• Journal of Advanced Marine Engineering and Technology
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• 제30권6호
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• pp.760-769
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• 2006

This paper proposes an autopilot system using a fuzzy PID controller to satisfy performances required for the automatic navigation of ships under various marine circumstances. The existing autopilot system using a PD type controller has difficulties in eliminating a steady-state error and compensating nonlinear characteristics of ships. The autopilot system using the proposed fuzzy PID controller has a self-tuning ability, an ability to compensate nonlinear characteristics, and an ability to turn at constant angular velocity. Therefore. it can naturally make a steady-state error zero, compensate nonlinear dynamic effect of ships, have an adaptability to parameter variation owing to shallow water effect, and have an ability to turn ship's course rapidly without overshoot through procedures of acceleration, constant, and deceleration of angular velocity for large course-changing.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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• pp.1292-1295
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• 1996

This paper proposes an adaptive control technique for the autopilot design of STT missile. Dynamics of the missile is highly nonlinear and the equilibrium point is vulnerable to change due to fast maneuvering. Therefore nonlinear control techniques are desirable for the autopilot design of the missile. The nonlinear controller requires the exact model to obtain satisfactory performance. Generally a look-up table is used for the dynamic coefficients of a missile, so there must be coefficients error during actual flight, and the performance of the nonlinear controller using these data can be degraded. The proposed adaptive control technique compensates the nonlinear controller with modeling error resulting from the error of aerodynamic data and disturbance. To investigate the usefulness, the proposed method is applied to autopilot design of STT missile through simulations.

• International Journal of Aeronautical and Space Sciences
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• 제13권4호
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• pp.468-473
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• 2012

Cost is an important aspect in designing a target drone, however the poor performance of low cost IMU, GPS, and microcontrollers prevents the use of complex algorithms, such as ARS, or INS/GPS to estimate attitude angles. We propose an autopilot which uses rate gyro and GPS only for a target drone to follow a prescribed path for anti-aircraft training. The autopilot consists of an altitude hold, roll hold, and path following controller. The altitude hold controller uses vertical speed output from a GPS to improve phugoid damping. The roll hold controller feeds back yaw rate after filtering the dutch roll oscillation to estimate the roll angle. The path following controller operates as an outer loop of the altitude and roll hold controllers. A 6-DOF simulation showed that the proposed autopilot guides the target drone to follow a prescribed path well from the view point of anti-aircraft gun training.

• International Journal of Aeronautical and Space Sciences
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• 제12권3호
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• pp.266-273
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• 2011

This paper deals with missile autopilot design for agile turn phase in air-to-air engagement scenarios. To attain a fast response, angle-of-attack (AOA) is adopted for an autopilot command structure. Since a high operational AOA is generally required during the agile turn phase, dealing with the aerodynamic uncertainties can be a challenge for autopilot design. As a remedy, a new controller design method based on robust nonlinear control methodology such as time delay control is proposed in this paper. Nonlinear observer is also proposed to estimate the AOA in the presence of the model uncertainties. The performance of the proposed controller with variation of the aerodynamic coefficients is investigated through numerical simulations.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1997년도 한국자동제어학술회의논문집; 한국전력공사 서울연수원; 17-18 Oct. 1997
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• pp.468-471
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• 1997

In this paper, we investigate the time-sampling effects on the digital implementation of singular perturbation based STT autopilot with excellent performance and propose a compensation method for the time-sampling effects. In digitization of analog STT autopilot, it is found that the stability margin of the fast dynamics is mostly affected to lead to rapid decrease. Under the this analysis, a composite digital controller with additional compensator for fast dynamics is proposed to improve the time-sampling effect and a simulation verifies the result.

• 소음진동
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• 제7권4호
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• pp.605-612
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• 1997

A state feedback controller and an observer have been developed and analyzed for an aircraft's safe landing in the windshear called microburst. The observer estimates the ambient wind field as well as the full-order longitudinal state vector. The controller uses the wind and state estimates for guiding the control inputs for safe landing. For the observer and controller gains, the design methodologies of linear quadratic estimation and linear quadratic regulation have been exploited. Analysis shows that some of the microburst-induced aircraft accidents in the past might have been avoided with the designed autopilot.

• 한국항공우주학회지
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• 제34권7호
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• pp.45-54
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• 2006

일반적인 항공 촬영용 무인비행선은 GIS 데이터를 획득하기 위하여 기체 조종사와 영상 장치 조종사가 필요하며, 좋은 영상을 위해서는 이들의 호흡과 정확한 위치로의 이동이 중요하다. 본 논문에서는 이런 인력의 소요를 줄이고 정확한 위치/고도의 사전 계획된 비행경로를 자동비행하는 11m급 무인비행선의 고전제어 기반의 자동비행 제어법칙을 소개한다. 또한 이를 검증하기위해 실시한 비행시험의 각 단계별 절차와 유의사항, 외란에 의한 추종 오차를 줄이는 LOS 가이던스 알고리즘을 제시하고 비행시험 결과를 통한 게인 튜닝절차를 소개한다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1990년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 26-27 Oct. 1990
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• pp.653-657
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• 1990

Since linearized equations of notion have much modelling errors, robust controller for disturbances and noises Is necessary for autopilot. In this paper, notion equations for underwater vehicle with six degree-of-freedom are derived and linearized. And robust autopilot for this system is designed by using LQG/LTR methodology.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1997년도 한국자동제어학술회의논문집; 한국전력공사 서울연수원; 17-18 Oct. 1997
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• pp.418-421
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• 1997

A design method of robust controller for the longitudinal autopilot of BTT missile is considered. The difficulties are a set of linearized dynamic models which corresponds to different operating points has a wide range of parameters and it has even Non-Minimum Phase(NMP) zeros. In this paper, such a family of models is expressed by an interval plant. Then a robust control design method using QFT is represented. A simulation result shows that the proposed controller satisfies the given specification well.

• 전자공학회논문지SC
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• 제37권3호
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• pp.33-43
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• 2000

특이섭동 기법을 이용한 제어 시스템의 설계가 가능하기 위해서는 무엇보다도, 빠른 동력학의 안정성이 중요하다. 그런데, 제어기의 디지털 구현으로 인하여, 이 빠른 동력학의 안정도가 영향을 받을 수 있다. 본 논문은 최근의 개발된 우수한 성능의 특이섭동 기반의 STT 자동조정장치(autopilot) 설계의 경우를 들어 이러한 특이섭동 기법에 기반하여 설계된 제어 시스템에 대한 샘플링 영향을 조사하고 개선된 제어기 설계의 예를 제시하여, 특이섭동 기반 제어 시스템 에 대한 샘플링 영향 분석의 필요성 및 유효성을 밝혔다.