• 제목/요약/키워드: Speed observer

검색결과 564건 처리시간 0.027초

GA-LADRC를 이용한 Mariner class vessel의 선수각 제어 (GA-LADRC based control for course keeping applied to a mariner class vessel)

  • 안종갑
    • 수산해양기술연구
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    • 제59권2호
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    • pp.145-154
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    • 2023
  • In this study, to control the heading angle of a ship, which is constantly subjected to various internal and external disturbances during the voyage, an LADRC (linear active disturbance rejection control) design that focuses more on improving the disturbance removal performance was proposed. The speed rate of change of the ship's heading angle due to the turn of the rudder angle was selected as a significant factor, and the nonlinear model of the ship's maneuvering equation, including the steering gear, was treated as a total disturbance. It is the similar process with an LADRC design for the first-order transfer function model. At this time, the gains of the controller included in LADRC and the gains of the extended state observer were tuned to RCGAs (real-coded genetic algorithms) to minimize the integral time-weighted absolute error as an evaluation function. The simulation was performed by applying the proposed GA-LADRC controller to the heading angle control of the Mariner class vessel. In particular, it was confirmed that the proposed controller satisfactorily maintains and follows the set course even when the disturbances such as nonlinearity, modelling error, uncertainty and noise of the measurement sensor are considered.

대상회전 기타 피질이 손상된 흰쥐들의 행동 변화 (Behavioral Changes of Rats following Cingulate or Other Cortical Damages)

  • 김정진;김종규;김명석
    • The Korean Journal of Physiology
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    • 제2권2호
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    • pp.83-92
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    • 1968
  • A study was planned to evaluate the effects of removal of the cingulate cortex upon the occurrence of any behavior commonly displayed by the rat, and to compare the effects of cingulectomy with those of removal of the parietal, parieto-occipital, or occipital regions. The subjects were 54 male albino rats (Holtzman strain, body weight $200{\sim}330\;gm$) including 14 rats in which the cingulate gyri between splenium and genu of the corpus callosum were bilaterally ablated by suction (cingulate group), 9 animals which had their parietal cortices (chiefly area 7) partially removed (parietal group), 9 rats whose parietal and occipital regions (chiefly areae 7 & 17), 13 animals in which the occipital cortices (chiefly area 17) were removed bilaterally (occipital group), and 9 normal rats (normal control group). Eighteen observation cages, each of which housed a subject and was provided with food and water ad lib., were arranged in 6 rows on a rack and the behavior of each subject was scanned by an observer at a distance of 1.5 m from the rack. The observer scanned the first and second rows 6 times in 1 min, then proceeded to the 3rd and 4th rows, scanning for another 1 min, and finally to the 5th and 6th rows. The speed of scanning was such that behavioral observations of all of the 18 rats were completed in 3 min, each subject receiving 6 observations. The scanning was repeated every 3 min for 18 min, which constituted one observation session and was followed by a 72 minutes' recess. The whole procedure was repeated through 24 hours so that a total of 576 behavioral observations were made on each subject in 16 observation sessions. Behaviors checked were sleeping, lying, lying and sniffing, standing, standing and sniffing, exploring, eating, drinking, grooming (included were washing, licking, and scratching), and others. Results obtained were as follows: 1. The cingulate group ate significantly more often than the normal control, the parietal, and the parieto-occipital groups. 2. Exploration was significantly less frequent in the cingulate group than in the normal control, the parietal, and the occipital groups. There was, in the case of the cingulate group, a significant negative correlation between the occurrence of eating and the exploratory activity. 3. The general activity, as judged from the value obtained by adding the occurrence of exploration, eating, drinking, grooming, and standing and sniffing, was significantly increased in the cingulate group compared with those of any other groups including the normal control. 4. Though statistically insignificant, the cingulate group slept least often among all the animal groups tested. 5. The parieto-occipital group tended to groom less, and the parietal group to eat less often than the normal control group did, but the difference was not significant. There were no significant differences among all the groups except the cingulate group as regards other behaviors analyzed. Based on the above results, it was inferred that the cingulate cortex exerts an inhibitory influence upon the occurrence of eating and general activity, while it tends to facilitate the occurrence of sleep.

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외란토크 추정 및 보상을 이용한 관성안정화 플랫폼의 제어 (Control of Inertially Stabilized Platform Using Disturbance Torque Estimation and Compensation)

  • 최경준;원문철
    • 대한기계학회논문집A
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    • 제40권1호
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    • pp.1-8
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    • 2016
  • 본 논문에서는 기존의 관성안정화 플랫폼에서 보편적으로 사용됐던 PID 제어에 외란관측기를 적용하는 알고리즘 제안한다. 외란관측기 알고리즘을 적용하기 위하여 직접구동 모터로 구동되는 안정화 플랫폼 축의 관성모멘트와 축 마찰 특성을 실험적으로 구하고, 시뮬레이션과 실험결과를 비교하여 정확도를 검증하였다. 또한 차수와 상대차수가 다른 여러 가지 Q-filter 적용실험을 통하여 필터 특성에 따른 시스템의 안정성을 확인하였다. 본 논문에서 제안한 알고리즘은 6 자유도 시뮬레이터를 이용하여 차량 모션 인가실험을 통해 이중 PID 제어 루프의 결과와 비교/검증하였다.

