• Title/Summary/Keyword: Initial angular velocity

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각속도 제한을 고려한 무인기의 Dubins 경로 생성 및 추적 (Dubins Path Generation and Tracking of UAVs With Angular Velocity Constraints)

  • 양유영;장석호;이현재
    • 한국항공우주학회지
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    • 제49권2호
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    • pp.121-128
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    • 2021
  • 본 논문에서는 초기지점과 최종지점이 주어졌을 때 2차원 평면에서 무인기의 경로 생성 및 추적 문제에 대해 제안한다. Dubins 곡선을 이용한 경로 생성 알고리즘은 계산 속도가 빨라 무인기에 실시간으로 적용 가능하다는 장점이 있다. 경로 추적 알고리즘은 가시거리 유도 알고리즘과 유사한 알고리즘으로 효율적으로 방향각을 제어하기 위해 전방주시거리 개념과 관련된 이득 값을 추가하였다. 무인기의 경우 최대 곡률이 제한된다. 정밀한 제어를 위해 쿼드로터 모델을 사용하였다. 각속도 제한을 고려한 슬라이딩 모드 제어기를 통해 최대 곡률을 벗어나지 않고 경로를 추종하는 시뮬레이션을 진행하였다. 제약조건이 없는 제어기와 제약조건이 있는 제어기를 비교하여 경로 생성 및 추적 성능을 검증하였다.

계수기용 비인벌류트 치형의 내치차 설계와 물림해석 (Design and Meshing Analysis of a Non-involute Internal Gear for Counters)

  • 이성철
    • Tribology and Lubricants
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    • 제30권4호
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    • pp.212-217
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    • 2014
  • A counter gear transmits the rotation angle, so the angular velocity ratio of the gear does not necessarily need to be constant in the meshing process. As a pinion has a small number of teeth when combined with an internal gear for counters, tooth interference can occur with the use of an involute curve. This paper introduces circular arcs that represent a tooth profile and fillet for the profile design of a pinion through the combination of arcs with lines. The straight line of a rack tooth represents the profile of a mating internal gear. Thus, the circular arc and line maintain contact during the rotation of the counter gear. This paper presents an analysis of the meshing of the circular arc tooth and rack tooth along with the properties of the counter gear, such as the change in rotational velocity and amount of backlash. The contact ratio of the counter gear is 1 because the tooth contact occurs between circular arcs and line. The initial position of tooth contact, which denotes the simultaneous contact of two teeth, is found. As the rotation of the pinion, only one tooth keeps the contact situation. This meshing property is analyzed by the geometrical constraints of the tooth profile in contact and the results are presented as graphical diagrams in which tooth-arc movements are superimposed.

천정 크레인의 자동화 연구 (A study on automation of crane operation)

  • 박병석;김성현;윤지섭
    • 제어로봇시스템학회:학술대회논문집
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    • 제어로봇시스템학회 1997년도 한국자동제어학술회의논문집; 한국전력공사 서울연수원; 17-18 Oct. 1997
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    • pp.1871-1875
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    • 1997
  • Crane operation is manually accomplished by skilled operators. Recently, the concept of automation is widely introduced in shipping and unloading operation using the overhead crane for the enhanced productivity. In this regards, we designed an angle detector and 3D position detectro which are key evices for this operation. As well as an intellignet control algorithm is developed for the implementation of swing free crane. The performance of the presented algorithm is tested for the swing angle and the position of the overheas crand. The control scheme adopts a feedback control of an angular velocity of swing in initial phase and then the fuzzy controller whose rule base is optimized by a genetic algorithm.

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Improving Finger-click Recognition of a Wearable Input Device

  • Soh, Byung-Seok;Kim, Yoon-Sang;Lee, Sang-Goog
    • 제어로봇시스템학회:학술대회논문집
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    • 제어로봇시스템학회 2004년도 ICCAS
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    • pp.72-75
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    • 2004
  • In this paper, a finger-click recognition method is proposed to improve the recognition performance for finger-clicking of a wearable input device, called $SCURRY^{TM}$. The proposed method is composed of three parts including feature extraction part, valid click discrimination part, and cross-talk avoidance part. Two types of MEMS inertial sensors are embedded into the wearable input device to measure the angular velocity of a hand (hand movement) and the acceleration rates at the ends of fingers (finger-click motion). The experiment applied to the $SCURRY^{TM}$ device shows the improved stability and performance.

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Thyristor 직류 Chopper방식으로 구동되는 직류타여자식 전동기의 과도특성해석법 (Transient Characteristics of Separately Excited d-c Motor Driven by Thyristor d-c Chopper)

  • 천희영
    • 전기의세계
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    • 제21권2호
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    • pp.9-19
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    • 1972
  • The transient characteristics of separately excited d-c motor driven by thyristor d-c chopper is studied in this paper. The armature controlled system is applied. As a result of theoretrical analysis the following conculsions were drawn: (1) For the transient analysis, it is recognized that the state transition analysis is a more general method and powerful tool than the state equation method or signal flow graph method, although it includes iterative matrix calculations. And the system is dealt with a finite width sampled-data system in the state transition analysis. (2) The transient characteristics of the motor angular velocity and its torque to the sampling duration variation are compared with those due to the amplitude variation of d-c chopper voltage as follows. The attenuation rate of the transient characteristics is equal in both cases, but the initial value of the transient characteristics in former case is greater than in latter case. (3) The roots of characteristics equation of the system lie inside the unit circle of the Z-plane. Therefor the system is stable. Further it is found that as the sampling duration is decreased the relative stability is lessened.

