• 한국항공운항학회지
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• 제23권1호
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• pp.67-73
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• 2015

The previous limited authority system capable of implementing attitude command response type and translational command response type by operating SAS actuator has the problem of early saturation of SAS actuator since SAS actuator should compensate the mechanical linkage displacement caused by control sick movement. In this paper, a limited authority system where flight control computer receives the command from the control stick which is not connected to the mechanical linkage is described. In this system the compensation by the SAS actuator is not necessary and SAS actuator saturate later. SAS actuator saturation problem can be further relaxed by using the trim actuator. This new limited authority system is applied to BO-105 model, simulation is performed for the doublet input and pirouette maneuver is also simulated and analyzed.

• 한국항공운항학회지
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• 제21권4호
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• pp.34-40
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• 2013

Attitude command response type required for enhanced handling qualities of helicopter can be implemented by mechanical automatic flight control system with SAS actuators which have limited authorities. However, the early saturation of SAS actuator hinders the helicopter from following the attitude command for large stick command. Auto-trim controller can delay SAS actuator's saturation by utilizing trim actuators and allows the attitude command response type for larger stick command. This paper describes the control law for limited authority system of helicopter with auto-trim. Limited authority system is applied to BO-105 linear dynamic model and simulation is performed along with handling quality analysis.

• 제어로봇시스템학회논문지
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• 제16권6호
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• pp.566-571
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• 2010

EPS (Electric Power Steering) is important device for improving vehicle's dynamics and static performances. This paper deals with simulator design for C-EPS (Colum type-EPS), development assist and returnability control algorithm. First, C-EPS system model was simply designed because EPS system is complex control system that has many unknown variables. These parameters were simplified through assumptions. Second, C-EPS simulator was designed for development of control algorithm. This simulator has SAS (Steering Angle Sensor), dual torque sensor, dual load cell for measuring rack force, dual linear actuator for generating tire force and Data Acquisition System. Using this simulator, control methods ware tested. Third, control algorithm was designed for torque assist and returnability. Assist torque map and returnability torque map were found by lots of simulation test. These torque maps were tuned for EPS actuator control. The simulation result was compared with non-EPS system result. In this research, the C-EPS simulator was designed for development of control algorithm about torque assistant and returnability. Using this simulator, control algorithm was improved.

• Smart Structures and Systems
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• 제20권2호
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• pp.175-180
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• 2017

The load-carrying capacity and structural behavior of concrete-filled steel tube (CFST) structures is highly influenced by the grouting compactness in the steel tube. Due to the invisibility of the grout in the steel tube, monitoring of the grouting progress in such a structure is still a challenge. This paper develops an active sensing approach with combined piezoceramic-based smart aggregates (SA) and piezoceramic patches to monitor the grouting compactness of CFST bridge structure. A small-scale steel specimen was designed and fabricated to simulate CFST bridge structure in this research. Before casting, four SAs and two piezoceramic patches were installed in the pre-determined locations of the specimen. In the active sensing approach, selected SAs were utilized as actuators to generate designed stress waves, which were detected by other SAs or piezoceramic patch sensors. Since concrete functions as a wave conduit, the stress wave response can be only detected when the wave path between the actuator and the sensor is filled with concrete. For the sake of monitoring the grouting progress, the steel tube specimen was grouted in four stages, and each stage held three days for cement drying. Experimental results show that the received sensor signals in time domain clearly indicate the change of the signal amplitude before and after the wave path is filled with concrete. Further, a wavelet packet-based energy index matrix (WPEIM) was developed to compute signal energy of the received signals. The computed signal energies of the sensors shown in the WPEIM demonstrate the feasibility of the proposed method in the monitoring of the grouting progress.

• Structural Monitoring and Maintenance
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• 제5권2호
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• pp.313-323
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• 2018

The presence of water inside concrete structures is an essential condition for the deterioration of the structures. The free water in the concrete pores and micro-cracks is the culprit for the durability related problems, such as alkali-aggregate reaction, carbonation, freeze-thaw damage, and corrosion of steel reinforcement. To ensure the integrity and safe operation of the concrete structures, it is very important to monitor water seepage inside the concrete. This paper presents the experimental investigation of water seepage monitoring in a concrete slab using piezoelectric-based smart aggregates. In the experimental setup, an $800mm{\times}800mm{\times}100mm$ concrete slab was fabricated with 15 SAs distributed inside the slab. The water seepage process was monitored through interrogating the SA pairs. In each SA pair, one SA was used as actuator to emit harmonic sine wave, and the other was used as sensor to receive the transmitted stress wave. The amplitudes of the received signals were able to indicate the water seepage process inside the concrete slab.

• 제어로봇시스템학회논문지
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• 제6권9호
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• pp.768-776
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• 2000

A robust high-speed motion controller is proposed. The proposed controller consists of the proximate time optimal servomechai는 (PTOD) for high-speed motion, disturbance observer (DOB) for robustness, friction compensator, and saturation handling element, In the proposed controller, DOB basically provides the chance to apply PTOS to non-double integrator systems by drastically reducing disturbances as well as unwanted signals due to difference between real system and the double integrator model. But, in DOB-based systems, if control input is saturated due to control input PTOS and/or DOB, overall system stability cannot be guaranteed. To solve this problem, ribust stability, when the control input is saturated. Eventually, a simple saturation handling element is inserted to maintain internal stability of overall system. Also, we explain the our two saturation handling methods, Additional Saturation Element (ASE_ and Self Adjusting Saturation (SAS), are the equivalent solutions of the saturation problem to maintain internal stability. The stability and performance of the proposed controller are verified through numerical simulations and experiments using a precision linear motor system.