• 제어로봇시스템학회논문지
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• 제11권8호
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• pp.726-732
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• 2005

This paper proposes an autolanding guidance and control algorithm with the lateral guidance law. This algorithm is basically formulated and designed in feedback linearization based on singular perturbation. Main features of this algorithm are two facts. One of those is that when a certain situation happens that airplane must realign to the runway suddenly assigned due to unexpected environment change around the landing site, the heading guidance in this algorithm is very valuable, and the other is the fact that the inner loop control of this algorithm is able to be designed directly based on the Handling Quality Requirements that most flight control systems must be satisfied with. To illustrate the potential of this algorithm, 6-DOF nonlinear simulation based on the nonlinear airplane model shown in Ref.[11] is carried out. The simulation results showed that the altitude response to the given landing trajectory is accurate, and the airplane heading alignment to the assigned runway from the lateral deviation is successful. It is noted that this algorithm is also applicable to unmanned aerial vehicle, which can be retrieved in autolanding technique, where the runway far retrieving the vehicle is in any direction for example at war field.

• 한국항공우주학회지
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• 제38권3호
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• pp.228-235
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• 2010

본 논문에서는 틸트로터 항공기의 회전익 모드에 대한 자율비행 유도제어 알고리즘을 적응제어기법을 이용하여 설계하는 것이다. 이를 위해 우선 출력기반 근사적 궤환선형화 기법을 통하여 알고리즘의 내부루프를 구성하고 그로부터 발생하는 모델오차를 단일 은닉층-신경망을 적용하여 상쇄하였다. 그리고 리아푸노프 안정성 이론에 따른 적응제어 갱신법칙은 선형 관측기를 기반으로 설계하였다. 나아가 외부루프는 경로점 유도법칙으로부터 생성되는 궤적을 추종하도록 하였으며 특히 엄밀한 자동착륙 궤적추종 성능 향상을 위하여 방향각 및 비행경로각 시선유도법칙을 설계하였다. 틸트로터 비선형 모델 시뮬레이션 결과는 콜렉티브 입력에서 보이는 순간적인 작동기 포화현상 이외에는 만족할 만한 안정성과 추종성능을 보여 주고 있다.

• 제어로봇시스템학회논문지
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• 제6권3호
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• pp.248-255
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• 2000

Whereas the linear PID controller is widely used for control of industrial servo systems a high precision positioning system is not easy to control only with the PID controller due to uncertain nonlinear dynamics such as friction backlash etc. As a viable means to overcome the difficulty a learning control scheme is proposed in this paper that is simple and straightforward to implement. The proposed learning controller takes full advantage of current feedback capability of the inner-loop of the control system in that electrical motor dynamics as the well as mechanical part of X-Y positioning system is included in the learning control scheme, The experimental results are given to demonstrate its feasibility and effectiveness in terms of convergence precision of tracking and robustness in comparison with the conventional control method.

• 제어로봇시스템학회논문지
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• 제11권11호
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• pp.963-969
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• 2005

An advanced method of Relaxed Static Stability (RSS) is utilized for improving the aerodynamic performance of modem version supersonic jet fighter aircraft. The flight control system utilizes RSS criteria in both longitudinal and lateral-directional axes to achieve performance enhancements and improve stability. The T-50 advanced trainer employs the RSS concept in order to improve the aerodynamic performance and the flight control law in order to guarantee aircraft stability, The T-50 longitudinal control laws employ the dynamic inversion and proportional-plus-integral control method. This paper details the design process of developing longitudinal control laws for the RSS aircraft, utilizing the requirement of MIL-F-8785C. In addition, This paper addresses the analysis of aircraft characteristics such as damping, natural frequency, gain and phase margin about state variables for longitudinal inner loop feedback design.

