• 전자공학회논문지SC
• /
• 제46권1호
• /
• pp.87-96
• /
• 2009

기존의 방법에서는 비선형 운동 물체의 운동 방정식을 선형화하므로써 비행체의 운동 상태방정식을 구하고, 각 제어 기관에 따라 전달함수를 구하여 안정성 판별과 더불어 제어기를 설계하였다. 이러한 설계 방법으로는 일반적인 비행기와 같은 형태, 비행 환경이 급격하게 변하지 않고 속도가 빠르지 않는 비행체의 유도/제어기 설계에 많이 사용되어 많은 성능을 발휘할 수 있다. 그러나 이러한 설계 방법은 통상적이지 않는 비행체 형태뿐만 아니라 빠른 속도에서 급격한 움직임을 갖는 비행체에서는, 기존의 유도/제어기 설계 방법으로는 이러한 비선형성으로 인하여 제어성(경로문제)과 안정성(안정화문제)을 동시에 충족할만한 성능을 발휘 할 수 없다. 따라서 본 논문에서는 이러한 불확실성이 내포된 비행체 제어 문제에서 제어성과 안정성을 동시에 충족시키기 위한 과정 중 먼저 제어성 문제를 해결하기 위한 비행체 제어성을 분석하고 모델을 제시한다. 또한 본 논문에서 비행체 모델과 동역학 모델에서 제어 요소로서 하중(중력수)을 설정하고 비행 특성에 따른 제어요소 값을 살펴본다. 이것은 Min 설계 방법 1단계이다.

• 한국항행학회논문지
• /
• 제27권2호
• /
• pp.155-161
• /
• 2023

비행착각(Vertigo)이란 공간상에서 헬리콥터의 위치, 자세, 움직임 등과 관련된 인지가 부족한 상태를 일컫는다. 짙은 안개 속이나 야간비행 등, 지평선이 보이지 않는 상황에서 비행할 때 비행착각에 빠지기 쉽고 시야가 넓더라도 구름 모양이나 바람 등 기상 조건, 지상물의 상태 등 시각적인 원인, 기체의 자세나 중력가속도의 변화 등과 같은 감각적인 원인에 의해 빠지기도 한다. 조종사 비행 훈련에 있어 지각 및 감각을 요구하는 헬리콥터 비행 훈련의 특수성에 따라 조종사 훈련을 위해 기존의 상용 비행 시뮬레이터 프로그램에 6축 모션 시스템을 적용한 모의비행훈련장치 모션 시스템의 설계와 프로그램에 관하여 연구하였다. 본 연구를 통해 제작된 모션 기반 헬리콥터 시뮬레이터를 활용하여 조종사의 훈련에 활용할 경우 기존에 활용되던 시각 기반 모의비행훈련장치에서 높은 성과를 확인할 수 없었던 비행착각 예방에 긍정적인 효과가 나올 것으로 예상된다.

• 대한기계학회:학술대회논문집
• /
• 대한기계학회 2007년도 춘계학술대회A
• /
• pp.384-388
• /
• 2007

Aerodynamic characteristics of Coleoptera species of Epilachna quadricollis and Allomyrina dichotoma are experimentally and numerically investigated. Using digital high speed camera and smoke wire technique, we visualized the continuous wing kinematics and the flight motion of free-flying coleoptera. The experimental visualization shows that the elytra flapped concurrently with the main wing both in the downstroke and upstroke motions. The wing motion of Epilachna quadricollis was captured and analyzed frame by frame to identify the kinematics of the wings and to implement it in the movement of a model wing (thin plate) in the simulation. The two-dimensional simulation of Epilachna quadricollis hovering flight was performed by assuming the wing cross section shape as a thin plate, even though most of insect's wings are made of curved corrugated membrane. The effect of Reynolds number are investigated by the simulation. Meanwhile, in order to investigate the role and effect of elytra, the flow visualization of Allomyrina dichotoma was carried on using smoke wire visualization technique. Here, we confirmed that the vortex generated by elytra due to its movement is strongly influence the vortex dynamic generated by hind wings.

