• International Journal of Aeronautical and Space Sciences
• /
• v.14 no.2
• /
• pp.172-182
• /
• 2013

This paper focuses on the modeling and intelligent control of the new Eight-Rotor MAV, which is used to solve the problem of the low coefficient proportion between lift and gravity for the Quadrotor MAV. The Eight-Rotor MAV is a nonlinear plant, so that it is difficult to obtain stable control, due to uncertainties. The purpose of this paper is to propose a robust, stable attitude control strategy for the Eight-Rotor MAV, to accommodate system uncertainties, variations, and external disturbances. First, an interval type-II fuzzy neural network is employed to approximate the nonlinearity function and uncertainty functions in the dynamic model of the Eight-Rotor MAV. Then, the parameters of the interval type-II fuzzy neural network and gain of sliding mode control can be tuned on-line by adaptive laws based on the Lyapunov synthesis approach, and the Lyapunov stability theorem has been used to testify the asymptotic stability of the closed-loop system. The validity of the proposed control method has been verified in the Eight-Rotor MAV through real-time experiments. The experimental results show that the performance of the interval type-II fuzzy neural network based adaptive sliding mode controller could guarantee the Eight-Rotor MAV control system good performances under uncertainties, variations, and external disturbances. This controller is significantly improved, compared with the conventional adaptive sliding mode controller, and the type-I fuzzy neural network based sliding mode controller.

• Journal of Power Electronics
• /
• v.12 no.2
• /
• pp.317-325
• /
• 2012

Resonant immittance converter (RIC) topologies can transform a current source into a voltage source (Type-I RICs) and vice versa (Type-II RICs), thereby making them suitable for many power electronics applications. RICs are operated at a fixed frequency where the resonant immittance network (RIN) exhibits immittance conversion characteristics. It is observed that the low-frequency response of Type-II RINs is relatively flat and that the state variables associated with Type-II RINs affect the response only at the high frequencies in the vicinity of the switching frequency. The overall response of a Type-II RIC is thus dominated by the filter response, which is particularly important for the controller design. Therefore, an approximate equivalent circuit model and a small-signal model of Type-II RICs are proposed in this paper, neglecting the high-frequency response of Type-II RINs. While the proposed models greatly simplify and speed-up the analysis, it adequately predicts the open-loop transient and small-signal ac behavior of Type-II RICs. The validity of the proposed models is confirmed by comparisons of their results with those obtained from a cycle-by-cycle simulation and with an experimental prototype.

• Journal of the Korea Academia-Industrial cooperation Society
• /
• v.11 no.1
• /
• pp.21-28
• /
• 2010

This paper describes the mathematical model and controller design for Manta-type Unmanned Underwater Test Vehicle (MUUTV) with 6 DOF nonlinear dynamic equations. The mathematical model contains hydrodynamic forces and moments expressed in terms of a set of hydrodynamic coefficients which were obtained through the PMM (Planar Motion Mechanism) test. Based on the 6 DOF dynamic equations, numerical simulations have been performed to analyze the dynamic performances of the MUUTV. In addition, using the mathematical model PID and sliding mode controller are constructed for the diving and steering maneuver. Simulation results show that the control performances of the MUUTV and compared with these of NPS (Naval Postgraduate School) AUV II.

• International Journal of Aeronautical and Space Sciences
• /
• v.17 no.2
• /
• pp.195-203
• /
• 2016

In order to overcome the influence of system stability and accuracy caused by uncertainty, estimation errors and external disturbances in Eight-Rotor MAV, L2 gain control method was proposed based on interval type II fuzzy neural network identification here. In this control strategy, interval type II fuzzy neural network is used to estimate the uncertainty and non-linearity factor of the dynamic system, the adaptive variable structure controller is applied to compensate the estimation errors of interval type II fuzzy neural network, and at last, L2 gain control method is employed to suppress the effect produced by external disturbance on system, which is expected to possess robustness for the uncertainty and non-linearity. Finally, the validity of the L2 gain control method based on interval type II fuzzy neural network identifier applied to the Eight-Rotor MAV attitude system has been verified by three prototy experiments.

