• 제어로봇시스템학회논문지
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• 제19권2호
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• pp.164-170
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• 2013

Quadrotor UAV (Unmanned Aerial Vehicle) is a flying robotic platform which has drawn lots of attention in the recent years. The attraction comes from the fact that it is able to perform agile VTOL (Vertical Take-Off Landing) and hovering functions. In addition, the efficient modular structure composed of four electric rotors makes its design easier compared to other single-rotor type helicopters. In many cases, a quadrotor often utilizes vision systems in order to obtain altitude control and navigation solution in hostile environments where GPS receivers are not working or deniable. For carrying out their successful missions, it is essential for flight control systems to have fast and stable control responses of heading angle outputs. This paper presents a Fuzzy Logic based lateral PI controller to stabilize and control the quadrotor vehicle equipped with vision systems. The advantage of using the fuzzy based PI controller lies in the fact that it could acquire a desired output response of a heading angle even in presence of disturbances and uncertainties. The performance comparison of the newly proposed Fuzzy-PI controller and the conventional PI controller was carried out with various simulation results.

• 제어로봇시스템학회논문지
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• 제19권5호
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• pp.450-456
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• 2013

This paper suggests the target tracking method improved for the collaboration of the quad rotor type UAV (Unmanned Aerial Vehicle) and omnidirectional Unmanned Ground Vehicle. If UAV shakes or UGV moves rapidly, the existing method generates a phenomenon that the tracking object loses the tracking target. To solve the problems, we propose an algorithm that can track continually when they lose the target. The proposed algorithm stores the vector of the landmark. And if the target was lost, the control signal was inputted so that the landmark could move continuously to the direction running out. Prior to the experiment, Proportional and integral control were used in 4 motors in order to calibrate the Heading value of the omnidirectional mobile robot. The landmark of UGV was recognized as the camera adhered to UAV and the target was traced through the proportional-integral-derivative control. Finally, the performance of the target tracking controller and proposed algorithm was evaluated through the experiment.

• 수산해양교육연구
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• 제7권1호
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• pp.111-126
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• 1995

In general, the electromagnetic transient phenomenon always exists in induction motor(IM) with the torque change. The control performance of IM is very worse than that of D.C motor owing to this transient phenomenon. So many studies about the elimination methods of the transient phenomenon have been making progress. Interesting methods of them are the Field acceleration method(FAM) and the method of impulse addition on the input voltage at the time point of torque change. In this paper, first, the circuit equation of IM is derived from the phase segregation method. The torque equation consisted of the stator and rotor currents is derived from the solving of the circuit equation. As we well known, the transient terms exist in this the torque equation. The method of impulse addition on the input voltage at the instance of torque change is confirmed theoretically for the elimination of the transient phenomenon. With the base on it, the author proposed a real time algorithm to eliminate the transient terms. The control system is consisted of the PI controller with the feedforward of torque change. The author could confirm that the quick stepwise responses of torque and speed can be obtained from response simulations.

• 한국산학기술학회논문지
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• 제13권10호
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• pp.4751-4756
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• 2012

브러쉬형 모터는 여러 가지 전기기계 및 가전제품에서 미세먼지와 유해물질을 발생시키는 것으로 알려졌다. 그래서 브러쉬가 없는 형태의 모터가 브러쉬형 모터를 대신하여 친환경적인 대안으로 제안되었다. 또한 BLDC 모터의 값비싼 마그넷 회전자는 SRM형으로 대치되고 있는데 SRM은 시스템의 허용범위 내에서 전류값이 넘지 않도록 해야하는 제어를 요구한다. 본 논문에서는 SRM형 BLDC 모터를 사용하여 고속회전을 제어하기위한 경제적인 제어기와 효율적인 접근방법을 소개한다.

• 제어로봇시스템학회논문지
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• 제10권3호
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• pp.286-293
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• 2004

This paper presents the result of a study on the starter control for a turbo generator. Because a starter in gear box type turbo-generator system is composed of gearbox and brush DC motor, it should be replaced with High Speed Generator(HSG)) in HSG type Turbo-generator. There-ore, it is necessary to design a new starting algorithm and starter. In gearbox type system, brush DC motor is rotated to the designed speed using low voltage-high current battery power. After brush DC motor speed is increased to several times by gearbox, gas turbine engine can be rotated to designed starting speed. If we implement a starter with High Speed Generator(HSG), it is necessary to drive high-speed generator to high-speed motor. High-speed generator with permanent magnet on rotor has a low leakage inductance fur driving high-speed rotation, and it is necessary high DC link voltage for inverter when High-speed generator is driven to high speed. This paper presents result of development of the boost converter for converting high voltage DC from low battery voltage and design of the inverter for controlling a high frequency current to be injected to motor winding. Also, we show performance of the designed starter by driving the turbo generator.

