• 제목/요약/키워드: Thrust Controller

검색결과 101건 처리시간 0.03초

A Novel Powered Gait Orthosis using Pneumatic Muscle Actuator

  • Kang, Sung-Jae;Ryu, Jei-Cheong;Moon, In-Hyuk;Ryu, Jae-Wook;Mun, Mu-Seung
    • 제어로봇시스템학회:학술대회논문집
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    • 제어로봇시스템학회 2003년도 ICCAS
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    • pp.1500-1503
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    • 2003
  • One of the main goals in the rehabilitation of SCI patients is to enable the patient to stand and walk themselves. We are developing high-thrust powered gait orthosis(PGO) that use air muscle actuator(shadow robot Co., UK) to be assisted gait and rehabilitation purposes of them. We made of PD controller and measured hip joint angle by its load and the pressure to control air muscle of PGO. As a results, maximum flexion angle of hip joint is $20^{\circ}$, and angular velocity is 30.4${\pm}2.5^{\circ}/sec$, and then delay time of system was average 0.62${\pm}$0.03s. As the hip flexion angle and the pelvic angle is decreased during the gait with PGO, the patient can walk faster. By using the PGO, the energy consumption can also be decreased. therefore, the proposed PGO can be a very useful assitive device for the paraplegics to walk.

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3단형 발사체 TVC 자세제어 설계 및 분석 (Attitude Control Design and Analysis for Thrust Vector Control System of 3-Staged Launch Vehicle)

  • 선병찬;박용규;최형돈
    • 한국항공우주학회지
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    • 제33권2호
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    • pp.67-74
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    • 2005
  • 본 논문에서는 3단형 발사체의 TVC 자세제어설계 및 벤딩필터 설계 결과를 제시하였다. TVC 자세제어기로 사용된 비례미분 제어기의 이득을 안정성 여유 조건을 토대로 제어루프의 고유주파수의 함수 형태로 결정되도록 하였으며, 유연모드 안정화를 위한 벤딩필터의 계수는 파라미터 최적화 기법을 이용해서 주어진 안정성 구속조건을 만족시키도록 결정하였다. 설계된 TVC 제어기와 벤딩필터의 타당성 및 성능에 대한 최종적인 분석은 비선형 6자유도 시뮬레이션을 통하여 수행되었다.

반자율 무인잠수정의 제어기 설계 및 시뮬레이션 (Controller Design and Simulation of a Semi-Autonomous Underwater Vehide)

  • 전봉환;이판묵;홍석원
    • 한국해양공학회:학술대회논문집
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    • 한국해양공학회 2003년도 춘계학술대회 논문집
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    • pp.57-62
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    • 2003
  • This paper describes the design and simulation of a multivariable optimal control system for the combined speed, heading and depth control of a Semi-Autonomous Underwater Vehicle (SAUV) developed in Korea Ocean Research and Development Institute (KRODI). The SAUV is a test-bed for the evaluation of the navigation and manipulator technologies developed for a mine disposal vehicle (MDV) in military use and for a light working underwater vehicle in scientific use. The vehicle was designed to control its cruising speed, heading and depth with 4 horizontal thrusters installed at the rear of the hull. Therefore, the decoupled control methods are limited to apply to the SAUV because the thrust forces are highly coupled with the surging, yawing, and pitching motion of the vehicle. The multivariable Linear Quadratic (LQ) control method is chosen to control steering and diving in variable speed motion automatically. A series of simulation is carried out with fully nonlinear six degree of freedom dynamic model to validate the controller.

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중형 풍력터빈의 출력 및 타워 하중저감 제어기 설계 (Design of Power and Load Reduction Controller for a Medium-Capacity Wind Turbine)

  • 김관수;백인수;김철진;김현규;김형길
    • 한국태양에너지학회 논문집
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    • 제36권6호
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    • pp.1-12
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    • 2016
  • A control algorithm for a 100 kW wind turbine is designed in this study. The wind turbine is operating as a variable speed variable pitch (VSVP) status. Also, this wind turbine is a permanent magnet synchronous generator (PMSG) Type. For the medium capacity wind turbine considered in this study, it was found that the optimum tip speed ratios to achieve the maximum power coefficients varied with wind speeds. Therefore a commercial blade element momentum theory and multi-body dynamics based program was implemented to consider the variation of aerodynamic coefficients with respect to Reynolds numbers and to find out the power and thrust coefficients with respect tip speed ratio and blade pitch angles. In the end a basic power controller was designed for below rated, transition and above rated regions, and a load reduction algorithm was designed to reduce tower vibration by the nacelle motion. As a result, damage equivalent Load (DEL) of tower fore-aft has been reduced by 32%. From dynamic simulations in the commercial program, the controller was found to work properly as designed. Experimental validation of the control algorithm will be done in the future.