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외란 관측기를 이용한 회전형 역진자 시스템의 출력 피드백 슬라이딩 모드 제어 (Output Feedback Sliding Mode Control System with Disturbance Observer for Rotational Inverted Pendulums)

  • 이규준;하종헌;김종식
    • 대한기계학회논문집A
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    • 제26권2호
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    • pp.243-253
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    • 2002
  • This paper presents the system modeling, analysis, and controller design and implementation for a rotational inverted pendulum system(RIPS), which is an under-actuated system and has the problem of unattainable angular velocity state. A sliding mode controller using the parameterization of both the hyperplane and the compensator fur output feedback is applied to the RIPS. Also, to improve the performance of the control system, a disturbance observer which estimates the disturbance, parameter variation, and some modeling errors of RIPS with less computational effort is used together. The results of simulation and experiment show that the proposed control system has superior performance for disturbance rejection and regulation at certain initial conditions.

Multimachine Stabilizer using Sliding Mode Observer-Model Following including CLF for Measurable State Variables

  • Lee, Sang-Seung;Park, Jong-Keun
    • Journal of Electrical Engineering and information Science
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    • 제2권4호
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    • pp.53-58
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    • 1997
  • In this paper, the power system stabilizer(PSS) using the sliding mode observer-model following(SMO-MF) with closed-loop feedback (CLF) for single machine system is extended to multimachine system. This a multimachine SMO-MF PSS for unmeasureable plant state variable is obtained by combining the sliding mode-model following(SM-MF) including closed-loop feedback(CLF) with the full-order observer(FOO). And the estimated control input for unmeasurable plant sate variables is derived by Lyapunov's second method to determine a control input that keeps the system stable. Time domain simulation results for the torque angle and for the angular velocity show that the proposed multimachine SMO-MF PSS including CLF for unmeasurable plant sate variables is able to damp out the low frequency oscillation and to achieve asymptotic tracking error between the reference model state at different initial conditions and at step input.

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Modelling of Swimming Ability Limits for Marine Fish

  • KIM Yong-Hae;WARDLE Clement S.
    • 한국수산과학회지
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    • 제30권6호
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    • pp.929-935
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    • 1997
  • The total energy of fish movement and the maximum burst swimming speed were estimated and formulated in accordance with body length and water temperature for several species in fisheries by empirical methods and also by using published results. Under the assumption of swimming energy reserve of a fish at the initial rest state, the swimming endurance of fish with different body lengths, swimming speeds and angular velocity was calculated using the relevant equations under similar conditions in tank experiments as well as natural conditions in field. Relative swimming energy efficiency or the transition swimming speed between red and white muscle for energy consumption was represented as a trigonometric function of swimming speed ratio. Therefore, this model does closely approach the actual swimming abilities and their limits especially in relation to the fishing gear operation and allow for the greater vitality of the wild fish in the fields.

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A New Approach for SINS Stationary Self-alignment Based on IMU Measurement

  • Zhou, Jiangbin;Yuan, Jianping;Yue, Xiaokui
    • 한국항해항만학회:학술대회논문집
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    • 한국항해항만학회 2006년도 International Symposium on GPS/GNSS Vol.1
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    • pp.355-359
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    • 2006
  • For the poor observability of azimuth misalignment angle and east gyro drift rate of the traditional initial alignment, a bran-new SINS stationary fast self-alignment approach is proposed. By means of analyzing the characteristic of the strapdown inertial navigation system (SINS) stationary alignment seriously, the new approach takes full advantage of the specific force and angular velocity information given by inertial measurement unit (IMU) instead of the mechanization of SINS. Firstly, coarse alignment algorithm is presented. Secondly, a new fine alignment model for SINS stationary self-alignment is derived, and the observability of the model is analysed. Then, a modified Sage-Husa adaptive Kalman filter is introduced to estimate the misalignment angles. Finally, some computer simulation results illustrate the efficiency of the new approach and its advantages, such as higher alignment accuracy, shorter alignment time, more self-contained and less calculation.

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새로운 Fuzzy Logic을 이용한 선박조타계의 제어 (Design of Ship's Steering System by Introducting the Improved Fuzzy Logic)

  • 이철영;채양범
    • 한국항해학회지
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    • 제8권1호
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    • pp.15-42
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    • 1984
  • Many studies have been done in the field of fuzzy logic theory, but it's application to the ship's steering system is few until this date. This paper is to survey the effect of application of fuzzy logic control by new compositional rule of Inference to the ship's steering system. The controller is made up of a set of Linguistic Control Rules which are conditional linguistic statements connecting the inputs and output, and take the inputs derived from deviation angle and it's angular velocity. The Linguistic Control Rules are implemented on the digital computer to verify the performance of the fuzzy logic controller and simulations have been done in six cases of initial condition and disturbance type. Consequently, it was proved that the ship's steering system by introducing the F.L.C. is performed efficiently and less energy loss system compared with the conventional autopilot.

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