• 한국산업융합학회 논문집
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• 제23권5호
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• pp.825-833
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• 2020

Currently, the K-Water uses various valves that can be remotely controlled for optimal water management. Valve system fault can be classified into rotor defects, stator defects, bearing defects, and gear defects of induction motors. If the valve cannot be operated due to a gear fault, the water management operation can be greatly affected. For effective water management, there is an urgent need for preemptive repairs to determine whether gear is damaged through failure prediction diagnosis.. Recently, deep learning algorithms are being applied for valve failure diagnosis. However, the method currently applied has a disadvantage of attaching a vibration sensor to the valve. In this paper, propose a new algorithm to determine whether a fault exists using a convolutional neural network (CNN) based on the voltage and current information of the valve without additional sensor mounting. In particular, a normalized Lisasjous diagram was used to maximize the fault classification performance in the CNN-based diagnostic system.

• 제어로봇시스템학회논문지
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• 제22권9호
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• pp.759-765
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• 2016

This paper presents the principle, dynamics modeling and control, hardware implementation, and flight test result of a hybrid-type unmanned aerial vehicle (UAV). The proposed UAV was designed to provide both hovering and fixed-wing type aerodynamic flight modes. The UAV's flight mode transition was achieved through the attitude transformation in pitch axis, which avoids a complex rotor tilt mechanism from a structural and control viewpoint. To achieve this, a different navigation coordinate was introduced that avoids the gimbal lock in pitch singularity point. Attitude and guidance control algorithms were developed for the flight control system. For flight test purposes, a quadrotor attached with a tailless fixed-wing structure was manufactured. An onboard flight control computer was designed to realize the navigation and control algorithms and the UAV's performance was verified through the outdoor flight tests.

• 대한기계학회논문집B
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• 제21권3호
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• pp.457-472
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• 1997

We studied the temperature distribution and heat transfer characteristics of TEFC induction motor with thermal network program for more efficient design and better cooling performance of it. We knew the characteristics and the windage loss of outer cooling fan from fan test experiments. Frame axial and peripheral heat transfer coefficients and endwinding heat transfer coefficient were measured by various model experiments and then, compared with other experimental results. Frame was the main heat transfer surface, load-side and fan-side surface were not thermally symmetric from the heat flux distribution analysis. Steady and unsteady temperature distributions were measured by real motor experiments. From the results, we knew that rotor surface temperature was higher than coil temperature and the hottest spot in the coil was loadside endwinding outside surface. We compared the simulation results with those of real motor test and the two results showed a good agreement.

• 한국전산유체공학회:학술대회논문집
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• 한국전산유체공학회 2009년 춘계학술대회논문집
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• pp.43-50
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• 2009

In order to reduce the download around Smart UAV(SUAV) at hovering and transition mode, flow control using synthetic jet has been performed. Many of the complex tilt rotor flow features are captured including wing leading and trailing edge separation, and the large region of separated flow beneath the wing. First, in order to control the trailing edge separation, synthetic jet is located at 30, 95% of flap chord length. The flow control using synthetic jet on flap shows that stall characteristics depending on several mode can be improved through separation vortices resizing. Also, a flap jet and a 0.01c jet which control the separation efficiently are applied at the same time at each test case because controlling the leading edge separation is essential for download reduction. As a result, time averaged download is reduced about 18% comparing with no control case at hovering mode and 48% at transition mode. These research results show that if flow control using leading edge jet and trailing edge jet is used effectively to the SUAV in overall flight mode, flight performance and stability can be improved.

• International Journal of Fluid Machinery and Systems
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• 제3권2호
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• pp.102-112
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• 2010

Artificial heart pumps have attracted the attention of researchers around the world as an alternative to the organ used in cardiac transplantation. Conventional centrifugal pumps are no longer considered suitable for long-term application because of the possibility of occurrence of blood leakage and thrombus formation around the shaft seal. To overcome this problem posed by the shaft seal in conventional centrifugal pumps, the magnetically suspended centrifugal pump has been developed; this is a sealless rotor pump, which can provide contact-free rotation of the impeller without leading to material wear. In Europe, clinical trials of this pump have been successfully performed, and these pumps are commercially available. One of the aims of our study is to numerically examine the internal flow and the effect of leakage flow through the gap between the impeller and the pump casing on the performance of the pump. The results show that the pressure head increases compared with the pump without a gap for all flow rates because of the leakage of the fluid through the gap. It was observed that the leakage flow rate in the pump is sufficiently large; further, no stagnant fluid or dead flow regions were observed in the pump. Therefore, the present pump can efficiently enhance the washout effect.