• Journal of the Korea Society of Computer and Information
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• v.23 no.8
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• pp.17-23
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• 2018

In this paper, we implemented a flight posture simulator that intuitively understands aircraft flight posture and visualizes the principle of motion. The proposed system operates the 6 - axis motion platform according to the change of the navigation information and transmits the flight attitude to the simulator using the gyro sensor. A gyro sensor and an acceleration sensor are used together to analyze the attitude of the aircraft. The reason is that the gyro sensor has a cumulative error in the integration process. And the accelerometer sensor was compensated by using the complementary filter because noise was serious due to short term vibration. Using the compensated sensor information, the motion platform is operated by calculating the angle to be transmitted to the 6-axis motor. And visualization result is implemented using OpenGL. The results of this study can be used as teaching materials for students related to aviation in the future.

• Journal of the Korean Society for Aviation and Aeronautics
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• v.24 no.1
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• pp.55-61
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• 2016

In this work a guidance and control system for an a powered ram air parafoil under wind disturbance is considered. After analyzing a 6 Dof and 9 Dof nonlinear dynamic models of the parafoil, wind effect is added to them. In order to actively respond to the wind acting on the transverse direction of the vehicle a new guidance algorithm is proposed. After a Hardware-In-the-Loop Simulation (HILS) study, flight tests are performed to demonstrate its potential under wind disturbances.

• International Journal of Automotive Technology
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• v.7 no.6
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• pp.749-756
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• 2006

This paper presents a complex stochastic wheelbase preview control method of a motorcycle suspension based on hierarchical modeling method. As usual, a vehicle suspension system is controlled as a whole body. In this method, a motorcycle suspension with five Degrees of Freedom(DOF) is dealt with two local independent 2-DOF suspensions according to the hierarchical modeling method. The central dynamic equations that harmonize local relations are deduced. The vertical and pitch accelerations of the suspension center are treated as center control objects, and two local semi-active control forces can be obtained. In example, a real time Linear Quadratic Gaussian(LQG) algorithm is adopted for the front suspension and the combination of the wheelbase preview and LQG control method is designed for the rear suspension. The results of simulation show that the control strategy has less calculating time and is convenient to adopt different control strategies for front and rear suspensions. The method proposed in this paper provides a new way for the vibration control of multi-wheel vehicles.

• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.20 no.2
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• pp.121-128
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• 2011

As high precision industries such as semiconductor, TFT-LCD manufacturing and MEMS continue to grow, the demand for higher DOF precision stages has been increasing. In general, the stages should accommodate a prescribed range of payloads in order to position various precision manufacturing/inspection instruments. Therefore a nonlinear controller using sliding motion is developed, which bears mass perturbation and makes the upper plate of the stage move in 6 DOF. For the application of the nonlinear control, an observer is also developed based on expected noise covariance. To eliminate the steady state error of step response, integral terms are inserted into the state-space model. The linear term of the controller is designed using optimization scheme in which parameters can be weighted according to their physical significance, whereas the nonlinear term of the controller is designed using trial and error method. A comprehensive simulation study proves that the designed controller is robust against mass perturbation and completely eliminates steady state errors.

• Journal of the Korea Society for Simulation
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• v.33 no.2
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• pp.13-25
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• 2024

In the performance analysis of a weapon system, the combat effectiveness is difficult to go beyond the conceptual level in the early stages of development. This is especially true in the case of new concept of weapon system that has never existed before. In this study, with the aim of analyzing the effectiveness of small personal guided weapons, the design of the warhead and the detonation test were carried out and the results were analyzed. Afterwards, trajectory of fragments were calculated from the results, and it is applied to the anti-personnel effectiveness logic which is a part of combat simulation tool. At the same time, delivery accuracy logic was constructed from Monte-Carlo simulation with 6-DOF trajectory model. Subsequent simulated experiments were conducted with test scenarios to confirm the simulation logic reflecting the results of the warhead detonation tests for verifying the simulation approach of weapon systems, and it was confirmed that the simulation logic incorporating the results of the warhead detonation tests functioned properly.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.38 no.3
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• pp.288-293
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• 2010

This paper presents to calculate the lethality of missile for the simulation test program and to verify the simulation results. In order to calculate a reliable lethality we need may data and experiments of fuse and warhead, but in reality it is hard to perform a task. Therefore, this paper obtained from the reference paper to analyze the lethality data for the calculation of the lethality. We form the 6 DOF simulation model using the MATLAB/SIMULINK. And formed the autopilot algorithm using the vertical and horizontal acceleration feedback and PNG (Proportional Navigation Guidance) command be used to the guidance algorithm. Finally, we evaluate the results about three cases, front launch, side launch and rear launch to simulate the simulation program, and the target is designed to have a constant speed and direction.

• Journal of Navigation and Port Research
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• v.35 no.3
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• pp.227-233
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• 2011

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.

• Transactions on Control, Automation and Systems Engineering
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• v.4 no.3
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• pp.217-223
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• 2002

The paper presents a single constraint equation of the direct kinematic solution of 6-dof (Stewart-Gough) platforms. Many research works have presented a single polynomial of the direct kinematics for several 6-dof platforms. However, the formulation of the polynomial has potential problems such as complicated formulation procedures and discrimination of the actual solution from all roots. This results in heavy computational burden and time-consuming task. Thus, to overcome these problems, we use a new formulation approach, called the Tetrahedron Approach, to easily derive a single constraint equation, not a polynomial one, of the direct kinematics and use two well-known numerical iterative methods to find the solution of the single constraint equation. Their performance and characteristics are investigated through a series of simulation.

• Journal of Institute of Control, Robotics and Systems
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• v.7 no.2
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• pp.160-167
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• 2001

This paper presents control and evaluation of a new haptic device with a 6-DOF parallel mechanism for interfacing with virtual reality. This haptic device has low inertial, high bandwidth compactness, and high output force capability mainly due to of base-fixed motors. It has also wider orientation workspace mainly due to a RRR type spherical joint. A control method is presented with gravity compensation and with force feedback by an F/T sensor to compensate for the effects of unmodeled dynamics such as friction and inertia. Also, dynamic performance has been evaluated by experiments. for force characteristics such as maximum applicable force, static-friction force, minimum controllable force, and force bandwidth Virtual wall simulation with the developed haptic device has been demonstrated.

• Transactions of the Korean Society of Machine Tool Engineers
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• v.11 no.6
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• pp.31-37
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• 2002

This paper presents a new motion control strategy for singularity avoidance in 6 DOF articulated robot manipulators, based on a speed limiting algorithm for joint positions and velocities. For a given task, the robot is controlled so that the joints move with acceptable velocities and positions within the reachable range of each joint by considering the velocity limit. This paper aims at the development of a new efficient method to control robot motion near and at singularities. The proposed method has focused on generating the optimal joint trajectory for a Cartesian end-effector path within the speed limit of each joint by using the speed limit avoidance as well as the acceleration/deceleration scheme. The proposed method was verified using MATLAB-based simulations.