• Journal of international Conference on Electrical Machines and Systems
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• 제1권4호
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• pp.477-482
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• 2012

This paper describes a new rotor position sensorless control method for SRM drives based on an improved simplified flux linkage method. In the traditional simplified flux linkage method, every phases take turns conduction and current chopping control method is used. Every phases take turns conduction means turning on the incoming working phase while turning off the working phase. This conduction mode causes coupling between turn-on and turn-off angles, which goes against optimal efficiency or torque ripple minimization with sensorless speed control. In the improved simplified flux linkage method, turn-off angle is calculated by flux loop, the turn-on angle can be given arbitrarily and has no relations with the turn-off angle, and the current chopping control method is used. The speed and rotor position can be estimated then. Finally, a sensorless SRM speed control system and an experiment platform with DSP are built and validity of this method is confirmed.

• 제어로봇시스템학회논문지
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• 제11권3호
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• pp.214-221
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• 2005

For decades, airships have being developed in Europe (especially German) and America. Airships are planning to be used for advertisements and airliners as well. In Korea, KARI (Korea Aerospace Research Institute) is developing stratospheric communication airship and the similar research is carried out in Japan. Among them, Zeppelin of German has the cutting-edge airship technology with Zeppelin NT. In this paper, the flight performance and stability were evaluated by comparing mathematical theory and the real test. The stability was examined through dynamic modeling and assured by designing controllers at each flight mode. Elevator angle, rudder angle, magnitude of thrust and tilting angle of thrust vector were used as control inputs. Moreover, after measuring the airship velocity, flight direction, magnitude and direction of the wind, attitude angles and trajectories of the airship at each flight mode, the results were compared with the simulation. To get the reasonable data, low-pass filter and band-stop filter were designed to get rid of the sensor noise and engine vibration. The test was accomplished at cruise mode, turning mode, and deceleration. To conclude, with comparing the simulation data and flight test data, it could be known that the dynamic model used in this paper was reasonable.

• 대한조선학회논문집
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• 제52권6호
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• pp.494-500
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• 2015

It has been reported that a ship sailing in shallow water possesses better straight-line stability due to the change of fluid flow around the ship. This tendency affects manoeuvring characteristics of the ship. To investigate this phenomenon, indoor free running model test(FRMT) on KVLCC2 was carried out in three water depth conditions(H/T = 1.2, 1.5 & 2.0). Turning circle tests(± 35° ) and zigzag tests(± 20° /5° and ± 20° /10° ) were conducted with newly developed indoor FRMT system, and the manoeuvring results were compared with test results from other institutes. As the water depth decreased, the yaw rate of the ship decreased, and the distances of circular trajectories at the same heading angle increased in the turning circle tests. The first overshoot angles of the zigzag tests decreased. From both tests, the time for course change increased as the water depth decreased. These manoeuvring characteristics show that KVLCC2 in shallow water becomes more stable in terms of straight-line stability.

• 한국철도학회:학술대회논문집
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• 한국철도학회 2007년도 춘계학술대회 논문집
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• pp.99-108
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• 2007

The bi-modal tram guided by the magnetic guidance system has two car-bodies and three axles. Each axle of the vehicle has an independent suspension to lower the floor of the car and improve ride quality. The turning radius of the vehicle may increase as a consequence of the long wheel base. Therefore, the vehicle is equipped with the All-Wheel-Steering(AWS) system for safe driving on a curved road. Front and rear axles should be steered in opposite directions, which means a negative mode, to minimize the turning radius. On the other hand, they also should be steered in the same direction, which means a positive mode, for the stopping mode. Moreover, only the front axle is steered for stability of the vehicle upon high-speed driving. In summary, steering angles and directions of the each axle should be changed according to the driving environment and steering mode. This paper proposes an appropriate AWS control algorithm for stable driving of the bi-modal tram. Furthermore, a multi-body model of the vehicle is simulated to verify the suitability of the algorithm. This model can also analyze the different dynamic characteristics between 2WS and AWS.

• 한국철도학회논문집
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• 제10권4호
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• pp.444-450
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• 2007

The bi-modal tram guided by the magnetic guidance system has two car-bodies and three axles. Each axle of the vehicle has an independent suspension to lower the floor of the car and improve ride quality. The turning radius of the vehicle may increase as a consequence of the long wheel base. Therefore, the vehicle is equipped with the All-Wheel-Steering(AWS) system for safe driving on a curved road. Front and rear axles should be steered in opposite directions, which means a negative mode, to minimize the turning radius. On the other hand, they also should be steered in the same direction, which means a positive mode, for the stopping mode. Moreover, only the front axle is steered for stability of the vehicle upon high-speed driving. In summary, steering angles and directions of the each axle should be changed according to the driving environment and steering mode. This paper proposes an appropriate AWS control algorithm for stable driving of the bi-modal tram. Furthermore, a multi-body model of the vehicle is simulated to verify the suitability of the algorithm. This model can also analyze the different dynamic characteristics between 2WS and AWS.

