• Journal of Institute of Control, Robotics and Systems
• /
• v.20 no.7
• /
• pp.695-700
• /
• 2014

In this paper, we utilize the CMG's momentum bias to control the roll/pitch attitude of the Quad-rotor. While the previous control approaches have used the thrust control approach, we design and add a new momentum controller (using CMG) in order to improve the transient response over the existing methods. The focal point of this paper is the design of a controller for a Quad-rotor's attitude using CMG. This leads to other tasks such as an identification of the model's parameters and mathematical nonlinear modeling. Then, the previous thrust controller is designed based on the linearized model. Finally, the overall system with our designed controller is implemented and tested in real time to show that the Quad-rotor is kept in a good balanced position faster than the traditional thrust-only control approach.

• Journal of the Korean Society for Aeronautical & Space Sciences
• /
• v.43 no.2
• /
• pp.172-178
• /
• 2015

The control moment gyroscope(CMG) which is well known as an effective high-torque-generating device is applicable to space vehicles, airplanes, ships, automobiles, robotics, etc. for attitude stabilization and maneuver. This paper deals with the overall details of 100Nm-class CMG development for various industrial applications, and provides the activities and results associated with the CMG system-level requirement analysis, the motor subsystem design/manufacturing/integration, the construction of ground support equipment, and the performance test and evaluation. The performance test reveals that the CMG generates the torque output more than 120Nm in as-designed operation of spin motor and gimbal motor.

• Journal of the Korean Society for Aeronautical & Space Sciences
• /
• v.47 no.4
• /
• pp.289-299
• /
• 2019

Attitude control modeling and simulation (M&S) can be extensively applied in overall development process, from simple algorithm design to on-board software verification. This paper introduces CMG-based attitude control M&S software, which consists of 6-DOF modeling (CMG and space environments modeling), and attitude control algorithm. The M&S software is divided into three modules, from an inner CMG motor control module to an outer earth observation mission module. While an application of this developed software is currently limited to the initial-phase attitude controller development, its application area can be extended to the later-phases by considering sophisticated model information in future.

• Journal of Magnetics
• /
• v.20 no.2
• /
• pp.186-192
• /
• 2015

This paper describes the electromagnetic and mechanical characteristics of coaxial magnetic gear (CMG) with a low gear ratio. The analysis models are restricted to a CMG with a gear ratio of less than 2. The electromagnetic characteristics including transmitted torque and iron losses are presented according to the variation of the gear ratio. The pole pairs of high speed rotor are chosen as 6, 8 and 10 by considering the torque capability. As the gear ratio approaches 1, both iron losses on the ferromagnetic materials and eddy current losses on the rotor permanent magnets are increased. The radial and tangential forces on the modulating pieces are calculated using the Maxwell stress tensor. When the maximum force is exerted on the modulating pieces, the mechanical characteristics including stress and deformation are derived by structural analysis. In CMG models with a low gear ratio, the maximum radial force acting on modulating pieces is larger than that in CMG models with a high gear ratio, and the normal stress and normal deformation are increased in a CMG with a low gear ratio. Therefore, modulating pieces should be designed to withstand larger radial forces in CMG with a low gear ratio compared to CMG with a high gear ratio.

• Food Science and Biotechnology
• /
• v.15 no.3
• /
• pp.369-373
• /
• 2006

Water extracts obtained from cultured mountain ginseng (CMG) were evaluated for their ability to stimulate immune cells and inhibit cancer cell proliferation. The lymphocyte subpopulation in mouse splenocytes in vivo was significantly increased by the administration of the CMG extract (27.4 mg/mouse). Interleukin-2 and ${\gamma}$-interferon in the mice serum increased up to 30% in CMG extract-treated mice. At a concentration of 1.37 mg/mL, nitric oxide increased up to 400% in the macrophage cell line treated with CMG extract. The CMG extract significantly retarded the proliferation of human acute promyelocytic (HL60), human histiocytic (U937), and mouse lymphocytic (L1210) leukemia cell lines in vitro at concentrations over 2.74-13.7 mg/mL. In addition, CMG extract treatments (1.37 mg/mL and 2.74 mg/mL) lead to the increased expression of the p53 gene and protein in cultured U937 leukemia cell lines. These results indicate that water extracts of CMG are capable of both immune cell stimulation and cancer cell growth inhibition.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
• /
• 2009.05a
• /
• pp.180-185
• /
• 2009

