• Journal of Korea Society of Digital Industry and Information Management
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• v.9 no.1
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• pp.73-78
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• 2013

In this paper, configuration control for the Horizontal Maintenance of the 2 wheel robot has been studied using ARS(Attitude Refrence System). The 2 wheel robot technique is getting attention and there have been many researches on the seg-way since the US. Using its 2 freedom, a 2 wheel robot can move in various modes and Our robot performs goal reaching ARS.2 wheel robot fall down to the forward or reverse direction to converge to the stable point. Kalman Filter is normally used for the algorithm and numerous research is progressing at the moment. To calculate the attitude in ARS using 2 axis gyro(roll, pitch) and 3 axis accelerometers (x, y, z). In this paper we present a two wheel robot system for an autonomous mobile robot. This paper realized the robot control method which is much simpler but able to get desired performance by using the ARS control.

• Journal of Institute of Control, Robotics and Systems
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• v.21 no.11
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• pp.1064-1069
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• 2015

Control Moment Gyro (CMG) has been used as an indirect actuator of a single-wheel robot system GYROBO, developed at Chungnam National University. The flip motion of the gimbal system produces the gyroscopic motion onto the body system while the body motion also produces the gyroscopic motion onto the gimbal system inversely. In this paper, the intuitive equation of the inverse gyroscopic effect is derived as the direct relation between the rate of the body system and the rate of the gimbal system. Experiments on the inverse gyroscopic effect under the chaotically generated disturbance are conducted. Experimental data are approximated by a linear equation using the least square method.

• Journal of the Korea Society of Computer and Information
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• v.15 no.10
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• pp.129-136
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• 2010

In this paper proposed the sensor fusion algorithm between a gyroscope and an accelerometer to maintain the inverted posture with two wheels which can make the robot body move to the desired destination. Mobile inverted robot fall down to the forward or reverse direction to converge to the stable point. Therefore, precise information of tilt angles and quick posture control by using the information are necessary to maintain the inverted posture, hence this paper proposed the sensor fusion algorithm between a gyroscope to obtain the angular velocity and a accelerometer to compensate for the gyroscope. Kalman Filter is normally used for the algorithm and numerous research is progressing at the moment. However, a high-performing DSP and systems are needed for the algorithm. This paper realized the robot control method which is much simpler but able to get desired performance by using the sensor fusion algorithm and PID control.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.59 no.11
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• pp.2073-2082
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• 2010

The 4-th generation of mobile communication aims to realize global, fast and mobile communication service. The satellite communication charges a key role in this field. In this study, an OTM(On-The-Move) antenna which is mounted on ground vehicles and is used for mobile communication between vehicle and satellite was addressed. Since vehicles move during communication, active antenna line-of-sight stabilization is a core technology to guarantee high satellite communication quality. Stabilization of a satellite tracking antenna which consists of 2-DOF gimbals, an elevation gimbal over an azimuth gimbal, was considered in this study. Various disturbance torques such as static and dynamic mass imbalance torques, variation of moment of inertia according to elevation angle, friction torque related to vehicle motion, equivalent disturbance torque due to antenna roll motion, etc. were analyzed. As a robust stabilization control, rate feedback with sliding mode control and position feedback with proportional+integral control was suggested. To compensate antenna roll motion, a supplementary roll rate feed forward control was included beside of the feedback control loop. The feasibility of the analysis and the proposed control design were verified along with some simulation results.

• Bulletin of the Korean Space Science Society
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• 2003.10a
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• pp.63-63
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• 2003

There are many actuators and sensors used for attitude control system for KOMPSAT such as Reaction Wheel Assembly, Magnetic Torque Assembly, Dual Thruster Module, Solar array Drive, Three Axis Magnetometer, Conical Earth Sensor, Fine Sun Sensor Assembly, Coarse Sun Sensor Assembly, Gyro Reference Assembly and so on. For KOMPSA T satellite it has been considered using the Magnetic Torquer (MTQ) generating the magnetic dipole moment. In general, the magnetic dipole moment for satellite attitude control system is used for dumping out the excessive reaction wheel momentum so that the reaction wheel speed is not saturated. The objective of this study is to analyze the magnetic field characteristics generated by the Magnetic Torquer using the Maxwell 2D Field Simulator software. Currently, the developing model (DM) of the MTQ is being developed and manufactured at a company under the supervision of KARL MTQ is an electromagnet consisting of a ferromagnetic cylindrical core on which an excitation coil is wound. A current is passed through the coil to produce a dipole momentum in the ferromagnetic core. The configuration of the MTQ will be introduced in the presentation. The 2 dimensional model of the MTQ is drawn as axisymmetric models in RZ plane, and each corresponding material is assigned to the each MTQ object, the core, coil, and background. After the boundary conditions, current sources, and solution parameters are set up, the magnetic field intensities, directions, and other values specified by users can be calculated by using the finite element analysis. The theoretical magnetic field quantities obtained by the Maxwell 2D Simulator can be used for the basis of the development of the MTQ.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2013.04a
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• pp.533-539
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• 2013

