• International Journal of Aeronautical and Space Sciences
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• v.13 no.3
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• pp.361-368
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• 2012

This paper presents an approach on the design of a nonlinear controller to track a reference velocity for an air-breathing supersonic vehicle. The nonlinear control scheme involves an adaptation of propulsive and aerodynamic characteristics in the equations of motion. In this paper, the coefficients of given thrust and drag functions are estimated and they are used to approximate the equations of motion under varying flight conditions. The form of the function of propulsive thrust is extracted from a thrust database which is given by preliminary engine input/output performance analysis. The aerodynamic drag is approximated as a function of angle of attack and fin deflection. The nonlinear controller, designed by using the approximated nonlinear control model equations, provides engine fuel supply command to follow the desired velocity varying with time. On the other hand, the stabilization of altitude, separated from the velocity control scheme, is done by a classical altitude hold autopilot design. Finally, several simulations are performed in order to demonstrate the relevance of the controller design regarding the vehicle.

• Proceedings of the KSME Conference
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• 2003.04a
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• pp.881-886
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• 2003

Vibration control of plates with a passive electrical damper is presented in this paper. This electrical absorber, piezoelectric patches connected with a resistor and an inductor in series, is analogous to the damped mechanical vibration absorber. For estimating the effectiveness of piezoelectric absorber, the governing equations of motion are derived using a classical laminate plate theory and Hamilton principle. The developed theoretical analyses are validated experimentally for simply-supported aluminum plates in order to demonstrate the performance of passive electrical damper. The result shows that the vibration amplitude is reduced about 14dB for the targeted first vibration mode.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.27 no.10
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• pp.1778-1784
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• 2003

Vibration control of plates with a passive electrical damper is presented in this paper. This electrical absorber, piezoelectric patches connected with a resistor and an inductor in series, is analogous to the damped mechanical vibration absorber. For estimating the effectiveness of piezoelectric absorber, the governing equations of motion are derived using a classical laminate plate theory and Hamilton principle. The developed theoretical analysis is validated experimentally for a simply-supported aluminum plate in order to demonstrate the performance of passive electrical damper. The result shows that the vibration amplitude is reduced about 14dB for the targeted first vibration mode.

• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.14 no.6
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• pp.486-494
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• 2004

This paper addresses the dynamic modeling and closed-loop eigenvibration analysis of composite rotating pretwisted fan blade modeled as non-uniform thin-walled beam with bi-convex cross-section fixed at the certain presetting angle and incorporating piezoelectric induced damping capabilities. The blade model incorporates non-classical features such as transverse shear, rotary inertia and includes the centrifugal and Coriolis force field. A velocity feedback control law relating the piezoelectiriccally induced transversal bending moment at the beam tip with the appropriately selected kinematical response quantity is used and the beneficial effects upon the closed loop eigenvibration of the blade are highlighted.

• International Journal of Aeronautical and Space Sciences
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• v.11 no.3
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• pp.167-174
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• 2010

The design, dynamics, and control allocation of tri-rotor unmanned aerial vehicles (UAVs) are introduced in this paper. A trirotor UAV has three rotor axes that are equidistant from its center of gravity. Two designs of tri-rotor UAV are introduced in this paper. The single tri-rotor UAV has a servo-motor that is installed on one of the three rotors, which enables rapid control of its motion and its various attitude changes-unlike a quad-rotor UAV that depends only on the angular velocities of four rotors for control. The other design is called 'coaxial tri-rotor UAV,' which has two rotors installed on each rotor axis. Since the tri-rotor type of UAV has the yawing problem induced from an unpaired rotor's reaction torque, it is necessary to derive accurate dynamic and design control logic for both single and coaxial tri-rotors. For that reason, a control strategy is proposed for each type of tri-rotor, and nonlinear simulations of the altitude, Euler angle, and angular velocity responses are conducted by using a classical proportional-integral-derivative controller. Simulation results show that the proposed control strategies are appropriate for the control of single and coaxial tri-rotor UAVs.

