• 한국항해항만학회지
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• 제31권7호
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• pp.563-568
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• 2007

In this paper, an adaptive neural network controller and its application to automatic berthing control of ship is presented. The neural network controller is trained online using adaptive interaction technique without any teaching data and off-line training phase. Firstly, the neural networks used to control rudder and propeller during automatic berthing process are presented. Secondly, computer simulations of automatic ship berthing are carried out in Pusan bay to verify the proposed controller under the influence of wind disturbance and measurement noise. The results of simulation show good performance of the developed berthing control system.

• 한국항공우주학회지
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• 제32권5호
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• pp.18-23
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• 2004

한 러 풍동시험 기술협력사업의 일환으로 러시아 TsAGI T-012 풍동에서 KARI가 보유하고 있는 전진익형 항공기 모델에 대한 풍동시험을 수행하였다. Wire-suspension 모델지지부를 사용하고 있는 T-102 시험결과와 KARI 3점지지부 및 2 점지지부 시험결과를 비교하였다. 항력의 경우 KARI 시험결과와 TsAGI T-102 시험결과는 매우 좋은 일치성을 보이고 있다. 조종면에 의한 영향을 비교한 결과 두 기관의 시험결과는 요잉모멘트와 롤링모멘트에서도 매우 좋은 일치성을 보이고있다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2004년도 ICCAS
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• pp.1386-1391
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• 2004

It is known that an aircraft with delta-wings which are attached to the body at a large angle like a kite or a hang glider has a measure of maneuverability and stability. Aircrafts of this kind can fly stably. Even if engine trouble occurs, it will not fall and might be able to land. In this paper, one of the conventional control methods, PID control, is applied to the aircraft with LQ local control block. This is based on an idea that the aircraft flies so stably that the automatic control system might be realized by a simple controller. The proposed PID controller consists of several sub-controllers which are constructed to each system neglecting the interference. In addition, the LQ control is involved as a local loop of the aileron and rudder control in order to increase stability of the attitude when circling. The effectiveness of the proposed method is shown through 3D computer simulations and experiments of the flight path control.

• International Journal of Ocean System Engineering
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• 제1권4호
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• pp.192-197
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• 2011

This paper describes the mathematical modeling, control algorithm, system design, hardware implementation and experimental test of a Manta-type Unmanned Underwater Vehicle (MUUV). The vehicle has one thruster for longitudinal propulsion, one rudder for heading angle control and two elevators for depth control. It is equipped with a pressure sensor for measuring water depth and Doppler Velocity Log for measuring position and angle. The vehicle is controlled by an on-board PC, which runs with the Windows XP operating system. The dynamic model of 6DOF is derived including the hydrodynamic forces and moments acting on the vehicle, while the hydrodynamic coefficients related to the forces and moments are obtained from experiments or estimated numerically. We also utilized the values obtained from PMM (Planar Motion Mechanism) tests found in the previous publications for numerical simulations. Various controllers such as PID, Sliding mode, Fuzzy and $H{\infty}$ are designed for depth and heading angle control in order to compare the performance of each controller based on simulation. In addition, experimental tests are carried out in a towing tank for depth keeping and heading angle tracking.

• 대한조선학회논문집
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• 제34권3호
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• pp.19-26
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• 1997

본 논문에서는 신경망을 이용한 선박자동조타장치의 개발에 관한 연구결과를 소개한다. 앞의 논문에서 소개된 Back-Propagation 알고리즘을 이용하여 선박의 자동운항을 위한 자동제어방법을 개발하였으며 그 결과 기준모델추구신경망제어기와 순간최적제어기를 설계하였다. 기준모델추구신경망제어기는 선수각과 선수각속도가 주어진 기준모델을 추구하도록 타각을 제어하도록 하였으며, 순간최적제어기는 현 상태에서 다음상태로의 천이를 최적화하도록 하였다. 신경망에 근거한 이들 제어기법을 간단한 선박조종수치모델에 적용한 결과 그 효용성을 확인할 수 있었다.

