• 한국산업융합학회 논문집
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• 제19권2호
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• pp.81-87
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• 2016

This paper presents a new approach to control of stable motion of single wheel driving robot system of a pitch that is controlled by an in-wheel motor and a roll that is controlled by a reaction wheel. This robot doesn'thave any actuator for a yaw axis control, which makes the derivation of the dynamics relatively simple. The Lagrange equations was applied to derive the dynamic equations of the one wheel driving robot to implement the dynamic speed control of the mobile robot. To achieve the real time speed control of the unicycle robot, the sliding mode control and optical regulator are utilized to prove the reliability while maintaining the desired speed tracking performance. In the roll controller, the sigmoid-function based robust controller has been adopted to reduce the vibration by the situation function. The optimal controller has been implemented for the pitch control to drive the unicycle robot to follow the desired velocity trajectory in real time using the state variables of pitch angle, angular velocity, angle and angular velocity of the driving wheel. The control performance of the control systems from a single dynamic model has been illustrated by the real experiments.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2011년도 춘계학술대회 논문집
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• pp.831-836
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• 2011

The study described in this paper is aimed to maintain a constant output of wind turbine system via pitch control of wind turbine using Advanced PID(APID) controller. In order to improve dynamic response characteristic in terms of pitch angle and disturbance reject, the APID controller is developed. The structure of the APID is composed with derivative P controller and new type of integral control action. This new improved integral control has concept of error window and weight function concept. The performance of the APID control technique is compared with those of conventional ones via simulation. Simulation results show that the proposed method is effective and enhanced the dynamic performance of the system.

• 전력전자학회:학술대회논문집
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• 전력전자학회 2011년도 전력전자학술대회
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• pp.285-286
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• 2011

Wind turbine system is converting wind energy into electric energy. In nature, torque of the blade is nonlinear function. To get a high quality electric power, system needs control of blade angle. The control of a blade is divided into a stall regulation type and a pitch control type. Pitch control type is more expensive and complicated, but it can make torque of the blade in accordance with variable wind. This paper shows 2MW pitch control system's hardware and electric part.

• 한국항공우주학회지
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• 제50권2호
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• pp.111-118
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• 2022

전기-기계식 구동기(EMA)는 전기 모터와 기계적 동력전달 요소를 결합한 것으로 설계 자유도와 유지보수 측면에서 도심 항공 모빌리티(UAM)에 적합하다. 본 논문에서는 UAM의 로터 블레이드 피치각을 조종하는 EMA에 대한 연구 결과를 제시한다. 구동기는 역구동형 롤러 스크류를 기반하며, 2절 링크를 통하여 블레이드 피치각을 조종한다. 구동기만의 동역학과 이것을 포함한 블레이드 피치운동의 동역학 방정식을 유도하였다. 블레이드 피치 동역학 방정식의 경우 링크의 영향으로 등가 관성모멘트는 링크 각도에 따라 변한다. 넛트 운동의 관점과 블레이드 피치 운동의 관점에서 등가 관성모멘트의 변동을 분석·비교하는 과정을 제시하였다. 사례로 선정한 모델의 경우에 전자의 등가 관성모멘트 변동이 후자에 비하여 작았으며, 그래서 넛트 운동의 관점에서 유도한 모델이 제어기 설계에 적합하다고 판단한다.

• 항공우주시스템공학회지
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• 제8권3호
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• pp.20-26
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• 2014

This paper presents the procedures and the results of the pitch control force via flight test for a light airplane in order to make out the stability of the aircraft and the compliance with concerned regulation. The flight test procedures were determined in order to obtain the aircraft type certification. The instrumentation equipments including airspeed indicator, accelerometer, and pitch control force measurement tools are used to perform the flight test. For the flight test, the airspeed and the pitch control force with related normal acceleration are measured sustaining turn flight with bank angle derived from trim speed. The flight test results showed that the handling qualities of the airplane are complied with the KAS-23, the regulation of the Korean government for the light airplane type certification.