• Journal of the Korean Institute of Navigation
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• v.23 no.3
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• pp.35-44
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• 1999

This research aims to seek active control of ball-beam position stability by resorting to neural networks whose layers are given bias weights. The controller consists of an LQR (linear quadratic regulator) controller and a neural networks controller in parallel. The latter is used to improve the responses of the established LQR control system, especially when controlling the system with nonlinear factors or modelling errors. For the learning of this control system, the feedback-error learning algorithm is utilized here. While the neural networks controller learns repetitive trajectories on line, feedback errors are back-propagated through neural networks. Convergence is made when the neural networks controller reversely learns and controls the plant. The goals of teaming are to expand the working range of the adaptive control system and to bridge errors owing to nonlinearity by adjusting parameters against the external disturbances and change of the nonlinear plant. The motion equation of the ball-beam system is derived from Newton's law. As the system is strongly nonlinear, lots of researchers have depended on classical systems to control it. Its applications of position control are seen in planes, ships, automobiles and so on. However, the research based on artificial control is quite recent. The current paper compares and analyzes simulation results by way of the LQR controller and the neural network controller in order to prove the efficiency of the neural networks control algorithm against any nonlinear system.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.265-270
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• 2005

This paper presents a new attitude stabilization and control of an unmanned helicopter based on neural network compensation. A systematic derivation on the dynamics of an unmanned small-scale helicopter is performed. Combined rotor-fuselage-tail dynamics is derived in body-fixed reference frame with its origin at the C.G. of the helicopter. And the resulting nonlinear equation of motion consists of 6-DOF air vehicle dynamics as well as the rotor flapping and engine torque equations. A simulation model was modified using the existing simulator for an unmanned helicopter dynamic model, which reflects the unmanned test helicopter(CNUHELI). The dynamic response of the refined model was compared with the flight test data. It can be shown that a good coincidence was accomplished between the real unmanned helicopter system and the mathematical model. This dynamic model was linearized for classical controller design using small perturbation method. A Neuro-PD control system was designed for both longitudinal and lateral flight modes, and the results were compared with the PD-only control response. Simulation results show that the proposed Neuro-PD control system demonstrates better performance.

• Journal of Institute of Control, Robotics and Systems
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• v.12 no.4
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• pp.371-379
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• 2006

Increasing requirements for the high quality of industrial robot performance made the vibration control issue very important because the vibration makes it difficult to achieve quick response of robot motion and may bring mechanical damage to the robot. This paper presents a vibration control solution for industrial robots which have flexible joints. The joint flexibility is modeled as a two-mass system. And we analyze the vibration problem of a classical P-PI controller when it used for the flexible joints of industrial robots. Then a state feedback controller is designed for vibration suppression of the two-mass system. Finally, a gain-scheduling method is designed for maintaining control performance in spite of the time-varying nature of each joint's load side inertia. Simulation and experimental results show effective vibration suppression and uniform properties in overshoot in spite of the variation of load. The result of this study can be applied to the appropriate gain manipulation of many other mechatronic devices which have the two-mass system with varying load side inertia.

• Transactions of the Korean Society of Mechanical Engineers
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• v.17 no.1
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• pp.90-100
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• 1993

A finite element formulation of vibration control of a laminated plate with piezoelectric sensor/ actuators is presented. Classical lamination theory with the induced strain actuation and Hamilton's principle are used to formulate the equations of motion of the system. The total charge developed on the sensor layer is calculated from the direct piezoelectric equation. The equations of motion and the total charge are discretized with 4 node, 12 degrees of freedom quadrilateral plate bending elements with one electrical degree of freedom. The mass and stiffness of the piezoelectric layer are introduced by treating them as another layer in laminated plate. Piezoelectric sensor/actuators are distributed, but discrete due to the geometry of electrodes. By defining an i.d. number of electrode for each element, modelling of electrodes with variable geometry can be achieved. The static response of a piezoelectric bimorph beam to electrical loading and sensor voltage to given displacement are calculated. For a laminated plate under the negative velocity feedback control, the direct time response by the Newmark-.betha. method and damped frequencies and modal damping ratios by modal state space analysis are derived.

• Structural Engineering and Mechanics
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• v.62 no.1
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• pp.55-64
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• 2017

An effective design approach for Multiple Tuned Mass Dampers (MTMDs) in pedestrian bridges was proposed by utilizing the transfer function to obtain each TMD's optimum stiffness and damping. A systematic simulation of pedestrian excitations was described. The motion equation of a typical MTMD system attached to a Multi-degree-of-freedom (MDOF) system was presented, and the transfer function from the input pedestrian excitations to the output acceleration responses was defined. By solving the minimum norm of the transfer function, the parameters of the MTMD which resulted in the minimum overall responses can be obtained. Two applications of lightly damped pedestrian bridges attached with MTMD showed that MTMDs designed through this method can significantly reduce the structural responses when subjected to pedestrian excitations, and the vibration control effects were better than the MTMD when it was considered as being composed of equal number and mass ratios of TMDs designed by classical Den Hartog method.