• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.45 no.4
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• pp.328-341
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• 2017

In the control actuator system of a launch vehicle based on thrust vectoring, the interaction between electro-mechanical position servo and inertial load are combined with the dynamic characteristics of the flexible vehicle support to generate synthetic resonance. This occurred resonance is fed back to the attitude control system and can influence stability of launch vehicle. In this study, we proposed a simulation model to analyze synthetic resonance of electro-mechanical actuation system for thrust vector control and explained the results of simulation and test using dynamic force feedback control which improves dynamic characteristics of servo actuation system by reducing synthetic resonance.

• Proceedings of the KIPE Conference
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• 2014.07a
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• pp.468-469
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• 2014

본 논문은 AC 직구동 LED를 위한 MOSFET 기반의 위상 제어 조광기에 관한 것이다. 기존의 트라이악을 기반으로 하는 조광기는 트라이악 소자 특성에 많은 영향을 받는다. 트라이악은 래칭 전류와 유지 전류의 특성을 가지고 있다. 특히 래칭 전류는 조광기의 최소 조광 범위를 제한하는 요소로 작용한다. 또한 최대 조광 범위는 트라이악을 구동하기 위한 에너지에 의해 제한된다. 이러한 단점들을 극복하기 위해 본 논문에서는 트라이악이 아닌 MOSFET을 기반으로 하는 조광기를 제안한다. MOSFET은 래칭 전류, 유지 전류의 특성이 없으며 전압 구동 소자이기 때문에 기존의 조광기에 비해서 훨씬 넓은 조광 범위를 가진다. 또한, 제안하는 모델은 기존의 트라이악 기반의 조광기와 핀투핀 호환이 가능하다. 마지막으로 실제 실험을 통해 제안하는 조광기의 성능을 검증하였다.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.44 no.10
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• pp.911-920
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• 2016

For the pitch and yaw axis attitude control of launch vehicle, thrust vector control which changes the direction of thrust during the engine combustion is commonly used. Hydraulic actuation system has been used generally as a drive system for the thrust vector control of launch vehicles with the advantage of power-to-weight ratio. Nowadays, due to the developments of highly efficient electric motor and motor control techniques, it has done a lot of research to adopt electro-mechanical actuator for thrust vector control of small-sized launch vehicles. This paper describes system design and test results of the prototype of direct drive electro-mechanical actuation system which is being developed for the thrust vector control of $3^{rd}$ stage engine of KSVL-II.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.47 no.10
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• pp.738-746
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• 2019

Instead of hydraulic actuation systems, an electromechanical actuation system is more efficient in terms of weight, cost, and test evaluation in the thrust vector control of the 7-ton gimbal engine used in the Korea Space Launch Vehicle-II(KSLV-II) $3^{rd}$ stage. The electromechanical actuator is a kind of servo actuator with position feedback and uses a BLDC motor that can operate at high vacuum. In the case of the gimballed rocket engine, a synthetic resonance phenomenon may occur due to a combination of a vibration mode of the actuator itself, a bending mode of the launcher structure, and an inertial load of the gimbals engine. When the synthetic resonance occurs, the control of the rocket attitude becomes unstable. Therefore, the requirements for the stiffness have been applied in consideration of the gimbal engine characteristics, the support structure, and the actuating system. For the 7-ton gimbal engine of the KSLV-II $3^{rd}$ stage, the stiffness requirement of the actuation system is $3.94{\times}10^7N/m$, and the direct drive type electromechanical actuator is designed to satisfy this requirement. In this paper, an equivalent stiffness analysis model of a direct drive electromechanical actuator designed based on the stiffness requirements is proposed and verified by experimental results.

• 제어로봇시스템학회:학술대회논문집
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• 1987.10b
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• pp.588-593
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• 1987

In this study, direct-drive position controllers are designed and implemented for the flying vehicles actuating system with both positive and negative load factors, where the load factors are assumed proportional to the deflection angle of control surface. Its analog and digital controllers are verified through software simulation and hardware-in-the-loop simulation.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2012.05a
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• pp.29-30
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• 2012

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1996.11a
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• pp.1004-1011
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• 1996

This paper covers the technology developmental stage work for the automatic ammunition loading system mainly focusing on the controller design of the electro-hydranlic type direct drive multi-axis manipulator. Mathematical model of the plant derived and PIDM servo-controller structured. Comparative study between the analytical and experimental work has been carried out to help understand the response property of the direct dine multi-axis robot. In the direct drive robot, non-negligible amount of disturbance and load Induced dynamics variation are transmitted to the drive axis and nonlinearity is highly observed. Thereupon a robust controller Implementing time-delay control law is proposed, and computer simulation confirms the possibility for the time-delay control application against the unpredictable disturbance and load-Induced dynamics variation.

• Journal of Institute of Control, Robotics and Systems
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• v.18 no.7
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• pp.627-631
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• 2012

Observable mathematical model of DDM (Direct Dirve Motor) was suggested. The motor that operates the object system directly is called DDM. DDM has many strong points, however, it has a significant disadvantage, that it is more sensitive to the external force than the motor with reduction gear. In other word, if the force is applied, air gap of the motor can be perturbed. This causes not only difficulty in motor control but also even more serious problem, such as the breakdown of motor. However, if the air gap variation can be estimated, it can help prevent these problems. DDM should be modeled to estimate the air gap variation. The type of researched DDM is PMSM (Permanent Magnet Synchronous Motor) and precedent model of PMSM includes only characteristics of electro-magnetic system and rotational motion. However, suggested model should also include characteristics of translational motion of rotor to estimate the air gap variation. Also, this model should satisfy observability condition, because state observer is designed based on this model.

• Journal of the Korean Institute of Intelligent Systems
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• v.25 no.4
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• pp.405-411
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• 2015

This paper sugg ests speed measurement and control system desig n methods to drive the Wheel-in Motor that is transfer rotational force to the hub of the wheel and drives it directly. The dsPIC30F2010 16 bit microprocessor specified to motion controller is used as a intelligent controller. The minimum functions of dsPIC30F2010, system clock, PWM output, I/O, timer, communication, applicable to motor control are used and operating characteristics of hall signal measurement and control software functions are tested. Also the algorithm including PDFF speed control program was implemented using this software functions and show the experimental results..

• The Transactions of The Korean Institute of Electrical Engineers
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• v.67 no.11
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• pp.1555-1561
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• 2018

Tracking and detecting targets by the millimeter wave seeker is affected by movement of platform. Stabilization equipments use an inertial sensor to compensate for disturbance of stabilizing gimbal or platform. In the direct line of sight stabilization system, an inertial sensor is mounted on inner gimbal to compensate the disturbance directly, so the performance is excellent and the implementation method is simple. However gimbal design requires somewhat larger volume. Since an inertial sensor is mounted on gimbal base in the indirect line of sight stabilization system, additional space of gimbal is not required for the gimbal design. However, this method does not directly compensate for the disturbance of the line of sight stabilization axis, which can degrade performance. In order to perform the tracking performance, two methods are analyzed for line of sight stabilization performance based on direct and indirect of a 2-axis gimbaled servo system for millimeter wave seeker in this study. The simulation and experimental results validate the performance comparison of two methods.