Number of components and payload systems installed in satellites were found to be exposed to various disturbance sources such as the reaction wheel assembly, the control moment gyro, coolers, and others. A micro-level of vibration can introduce jitter problems into an optical payload system and cause significant degradation of the image quality. Moreover, the prediction of on-orbit vibration effects on the performance of optical payloads during the development process is always important. However, analyzing interactions between subsystems and predicting the vibration level of the payloads is extremely difficult. Therefore, this paper describes the analytical and experimental approach to microvibration effects on satellite optical payload performance with integrated jitter analysis framework, micro vibration emulator and satellite structure testbed.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.37 no.1
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• pp.89-98
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• 2009

CMG cluster which consists of four CMGs can be used to produce 3-axis torque. There are many issues that we have to investigate and validate when CMG cluster itself is developed. Thus, its ground validation and verification processes are essential. Therefore, CMG simulator which uses a torque sensor to calculate satellite attitude is proposed in this paper. Update and kalman filter are also proposed for gimbal angle problem occurred in development. The first way uses a calculated gimbal angle as a primary and a sensor angle as a scondary to reduce error. Also, the test results of specific CMG steering law as well as attitude control logic are presented as an example.

• Journal of Aerospace System Engineering
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• v.10 no.3
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• pp.15-22
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• 2016

The on-board appendages of satellites with mechanical moving parts such as the fly-wheel, the control-moment gyro, the cryocooler, and the gimbal-type directional antenna can generate an undesirable micro-vibration disturbance, which is one of the main causes of the image-quality degradation that affects high-resolution observation satellites. Consequently, the isolation of the micro-vibration issue has always been considered as salient, and the micro-vibration is therefore the focus of this study wherein a complex system that can provide the dual functions of a guaranteed vibration-isolation performance and electrical energy harvesting is proposed. The vibration-isolation and energy-harvesting performances of the complex system are predicted through a numerical analysis based on the characteristics that are obtained from component-level tests. In addition, the effectiveness of the complex system that is proposed in this study is verified through an assembly-level functional-performance test.

• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.24 no.1
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• pp.5-13
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• 2014

Number of components and payload systems installed in satellites were found to be exposed to various disturbance sources such as the reaction wheel assembly, the control moment gyro, coolers, and others. A micro-level of vibration can introduce jitter problems into an optical payload system and cause significant degradation of the image quality. Moreover, the prediction of on-orbit vibration effects on the performance of optical payloads during the development process is always important. However, analyzing interactions between subsystems and predicting the vibration level of the payloads is extremely difficult. Therefore, this paper describes the analytical and experimental approach to microvibration effects on satellite optical payload performance with integrated jitter analysis frame-work, microvibration emulator and satellite structure testbed.

• Journal of Aerospace System Engineering
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• v.12 no.1
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• pp.27-34
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• 2018

In this study, the generating of torque regarding the Control Moment Gyro (CMG) is proportional to the angular velocity of gimbal. This is the case because gimbal affects the attitude control of the satellite directly, and it is necessary to reduce the incidence of torque ripple of gimbal. In this paper, the cause of the torque ripple of gimbal is reviewed and mathematically modeled by assuming the friction imbalance of bearing, the magnetic field and the phase current imbalance of the motor. We are able to confidently estimate the modeling parameters of gimbal disturbance using a constant speed test, and then analyze the influence of applying feedforward control to our modeling. Additionally, the simulation results show that the torque ripple and angular velocity fluctuations are reduced when apply this modeling to the identified study parameters. Finally, we present the disturbance reduction technique using our disturbance modeling.