• Journal of Power Electronics
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• 제5권2호
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• pp.104-108
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• 2005

This paper presents the performance improvement of voltage-mode controlled interleaved synchronous buck converters. This is a voltage-mode controlled scheme, where the controllers do not need an external saw-tooth generator for PWM generation and the loop design is easier. The controller implementation requires only a single error amplifier and gives almost current mode control performance. The control scheme uses voltage feedback with two loops similar to current mode control: one for the slow outer loop and the other for the faster inner PWM control loop. To improve the performance of the converter system a coupled inductor is used. This coupled inductor reduces the magnetic size and also improves the converter's transient performance without increasing the steady-state current ripple. The effectiveness of the proposed control scheme is demonstrated through PSIM simulations.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1988년도 추계학술대회 논문집 학회본부
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• pp.49-52
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• 1988

This paper deal with the robust high gain controller design technique by inner-loop feedback, output feedback, feedforward compensation, and presented the algorithm to be required the determination of gain matrix. Using this control scheme, simulation results have bean tested for the linearized model of the aircraft.

• 로봇학회논문지
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• 제13권3호
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• pp.157-163
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• 2018

This paper deals with the development and application of control algorithms for series elastic relief robots for rescue operations in harsh environment like disasters or battlefield. The joint controller applied in this paper has a cascade structure combining inner loop for torque control and outer loop for position control. The torque loop contains feedforward and feedback controller and disturbance observer for independent, decentralized joint control. The effect of the elastic component and motor dynamics are treated as the nonlinear disturbance and compensated with the disturbance observer of torque controller. For the collision detection, Band Designed Disturbance Observer is configured to recognize/respond to external disturbance robustly in the continuously changing environment. The controller is applied to a 7-dof series elastic manipulator to evaluate the torque tracking and collision detection/response performance.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2001년도 학술대회 논문집 전문대학교육위원
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• pp.141-145
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• 2001

In this paper, model reference PID genetic controller was proposed in order to overcome the difficulty of reflecting control performance required in the overall control system and defects of the adaptation performance in the PID genetic controller. The proposed controller comprised Inner feedback loop consisting of the PID controller and plant, and outer loop consisting of an genetic algorithm which was designed for tuning a parameter of the controller. A reference model was used for design criteria of a PID controller which characterizes and quantizes the control performance required in the overall control system. Tuning parameter of the controller is performed by the genetic algorithm. The performance of proposed algorithm was verified through experiment for the DC servo motor.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1995년도 하계학술대회 논문집 B
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• pp.947-949
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• 1995

In this paper, model reference adaptive fuzzy controller (MRAFC) was proposed in order to overcome the difficulty of extracting rules and defects of the adaptation performance in the FLC. MRAFC comprised inner feedback loop consisting of the FLC and plant, and outer loop consisting of an adaptation mechanism which is designed for tuning a control rule of the FLC. A reference-model was used for design criteria of a fuzzy controller which characterizes and quantizes the control performance required in the overall control system. Tuning control rules of FLC is performed by the adaptation mechanism. For this, the fuzzy model for tuning the contorl rules is designed in accordance with the feature of error information. And DC servo motor was selected for case study of actual industrial plant and tested on various loads.

• 한국항행학회논문지
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• 제16권4호
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• pp.571-577
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• 2012

본 논문에서는 소형 무인항공기에 대한 비행제어 시스템을 동적 보상기를 이용하여 설계하였다. 제안된 제어 시스템은 정상상태 오차를 줄이면서 과도응답 특성을 개선하여 고도 변화 및 목표점 통과 명령에 대해 비행 안정성을 확보하고자 하였다. 제안된 비행 제어기는 내부 루프와 외부 루프의 이중 구조로 구성되며, 내부 루프는 PD 제어기를 사용하여 과도응답을 개선하도록 하며 외부 루프는 동적 보상기를 사용하여 과도 응답 및 정상 상태 오차를 개선하도록 하였다. 고도 추종 및 목표점을 통과하도록 하는 비행실험을 통하여 제안된 기법의 성능을 평가하였다.