디지털 3차원 실물복제기 시스템 및 공정기술 개발 (Development of Digital 3D Real Object Duplication System and Process Technology)

  • 김동수;안영진;이원희;최병호;장민호;백영종;최경현
    • 한국정밀공학회:학술대회논문집
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    • 한국정밀공학회 2005년도 춘계학술대회 논문집
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    • pp.732-737
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    • 2005
  • Distal 3D Real Object Duplication System(RODS) consists of 3D Scanner and Solid Freeform Fabrication System(SFFS). It is a device to make three-dimensional objects directly from the drawing or the scanning data. In this research, we developed an office type SFFS based on Three Dimensional Printing Process and a industrial SFFS using Dual Laser. An office type SFFS applied sliding mode control with sliding perturbation observer(SMCSPO) algorithm for control of this system. And we measured process variables about droplet diameter measurement and powder bed formation etc. through experiments. Also, in order to develop more elaborate and speedy system for large objects than existing SLS process, this study applies a new Selective Multi-Laser Sintering(SMLS) process and 3-axis dynamic Focusing Scanner for scanning large area instead of the existing $f\theta$ lens. In this process, the temperature has a great influence on sintering of the polymer. Also the laser parameters are considered like that laser beam power, scan speed, scan spacing. Now, this study is in progress to eveluate the effect of experimental parameters on the sintering process.

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BATHYMETRIC MODULATION ON WAVE SPECTRA

  • Liu, Cho-Teng;Doong, Dong-Jiing
    • 대한원격탐사학회:학술대회논문집
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    • 대한원격탐사학회 2008년도 International Symposium on Remote Sensing
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    • pp.344-347
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    • 2008
  • Ocean surface waves may be modified by ocean current and their observation may be severely distorted if the observer is on a moving platform with changing speed. Tidal current near a sill varies inversely with the water depth, and results spatially inhomogeneous modulation on the surface waves near the sill. For waves propagating upstream, they will encounter stronger current before reaching the sill, and therefore, they will shorten their wavelength with frequency unchanged, increase its amplitude, and it may break if the wave height is larger than 1/7 of the wavelength. These small scale (${\sim}$ 1 km changes is not suitable for satellite radar observation. Spatial distribution of wave-height spectra S(x, y) can not be acquired from wave gauges that are designed for collecting 2-D wave spectra at fixed locations, nor from satellite radar image which is more suitable for observing long swells. Optical images collected from cameras on-board a ship, over high-ground, or onboard an unmanned auto-piloting vehicle (UAV) may have pixel size that is small enough to resolve decimeter-scale short gravity waves. If diffuse sky light is the only source of lighting and it is uniform in camera-viewing directions, then the image intensity is proportional to the surface reflectance R(x, y) of diffuse light, and R is directly related to the surface slope. The slope spectrum and wave-height spectra S(x, y) may then be derived from R(x, y). The results are compared with the in situ measurement of wave spectra over Keelung Sill from a research vessel. The application of this method is for analysis and interpretation of satellite images on studies of current and wave interaction that often require fine scale information of wave-height spectra S(x, y) that changes dynamically with time and space.

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키넥트 센서를 이용한 동적 환경에서의 효율적인 이동로봇 반응경로계획 기법 (Efficient Kinect Sensor-Based Reactive Path Planning Method for Autonomous Mobile Robots in Dynamic Environments)

  • 두팔람 툽신자갈;이덕진
    • 대한기계학회논문집A
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    • 제39권6호
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    • pp.549-559
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    • 2015
  • 본 논문에서는 동적 움직임을 갖는 장애물이 위치한 주행환경에서 이동로봇의 충돌회피 기능을 포함하는 효율적인 반응경로계획 기법을 제안하고자 한다. 로봇의 동적 장애물과의 충돌회피 기능을 위해서 반응경로계획기법을 기반으로 키넥트센서를 이용한 센서융합기법의 보완을 통해서 자율주행의 강건성을 증대시키고자 하였다. 반응경로기법에서 사용된 접근방식은 동적장애물을 가상좌표평면에서 지역관측기개념을 이용하여 정적장애물로 좌표변환을 가능하게하며, 생성된 가상평면에서의 로봇과 장애물의 충돌 발생 가능한 속도와 경로의 운동학적 정보추출이 가능하게 된다. 또한 키넥트 센서 정보를 융합하여 장애물의 방향과 위치 정보를 추정하여 동적 환경에서의 주행성능의 정미도를 증대시키고자 하였다. 본 연구에서 제안 기술의 성능을 검증하기 위해서 임베디드 로봇플랫폼과 여러 개의 동적 장애물을 이용하여 시뮬레이션 해석 및 실험을 수행하였다.