• 대한조선학회논문집
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• 제57권4호
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• pp.230-240
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• 2020

The aim of this study was to investigate the manoeuvrability of a ship in different Center of Gravity (CG) conditions. Free Running Model Tests (FRMT), such as 35°turning circle tests, 20/20 zigzag manoeuvring tests, and 10/10 zigzag manoeuvring tests, were conducted in three GM and three trim conditions with 1/65.83 scaled KRISO Container Ship (KCS). The test results indicated that KCS in the lower GM condition and the trim by bow condition showed reduced advance and tactical diameter in turning circle tests and increased overshoot angles in zigzag tests, and those manoeuvring indices were strongly related with roll angle. In addition, sensitivity indices for three-axis CG position were suggested with prior research, and it showed that y-axis CG position significantly affected manoeuvrability of KCS due to the low GM. Therefore, in the case of KCS, it is evident that the roll angle during manoeuvre is closely related with manoeuvring indices.

• 수산해양기술연구
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• 제34권1호
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• pp.62-66
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• 1998

The maneuverabilities of the training ship M.S. HEUIMANGBONG were studied, based on the data obtained from her Z test. The results obtained were summerized as follows: 1. The maneuvering indices K' and T'of the M.S. HEUIMANGBONG were 0.542, 1.305 at 10$^{\circ}$Z Test and 0.433, 1.351 at 20$^{\circ}$Z test and 0.442, 1.388 at 30$^{\circ}$Z test respectively. The above calculated values K', T' showed that her maneuverabilities were more effective when her rudder was used to small angle than to large angle. 2. As the overshoot angles of the starbord side of the M.S. HEUIMANGBONG were larger than those of port side at 10$^{\circ}$, 20$^{\circ}$and 30$^{\circ}$Z test, her maneuverabilities in port turning were found to be higher than in starbord turning. 3. The running distance of a turn at her 10$^{\circ}$Z test was about 9.9 times her own length and she was considered to have a good maneuverabilities synthetically

• 대한조선학회논문집
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• 제58권6호
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• pp.415-423
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• 2021

There have been many experimental studies on the manoeuvrability of KRISO Container Ship (KCS). However, the scale ratio of the model ship and the test procedure for each institute are slightly different, so direct comparison for the data is technically difficult to perform. This paper presents the manoeuvrability of the ship with different scale ratios: 1/65.8, 1/42.0, and 1/31.6 in model scale. KRISO conducted Free Running Model Tests (FRMT): 35° turning circle tests and 20/20(10/10) zigzag manoeuvring tests. The test results indicated that advance and tactical diameter in turning circle tests were similar, and overshoot angles in two zigzag manoeuvring tests increased as the model ship size increased. In addition, a basic concept for the FRMT method with an auxiliary X-thrust device was proposed so that the scale effect could be considered in model ship tests.

• 한국산학기술학회논문지
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• 제16권3호
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• pp.1645-1651
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• 2015

본 연구에서는 선삭 작업에서 가공 여유각 변경에 따른 피삭재의 형상정밀도가 어떻게 변화되는지 분석하고자 하였다. 피삭재는 3가지로 SM45C(기계구조용탄소강), SCM415(크롬몰리브덴강), STS303(스테인리스강)을 선택하여 정해진 가공조건인 회전속도 2,500 rpm으로 시작하여 이송속도 0.07 mm/rev와 0.10 mm/rev를 기준으로 가공깊이 0.1 mm, 0.2 mm, 0.3 mm 그리고, 절인 경사각인 네거티브 경사각 $0.0^{\circ}(-6.0^{\circ})$, $0.3^{\circ}(-6.3^{\circ})$, $0.9^{\circ}(-6.9^{\circ})$의 3가지 형태로 가공하였을 경우, 재료별 가공정밀도, 원통도, 동축도, 진원도 등의 결과를 비교 분석하였다. 피삭재의 재질별로 알아본 원통도의 정밀도는 $0.0^{\circ}{\rightarrow}0.3^{\circ}{\rightarrow}0.9^{\circ}$의 순으로 $0.9^{\circ}$일 경우가 가장 좋은 원통도 값을 나타냈다. 결과적으로 바이트의 네거티브 경사각이 커지면 정밀도가 특정 부분에서 재질에 관계없이 좋아져서 가공성이 향상됨을 알 수 있었다. 또한, 이송속도와 절삭 깊이에 따라 가공형상이 변화한다는 것과 재질에 따라 다르게 적용되어야 한다는 것을 확인하게 되었다.

• 제어로봇시스템학회논문지
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• 제20권2호
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• pp.223-231
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• 2014

Humanoid robot is the most suitable robot platform for effective human interaction and various intelligent services. The present work addresses development of real time wireless control application of humanoid robot's forward and backward walks, and turning in walking. For convenience of human users, the application is developed on Android OS (Operating System) working on his or her smartphone. To this end, theoretic background on various-directional biped walking is proposed based on joint trajectories for forward walking, which have been shaped with a global optimization method. In this paper, backward walking is scheduled by interchange of angles and angular velocities and additional change of signs in angular velocities at all the via-points connecting cubic polynomial trajectories. Turning direction in walking is also implemented by activating the transversal hip joint initially located in the support leg in two stages. After validation of the proposed walking schemes with Matlab simulator, a smartphone application for the omnidirectional walking has been developed to control a humanoid robot platform named DARwIn-OP interconnected via Wi-Fi. Experiment result of the present wireless control of a humanoid robot with smartphone is successful, and the application will be released in application market near future.