysis result. This design is to maintain all of the HAUSAT-2 components within the allowable temperature limits. In future, STM

• Journal of the Korean Geotechnical Society
• /
• v.17 no.6
• /
• pp.47-51
• /
• 2001

There are two strategies to cope with the troubles in landfill site after closure. The first method is active in a way that the wastes are dug up and the recyclable materials are reutilized, meanwhile the materials not recyclable are incinerated in order to minimize the volume of residues to be disposed of. The second method is rather passive and defensive in a way that the source of contamination, that is, buried wastes are not treated. Instead, the transport of leaking leachate and gases generated from the wastes are intercepted and controlled. In this study, as a passive way of the efficient leachate blocking process, applicabilities of geocrete and soluble sodium silicate as a substitute to control leachate leaking from landfill sidewall were investigated. In case of compression test, the strength of mixture I (Geocrete:Sodium silicate=1:3.9 v/v) and mixture II (Geocrete:Sodium silicate=1:2.5 v/v), even after 7 days' curing was higher than the minimum allowance to tolerate the loading(5 kg/$\textrm{cm}^2$). Soaking in the acid fur 4 days and 7 days respectively, the compressive strength of the specimens reduced seriously. The toxicity of geocrete is not detected through the bioassay test, once it was mixed with sodium silicate and the complex was formed. The hydraulic conductivity of the mixtures even after 7 days' curing was lower than the threshold limit $(1.0\times10_{-7}cm/s)$.

• Journal of the Society of Naval Architects of Korea
• /
• v.39 no.3
• /
• pp.57-63
• /
• 2002

This paper describes a control algorithm for the buffer of a deep-sea mining system, in which the buffer is connected to a long slender pipe and then to a surface ship on one end, and to a collector on sea floor through a flexible hose on the other end. A mathematical modeling is established for designing the controller for buffer thrusters, in which the dynamic response of the long pipe is taken into account based on the mode superposition method. The fluid loading acting on the pipe is estimated by using Morison's formula. For simplicity, the surface ship is assumed to be kept stationary, the reaction from the flexible hose is ignored and only the lateral motions are considered. In order to guide the buffer to react only to the low-frequency motion of the surface vessel, the FIR digital filter is introduced to a PID-based controller It can be shown numerically that the high frequency component of the ship's motion can be effectively filtered out by using the FIR low pass filter.