• 한국운동역학회지
• /
• 제16권4호
• /
• pp.165-173
• /
• 2006

The purpose of this study was to analyze Yurchenko's 900 degree twist technique between the highly scored and the lowly scored subjects during the 2003 TaeGu Universiad Championship. The following results was obtained by analyzing horizontal, vertical and resultant velocities on 1st, 2nd, 3rd and 4th phases. The highly scored subject took longer total performance time but shorter time in 2nd and 300 phases. The highly scored subject also took longer performance time in 4th phase. In the board contact phase the highly scored subject had bigger elbow joint angle and shoulder joint angle. The highly scored subject had longer flying time and had more higher vertical height but lower horizontal and resultant velocities on 4th phase.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 2005년도 ICCAS
• /
• pp.906-909
• /
• 2005

In this study, the dynamic flying characteristics of the worn head sliders are investigated theoretically due to the change in head geometry caused by head and disk contact. The film shapes can be approximated as taper- truncated cycloidal-flat film. Two-dimensional time dependent modified Reynolds equation included molecular slip effect are formulated with neglected the roughness effect. The motion of head slider was assumed to have two degree of freedom in this work. Finite difference approximation with Newton Raphson iterative technique and the fourth order Runge-Kutta method were implemented to obtain the transient response of the slider head with various change in head geometry numerically and compared with the transient response of the IBM3380 type head slider. The simulation results show the film shape has affects significantly on the static and dynamic characteristic of slider head in magnetic storage systems.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 2002년도 ICCAS
• /
• pp.117.4-117
• /
• 2002

This paper describes a stationary position control of a wheeled blimp. The wheeled blimp is composed of a blimp filled with helium gas and a wheeled vehicle part. The wheeled blimp is designed to enable both flying in the air and standing on the floor. The wheeled blimp stands on the floor keeping its balance. However, it is difficult for the wheeled blimp to maintain a stationary position in standing phase since the stationary blimp system responds sensitively to air current even in indoor environments. In order to keep the stationary position restraining motion caused by an uncertain airflow, a position controller for the wheeled blimp is needed. Controller design based on dynamic m...

• 대한기계학회논문집B
• /
• 제24권3호
• /
• pp.477-484
• /
• 2000

Microcontamination caused by particle deposition on the head disk interface threatens the reliability of hard disk drive. Design of slider rail to control contamination becomes an important issue in magnetic recording. In this paper, how particles adhere to the slider and the disk is examined. To investigate accumulation mechanism of the particles, trajectory of the particles in a slider/disk interface is simulated with considering various forces including drag force, gravitational force, Saffman lift force, and electrostatic force. It is found that the charged particles can easily adhere to the slider or disk surface, if an electric field exists between the slider and the disk. It is supposed that the vertical motion of the particles should be related with not only Saffman force but also electrostatic force.

• 대한기계학회:학술대회논문집
• /
• 대한기계학회 2008년도 추계학술대회A
• /
• pp.870-875
• /
• 2008

The main objective of this paper is to control a trajectory tracking of the fish-mimetic robot by CPG (Central Pattern Generator), which is biological approach. CPG is biological neural networks that generate rhythmic movements for locomotion of animals, such as walking, running, swimming and flying. Animals show marvelous ability of autonomous dynamic adaptation for an unsteady fluid dynamic environment or various environments. So, we propose the 3-DOF CPG controller to track the trajectory of the fish robot in plane motion. The conformity of the proposed control algorithm is validated by simulation for a fish robot model, which is made by a commercial dynamic package.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
• /
• pp.92-92
• /
• 2000

Helicopter offer the signigicant advantage over traditional air vehicles, in that the provide extended maneuverability, such as vertical climb, hovering, longitudinal and lateral flight, hovering turns and bank turns. But helicopter have the strong cross couplings and nonlinearities for each lateral, longitudinal and rotational motion mutually. However, it is possible to ignore this couplings for the hovering condition, so using this properties we can control the attitude of helicopter. That is, by implementing the dynamic of each rotational axis(roll, pitch, yaw) of independent mutually, 3-DOF(degree of Freedom) attitude control for the helicopter is possible. In this paper, we identify decoupled input-coutput relations of each three rotational axis about the helicopter mounted on the 3-DOF gimbal by experiment, and on these basis implement 3-DOF attitude controller using the PID control method.

• 대한기계학회논문집A
• /
• 제25권2호
• /
• pp.198-205
• /
• 2001

Recently, almost all hard disk drives employ the rotary actuator system. The performance of an HDD depends on the accuracy and speed of tracking motion. We study the dynamics of head-suspension assembly during track seek. We develop the numerical analysis program to study the dynamic characteristics of HDD suspension system considering the air bearing effects. The track seek simulation by using the developed program helps to estimate the effect of the suspension vibration on the air bearing dynamics. We calculate the behaviour of the air bearing for the given track seek profile and calculate the positioning error during track seek process due to the lateral deflection of the suspension.