• 한국정밀공학회지
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• 제15권9호
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• pp.33-42
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• 1998

If a ship diesel engine is operated by consolidated control with Controllable Pitch Propeller(CPP), the minimum fuel consumption is achieved together with the demanded ship speed. For this, it is necessary that the ship is operated on the ideal operating line which satisfies the minimum fuel consumption and that the pitch angle of CPP and throtle valve angle are controlled simultaneously. In this point of view, this paper presents a controller design method for a ship propulsion system with CPP based on the decoupling control theory. To do this, Linear Matrix Inequality(LMI) approach is introduced for the control system to satisfy the given $H_\infty$ control performance and robust stability in the presence of physical parameter perturbations. The validity and applicability of this approach are illustrated by simulation in the all operating ranges.

• 대한전기학회논문지:전력기술부문A
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• 제53권11호
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• pp.589-595
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• 2004

This paper presents a modeling and simulation of a grid-connected wind turbine generation system with respect to wind variations, starting of large induction motor and three-phase fault in the system, and investigates voltage variations of the system for disturbances. It describes the modeling of the wind turbine system including the drive train model, induction generator model, and grid-interface model on MATLAB/Simulink. The simulation results show the variation of the generator torque, the generator rotor speed, the pitch angle, terminal voltage, system voltage, fault current, and real/reactive power output, etc. Case studies demonstrate that the pitch angle control is carried out to achieve maximum power extraction for wind speed variations, starting of a large induction motor causes a voltage sag due to a large starting current, and a fault on the system influences on the output of the wind turbine generator.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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• pp.856-859
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• 1996

In this paper, a coarse alignment algorithm for strapdown inertial navigation system is proposed and evaluated analytically. The algorithm computes roll and pitch angles of the vehicle using accelerometer outputs, and then determines yaw angle with gyro outputs. It is referred, as two-step coarse alignment in this work. With the geometric relation between sensor outputs and roll, pitch and yaw angles, the algorithm error is analytically derived and compared with the previous coarse alignment algorithm introduced by Britting. The results show that the proposed two-step coarse alignment algorithm has better performance for pitch angle computation.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1991년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 22-24 Oct. 1991
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• pp.355-360
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• 1991

A method of autopilot gain-scheduling is presented for missiles which have heavy aerodynamic coupling between pitch and yaw channels due to high maneuverability. Pitch and yaw, autopilot are cross-coupled, and their feedback gains are scheduled by total acceleration and bank angle for given Mach number and height. Bank angle information is obtained by using a simple estimator. By computer simulation, it is shown that the proposed method is superior to other existing methods.

• 한국항공우주학회지
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• 제35권10호
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• pp.891-898
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• 2007

피치 제어형 수평축 풍력터빈에 대한 공력최적 설계 형상과 피치 변화에 따른 공력 성능 특성을 수치적으로 계산하였다. 수치적 방법은 날개 요소이론을 적용하였으며, Prandtl의 팁 손실 효과, 에어포일의 분포 효과, 후류의 회전 효과 등을 고려하였다. 블레이드 설계에는 총 6개의 서로 다른 에어포일을 사용하였으며, 구조적 강성을 갖기 위해서 허브 측에는 최대 40% 두께비의 에어포일을 분포시켰다. 최적 설계에서 얻어진 비선형 코드 길이는 제작성과 무게 등을 고려하여 선형화 시켰고, 선형화에 따른 공력성능 변화는 무시할만하다는 결과를 얻어내었다. 피치각 변화에 따른 동력성능, 추력성능, 토크 성능 곡선을 비교한 결과 $3^{\circ}$의 피치각 변화에도 민감한 공력 값의 변동이 생김을 알 수 있었고, 정밀한 피치 제어를 위한 각도 제어는 증분이 $3^{\circ}$보다 작은 값으로 피치 제어 알고리즘과 피치 구동 장치가 필요함을 알 수 있었다. 또한 최대 토크는 설계속도비보다 작은 속도비에서 발생되는 결과를 보여주었다.