Actuator-induced disturbance is one of the crucial factors of spacecraft attitude pointing and stability in fine attitude control problems. The control moment gyros (CMGs) are known as very attractive actuators from the point of high power and low weight. In order to develop a CMG as an actuator for fine controls, CMG-induced disturbances should be analyzed. Therefore, this paper aims to develop an analytic model and predict the effect of disturbances of CMGs by assuming static and dynamic imbalances. The proposed model is induced by the Lagrangian method on the basis of the small signal assumption. In this research, mechanical system of the CMG is designed and the main components of CMG are producted.

• Journal of the Korean Society for Aeronautical & Space Sciences
• /
• v.32 no.5
• /
• pp.65-73
• /
• 2004

CMG(Control Momentum Gyro) is a control device being used for spacecraft attitude control constructing relatively large amount of torque compared to conventional body-fixed reaction wheels. The CMG produces gyroscopic control torque by continuously varying the angular momentum vector direction with respect to the spacecraft body. The VSCMG(Variable Speed Control Momentum Gyro) has favorable advantages with variable speed to lead to better control authority as well as singularity avoidance capability. Attitude dynamics with a VSCMG mounted on a two-axis gimbal system are derived in this study. The dynamic equation may be considered as an extension of the single-axis counterpart. Also, a feedback control law design is addressed in conjunction with the dynamic equations of motion.

• The KIPS Transactions:PartB
• /
• v.9B no.3
• /
• pp.383-388
• /
• 2002

We developed a spatial parser generator, SPG, which can automatically create a spatial parser if CMG(Constraint Multiset Grammars) grammars for a visual language are provided by the user with GUI(Graphical User Interface). SPG has the following features. (1) The user uses a visual editor to define the grammars of a virtual language and draw the visual language which should be parsed. (2) The user roughly defines CMG grammars in a visual wan at first. Then the user modifies them and defines final grammars. (3) Because SPG has a constraint solver, it maintains constraints in the parsed virtual language according to the grammars.

• Journal of the Korean Society for Aeronautical & Space Sciences
• /
• v.40 no.1
• /
• pp.86-92
• /
• 2012

The well-used actuators for the attitude control of spacecrafts are thruster, reaction wheel, control moment gyroscope, and magnetic torquer. Among them, the control moment gyroscope(CMG) which generates the torque based on the gyroscopic principle in physics, has an advantage of the high torque output compared to the low power consumption. This paper introduces an outline of CMG hardware technology, its application history in spacecrafts, and their associated hardware characteristics. Moreover, its spin-off cases to the other industrial fields such as ship, robotics, and MEMS including their research trend are provided.

• The Transactions of the Korean Institute of Electrical Engineers D
• /
• v.49 no.8
• /
• pp.459-466
• /
• 2000

In this paper, we propose an attitude controller for an unstructured object using CMG(Control Moment of Gyro) subsystem, which has a stabilizer function. The CMG subsystem consists of one motor for spinning the wheel and the other motor for turning the outer gimbal. While the wheel of CMG subsystem is spinning at high speed, applying force to the spin axis of the wheel leads the torque about the vertical axis. We utilize the torque to control the attitude of object in this study. For the stabilizer function, in additiion, holding the load at the current position, the power applied to the gimbal motor of CMG will be cut, which result in the braking force to stop the load by gyro effect. However, due to the gear reduction connected to outer gimbal, slow load motion cannot generate the braking force. Thus, in this study, we are willing to make a holding force by applying control power to the gimbal motor from the signal of piezoelectric gyroscopic sensor that detected the angular velocity of the load. These two features are demonstrated in experiment, carrying a beam with crane. As a result, load was started to rotate by controlling gimbal positiion and was stopped by turning off the gimbal power. Moreover, slow movement of the load was also rejected by additional control with gyroscopic sensor.