DACS형 직격요격비행체의 비선형 가속도 조종루프 설계 (Nonlinear Acceleration Controller Design for DACS Type Kill Vehicle)

  • 이창훈;김태훈;전병을
    • 한국추진공학회지
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    • 제19권3호
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    • pp.54-64
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    • 2015
  • 본 논문에서는 DACS(Divert and Attitude Control System)를 장착한 KV(kill vehicle)의 비선형 가속도 조종루프 설계에 대해서 다룬다. ACS(Attitude Control System)는 받음각을 0으로 유지시키는 추력을 유발시키며, 받음각 제어를 위해 ACS를 제어명령으로 사용하는 궤환선형화 기반 비선형 받음각 조종루프를 제안한다. 받음각이 0인 조건에서는 비행경로각과 자세각이 일치하기 때문에 DCS(Divert Control System)는 유도루프에서 요구하는 측방향 가속도를 직접 생성하도록 제어한다. 이러한 방식에서는 추력에 의한 공력간섭 효과를 최소화 시킬 수 있으며, DCS와 ACS의 운용로직을 단순화 시킬 수 있다. 수치 시뮬레이션을 통해 제안한 기법의 성능을 검증한다.

Fuzzy Logic Modeling and Control for Drilling of Composite Laminates ; Simulation

  • Chung, Byeong-Mook;Ye Sheng;Masayoshi Tomizuka
    • International Journal of Precision Engineering and Manufacturing
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    • 제2권1호
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    • pp.11-17
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    • 2001
  • In drilling of composite laminates, it is important to minimize of reduce occurrences of delaminations. In particular, a peel -up delamination at entrance and push-up delamination at exit are common. Deleaminations may by avoided by regulating the drill thrust force can be controlled by adjusting the feedrate of the drill. Dynamics involved in drilling of composite laminates is time varying and nonlinear. In this paper, a fuzzy logic model and control strategy are proposed. Simulation results show that the fuzzy model can describe the nonlinear time-varying process well. The fuzzy controller realizes a fast rise time and a little overshoot of drilling force.

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유도형 리니어 모터의 속도특성에 관한 연구 (A study on the speed characteristic of linear induction motor)

  • 정병호;최문한;조금배;백형래;서진연;김대곤
    • 전력전자학회:학술대회논문집
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    • 전력전자학회 2004년도 전력전자학술대회 논문집(1)
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    • pp.151-154
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    • 2004
  • To use the SLIM for servo system, the exact account of thrust about the initial speed is needed, but analyzing by equivalent circuit analyzing methode such as rotary induction motor, the error occurs because of the end effect. So, we applied the equivalent circuit considering the end effect of SLIM in this paper. The current control system is advanced the space vector pulse width modulation by using high arithmetic performance microprocessor such as DSP. In this paper, we use the dynamic characteristic analyzing methode that can calculate efficiently the end effect by using equivalent circuit methode in the operating SLIM system modeling and examine the output characteristics of SVPWM with PI controller.

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공간벡터변조방식을 적용한 편측형 선형유도전동기 제작 및 동특성에 관한 연구 (A Study on the Design and Characteristics of SLIM using SVPWM)

  • 임홍우;서강성;박정민;조금배;백형래;장용해
    • 대한전기학회:학술대회논문집
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    • 대한전기학회 2002년도 춘계학술대회 논문집 전기기기 및 에너지변환시스템부문
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    • pp.174-178
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    • 2002
  • This paper describes that single-sided linear induction motor is controlled by space vector pulse width modulation. Furthermore, it shows that the speed and thrust is adulated as give a each step reference by controller.

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UAV Formation Wight Control Law Utilizing Energy Maneuverability

  • Choi, Jong-Ug;Kim, You-Dan;Moon, Gwan-Young
    • International Journal of Aeronautical and Space Sciences
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    • 제9권1호
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    • pp.31-41
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    • 2008
  • This paper deals with the energy saving problem of the follower aircraft in the loose leader-follower formation geometry in which the lateral separation between formation members is more than a wingspan of the leader aircraft. This formation geometry offers no drag benefit, but has a strategic advantage. In the case of loose formation flight, the follower aircraft usually consumes more energy than the leader aircraft because the follower aircraft should use more thrust to maintain given formation geometry, especially during the turning phase from the outside of the leader"s flight path or join-up phase. A formation control scheme based on the energy maneuverability is proposed in this paper. To design the proposed control law, the velocity command is designed using feedback linearization for the horizontal formation geometry and then coverts it to the altitude command using the energy equation. Numerical simulation is performed to verify the effectiveness of the proposed controller.

미지 파라미터를 갖는 쿼드로터의 적응 백스테핑 호버링 제어 (Adaptive Backstepping Hovering Control for a Quadrotor with Unknown Parameters)

  • 이근욱;박진배;최윤호
    • 제어로봇시스템학회논문지
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    • 제20권10호
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    • pp.1002-1007
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    • 2014
  • This paper deals with the adaptive backstepping hovering control for a quadrotor with model parameter uncertainties. In this paper, the backstepping based technique is utilized to design a nonlinear adaptive controller which can compensate for the motor thrust factor and the drag coefficient of a quadrotor. First, the quadrotor nonlinear dynamics is derived using Newton-Euler formulation. In particular, we use the ${\pi}/4$ shifted coordinate for x- and y-axis of a quadrotor. Second, an adaptive backstepping based attitude and altitude tracking control method is presented. The system stability and the convergence of tracking errors are proven using the Lyapunov stability theory. Finally, the simulation results are given to verify the effectiveness of the proposed control method.