• 한국항해항만학회:학술대회논문집
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• 한국항해항만학회 2016년도 춘계학술대회
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• pp.308-309
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• 2016

본 논문은 선박의 자동항법 시스템에서 주요한 부분인 항로추종 유도 기법을 다루고 있다. 특히, 웨이포인트(way-point)기반, 인클로져(enclosure)기반, 룩어헤드(lookahead)기반의 항로추종 유도기법의 성능에 관해 살펴본다. 아울러 본 논문에서는 항로추종 시 선박의 조타제어를 위해 PID제어 시스템이 적용된다. 최종적으로 3가지 유도기법의 성능은 시뮬레이션 결과를 통해 평가된다.

• 해양환경안전학회지
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• 제13권3호
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• pp.229-234
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• 2007

현재 근해어업은 기피 산업으로 어민들의 고령화 및 감소로 인력을 구하기 어렵고 어로활동을 하기 위해서는 일반적으로 2명 이상이 1조로 작업이 진행된다. 따라서 숙련되지 못한 사람들이 조를 이루어 작업을 할 경우 의사전달에 시차가 생기고 한사람은 배의 조종에 매달리므로 작업의 능률이 떨어진다. 따라서 레저나 소형어선에서 1인이 선박을 조종하면서 작업이나 레저를 즐길 수 있는 선외기의 원격제어 시스템 연구의 필요성이 대두되었다. 본 연구에서는 작업의 효율을 높이고 인력을 절감 할 수 있는 선외기의 원격제어시스템에 관한 연구를 수행하였다. 선외기는 엔진, 조타기, 정 역전 및 중립 기어박스가 하나의 시스템으로 구성되어 있다. 소형 선외기에 이 세 가지의 제어를 직류전동기를 이용하여 위치제어와 속도제어를 하였고, 마이크로컨트롤러를 이용하여 조타기와 엔진회전수 제어를 프로그램화 하여 어민들이 작업을 하면서 동시에 원하는 조종을 할 수 있도록 시스템을 설계 제작하였다. 시운전결과 전속에서 좌 우현 조타 성능이 명령대로 잘 움직였다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1992년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 19-21 Oct. 1992
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• pp.590-595
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• 1992

An integrated guidance scheme for guided weapon system is described in this paper. Against conventional guidance methods, this method combines an autopilot and a guidance law. The controller is designed using LQ regulator whose performance index is different from other optimal guidance laws. Since dynamics of the system is considered in the derivation, the controller performance is improved. By simulation, the suggested method shows better performance in minimum distance sense than conventional guidance schemes such as Bang Bang guidance or Pursuit Guidance. Since the suggested method provides smooth rudder deflection in contrast to the conventional method, the load on a energy source of the system can be greatly lessened.

• 로봇학회논문지
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• 제11권4호
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• pp.217-225
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• 2016

Dynamic Positioning (DP) is used to automatically maintain the position and heading of a floating structure subjected to environmental disturbances. A DP control system is composed of a motion controller to compute the desired force and moment and a thrust allocator to distribute the computed force and moment to multiple thrusters considering mechanical and operational constraints. Among various thruster configurations, azimuth thrusters or propeller/rudder pairs tend to make the allocation problem difficult to solve, because these types of propulsion systems include nonlinear constraints. In this paper, a dynamic positioning strategy for a twin-thruster ship that is propelled by two azimuthing thrusters is addressed, and a thrust allocation method which does not require a numerical optimization solver is proposed. The applicability of the proposed method is demonstrated with an experiment using an autonomous boat.

• 해양환경안전학회지
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• 제25권3호
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• pp.306-312
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• 2019

This paper investigates to design a controller for maritime autonomous surface ship (MASS) by means of adaptive super-twisting algorithm (ASTA). A input-out feedback linearization method is considered for multi-input multi-output (MIMO) system. Sliding Mode Controller (SMC) is suitable for MASS subject to ocean environments due to its robustness against parameter uncertainties and disturbances. However, conventional SMC has inherent disadvantages so-called, chattering phenomenon, which resulted from the high frequency of switching terms. Chattering may cause harmful failure of actuators such as propeller and rudder of ships. The main contribution of this work is to address an appropriate controller for MASS, simultaneously controls surge and yaw motion in severe step inputs. Proposed control mechanism well provides convergence bewildered by external disturbances in the middle of steady-state responses as well as chattering attenuation. Also, the adaptive algorithm is contributed to reducing non-overestimated value of control gains. Control inputs of surge and yaw motion are displayed by smoother curves without excessive control activities of actuators. Finally, no overshoot can be seen in transient responses.