영구자석 동기 전동기의 고조파 주입 센서리스 기법 시뮬레이션 모델 (Simulation Model of Harmonics Injection Sensorless Technique for Permanent Magnet Synchronous Motor)

  • 윤진우;이동명
    • 전기전자학회논문지
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    • 제24권1호
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    • pp.67-71
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    • 2020
  • 본 연구에서와 같이 전동기의 저속 영역 운전의 센서리스 기법으로 적합한 고조파 주입 센서리스 제어기법의 시뮬링크 시뮬레이션 모델을 제안한다. 본 모델에 적용되는 전동기는 영구자석 전동기이다. 또한, 다양한 고조파 주입 기법중 1kHz 구형파를 주입하는 기법을 사용한다. 고조파 주입에 따른 전동기의 전동기 상수의 변화는 시뮬링크에서 제공하는 전동기의 상수조정을 통해 구현한다. 시뮬링크의 함수와 라이브러리에서 제공하는 모델을 통해 센서리스 기법을 구현한다. 전류에 포함된 고조파 성분을 필터를 이용하여 추출하고, 추출된 파형을 이용하여 영구자석 전동기의 각도를 검출함을 보인다. 그리하여 1kW 영구자석 전동기에 적용된 시뮬레이션 파형에서의 전동기 각도 추정파형과 전동기 제어관련 파형을 통해 시뮬레이션 모델의 타당성을 보인다.

중성점전압보상 방식을 이용한 브러시리스직류전동기의 회전자위치 추정 (A Rotor Position Estimation of Brushless DC Motors using Neutral Voltage Compensation Method)

  • 송중호
    • 전력전자학회논문지
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    • 제9권5호
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    • pp.491-497
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    • 2004
  • 본 논문은 브러시리스직류전동기의 새로운 회전자위치추정 방법에 관한 것이다. 회전자 위치추정이 부정확하게 이루어졌을 때, 역기전력과 상전류 사이의 위상차가 나타나고 이는 다시 전동기의 토크리플을 일으킨다는 사실은 알려져 있다. 이러한 추정오차를 줄이기 위하여 인버터의 정상모드 기간 중에 나타나는 중성점전압을 기반으로 하는 새로운 방법을 제안하고 있다. 이 중성점전압이 효과적인 회전자 위치 추정오차의 한 지표임을 확인하고, 중성점전압의 발생, 획득방법, 보상방법 등을 다루고 있다. 본 알고리즘은 전동기 단자전압센서와 단일 직류링크 전류센서 만을 이용하여 실현할 수 있으며, 관련 시뮬레이션 및 실험결과는 그 타당성을 보여주고 있다.

The Spatially Closed Universe

  • Park, Chan-Gyung
    • 한국지구과학회지
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    • 제40권4호
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    • pp.353-381
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    • 2019
  • The general world model for homogeneous and isotropic universe has been proposed. For this purpose, we introduce a global and fiducial system of reference (world reference frame) constructed on a (4+1)-dimensional space-time, and assume that the universe is spatially a 3-dimensional hypersurface embedded in the 4-dimensional space. The simultaneity for the entire universe has been specified by the global time coordinate. We define the line element as the separation between two neighboring events on the expanding universe that are distinct in space and time, as viewed in the world reference frame. The information that determines the kinematics of the geometry of the universe such as size and expansion rate has been included in the new metric. The Einstein's field equations with the new metric imply that closed, flat, and open universes are filled with positive, zero, and negative energy, respectively. The curvature of the universe is determined by the sign of mean energy density. We have demonstrated that the flat universe is empty and stationary, equivalent to the Minkowski space-time, and that the universe with positive energy density is always spatially closed and finite. In the closed universe, the proper time of a comoving observer does not elapse uniformly as judged in the world reference frame, in which both cosmic expansion and time-varying light speeds cannot exceed the limiting speed of the special relativity. We have also reconstructed cosmic evolution histories of the closed world models that are consistent with recent astronomical observations, and derived useful formulas such as energy-momentum relation of particles, redshift, total energy in the universe, cosmic distance and time scales, and so forth. The notable feature of the spatially closed universe is that the universe started from a non-singular point in the sense that physical quantities have finite values at the initial time as judged in the world reference frame. It has also been shown that the inflation with positive acceleration at the earliest epoch is improbable.

자이로 센서 정보 기반 CMG 고장 진단 및 식별 (Detection and Identification of CMG Faults based on the Gyro Sensor Data)

  • 이정형;이헌조;이준용;오화석;송태성;강정민;송덕기;서중보
    • 항공우주시스템공학회지
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    • 제13권2호
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    • pp.26-33
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    • 2019
  • 인공위성 구동기로 사용되는 제어 모멘트 자이로(CMG)는 자신의 김블을 조종하여 큰 토크를 생성한다. 각각의 김블은 고속으로 회전하는 휠을 받치고 있기 때문에 휠의 질량 불균형은 외란을 발생시키게 되고 위성의 자세제어 성능을 저하시킨다. 따라서 구동기 고장을 대비하기 위해 외란을 진단하고 식별할 필요가 있다. 외란을 진단하기 위해 상태 관측기를 이용한 방법을 적용하였다. 본 논문에서는 2차 슬라이딩 모드 관측기를 이용하여 CMG의 단일 외란/고장을 탐지하였다. 또한 4개의 CMG가 설치되어 있는 위성 시뮬레이터를 이용하여 이 알고리즘을 검증하였다.