• 대한조선학회논문집
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• 제46권4호
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• pp.391-397
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• 2009

In this paper, longitudinal static stability is investigated, which is an essential requirement for the safety and the performance of the human powered hydrofoil boat (HPHB). In case a disturbance changes the trim angle of the boat, the derivative of the moment about the center of gravity must be negative in order to make the boat to be stable. The equation to evaluate the longitudinal static stability of the EPISODE, a HPHB of Chungnam National University with a height controlling system(HCS) is derived. From the derivative it is confirmed that a longitudinal and vertical position of the center of gravity is important for a HPHB. The range of a trim angle while the boat is foil-born was found with a HCS under the condition of mechanical restraint. And it is confirmed that the longitudinal static stability is satisfied for EPISODE in certain range of a trim angle. It is also shown that the longitudinal static stability and a range of the trim angle can be determined from the principal dimensions of a HPHB, therefore, it can be applied from the stage of the conceptual design of HPHB.

• 한국항공우주학회지
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• 제40권11호
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• pp.948-956
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• 2012

본 논문에서는 SDM 형상의 세로와 방향의 안정성 미계수를 예측하였다. 피치와 요 방향에 대한 강제조화 진동운동을 이용하여 정적 및 동적 미계수를 한 번에 계산하였다. 계산은 비정상 해석을 위한 이중시간 적분법을 적용한 3차원 Euler 해석자를 사용하여 수행하였다. 본 연구에서는 마하수뿐만 아니라 다양한 운동 변수에 따른 미계수를 예측하였다. 예측된 결과는 이전에 발표된 수치적, 실험적 연구 결과들과 비교하여 검증하였다.

• International Journal of Naval Architecture and Ocean Engineering
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• 제11권1호
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• pp.584-596
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• 2019

This paper presents a Modified Adaptive Complementary Sliding Mode Control (MACSMC) system for the longitudinal motion control of the Fully-Submerged Hydrofoil Craft (FSHC) in the presence of time varying disturbance and uncertain perturbations. The nonlinear disturbance observer is designed with less conservatism that only boundedness of the derivative of the disturbance is required. Then, a complementary sliding mode control system combined with adaptive law is designed to reduce the bound of stabilization error with fast convergence. In particularly, the modified complementary sliding mode surface which contains the estimation of the disturbance can reduce the switching gain and retain the normal performance of the system. Moreover, a hyperbolic tangent function contained in the control law is utilized to attenuate the chattering of the actuator. The global asymptotic stability of the closed-loop system is demonstrated utilizing the Lyapunov stability theory. Ultimately, the simulation results show the effectiveness of the proposed approach.

• International Journal of Control, Automation, and Systems
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• 제5권4호
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• pp.410-418
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• 2007

For the purpose of fault detection of the primary control surface, real-time estimation of the longitudinal stability and control derivatives of the DURUMI-II using the flight data is considered in this paper. The DURUM-II, a research UAV developed by KARI, is designed to have split control surfaces for the redundancy and to guarantee safety during the fault mode flight test. For fault mode analysis, the right elevator was deliberately fixed to the specified deflection condition. This study also mentions how to implement the multi-step control input efficiently, and how to switch between the normal mode and the fault mode during the flight test. As a realtime parameter estimation technique, Fourier transform regression method was used and the estimated data was compared with the results of the analytical method and the other available method. The aerodynamic derivatives estimated from the normal mode flight data and the fault mode data are compared and the possibility to detect the elevator fault by monitoring the control derivative estimated in real time by the computer onboard was discussed.

• 항공우주시스템공학회지
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• 제11권1호
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• pp.14-21
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• 2017

매우 큰 정안정성($C_{L{\alpha}}$)을 갖는 틸트덕트 운동모델에 대해 선형 파라미터를 갖는 Sigma-Pi 신경망(SPNN) 제어법칙을 적용하였다. 기존의 비례적분미분(PID) 제어기는 매우 큰 정안정성을 갖는 운동모델이 갖는 강한 기수숙임 문제를 해결하기 어려웠고 이로인해 제어성능을 높일 수 없었다. 이와 달리 외부루프와 내부루프에 모두 적용된 SPNN 제어기는 동역학역변환 및 모델오차를 줄일 수 있는 의사적응제어 명령을 이용해서 과도한 안정성을 개선할 수 있었다. 이를 검증하기 위해서 경로점 추종 시뮬레이션을 이용해서 PID제어 성능과 SPNN제어 성능을 비교하였다.