• 연구논문집
• /
• s.26
• /
• pp.5-14
• /
• 1996

Test results of electromagnetic suspension (EMS) type urban transit maglev system are reported. Electromagnetic levitation system is a transportation system taking advantage of the attraction of normal conducting electromagnets to support and guide the train in combination with the linear induction traction motors. Urban Transit Maglev (UTM) Which is being developed by the maglev team in KIMM and the Hyundai Precision Company since 1995 consists of three bogies. In the first year, two types of Bogies are developed. Bogie I uses an analog controller for levitation and guidance control and is driven by two linear induction motors (LIM) mounted on the right and left side of module. Bogie II uses a digital controller and is driven by one LIM mounted along the center line of the bogie. Test results reported in this paper are those obtained with Bogie II with a digital controller. Also included in this paper is a brief explanation of the electromagnetic suspension levitation system which is being developed by the maglev team in KIMM.

• 제어로봇시스템학회:학술대회논문집
• /
• 1987.10b
• /
• pp.413-418
• /
• 1987

The software developed for the large scale Programmable Controller consists of the programmer's S/W, the Controller's S/W the RBC's (Remote Base Controller's) S/W and the Analog's S/W. The programmer's S/W, running on the Programmer, includes the editor, the compiler, the communication program, and some other programs for easy use. The Controller S/W, which requires the fast scanning time, consists of the BTI( Block Type Instruction) solving program, the timer service routine, the i/o update program, the communication program and etc. The RBC's S/W includes the communication program, the error recovery program and the i/o processing program. The analog S/W, controlled by the Programmer, includes the PID program. The data communication between the Programmer and the Controller the Controller and the RBC, and the RBC and the Analog are developed.

• Transactions of the Korean Society of Mechanical Engineers A
• /
• v.23 no.11 s.170
• /
• pp.1960-1969
• /
• 1999

This paper presents dynamic modeling and controller design of a tracked vehicle installed with the double rod type ERSU(electro-rheological suspension unit). A 16 degree-of-freedom model for the tracked vehicle is established by Lagrangian method followed by the formulation of a new sky-ground hook controller. This controller takes account for both the ride quality and the steering stability. The weighting parameter between the two performance requirements is adopted to adjust required performance characteristics with respect to the operation conditions such as road excitation. The parameter is appropriately determined by employing a fuzzy algorithm associated with the vehicle motion. Computer simulations are undertaken in order to demonstrate the effectiveness of the proposed control system. Acceleration values at the driver's seat are analyzed under bump road profile, while frequency responses of vertical acceleration are investigated under random road excitation.

• Journal of the Korean Society of Manufacturing Technology Engineers
• /
• v.21 no.3
• /
• pp.362-367
• /
• 2012

Though a micro pump is a crucial element in miniaturized bio-fluidic systems or drug delivery systems, most of the conventional micro pumps still have some limitations to miniaturize their controller system and to obtain the sufficient back pressure which can rise over the inner pressure of human body or experimental animals. In this paper, to overcome these limitation, a new PZT disc and its controller were designed and fabricated to get the sufficient flowrate and the back pressure with guaranteeing embeddability of the controller into pumping body. The amplitudes of the disc deflections were as large as 40 ${\mu}m$ at 200 V - 100 Hz condition. As results of experiments, the flow rate and the back pressure increase when the frequency increases. The obtainable maximum flow rate and back pressure are 5.2 ml/min at 95 Hz and 13.14 kPa at 90 Hz respectively.

• KIEE International Transactions on Power Engineering
• /
• v.4A no.3
• /
• pp.129-133
• /
• 2004

This paper deals with the design and implementation of a TCSC (Thyristor Controlled Series Capacitor) simulator, which is a module for an analog type power system simulator. Principally, it presents configuration of controller hardware/software and its experimental results. An analog type power system simulator consists of numerous power system components, such as various types of generator models, scale-downed transmission line modules, transformer models, switches and FACTS (Flexible AC Transmission System) devices. It has been utilized for the verification of the control algorithm and the study of system characteristics analysis. This TCSC simulator is designed for 50% line compensation rate and considered for damping resister characteristic analysis. Its power rate is three phase 380V 20kVA. For hardware extendibility, its controller is designed with VMEBUS and its main CPU is TMS320C32 DSP (Digital Signal Processor). For real time control and communications, its controller is applied to the RTOS (Real Time Operation System) for multi-tasking. This RTOS is uC/OS-II. The experimental results of capacitive mode and inductive mode operations verify the fundamental operations of the TCSC.

• Journal of Biosystems Engineering
• /
• v.20 no.1
• /
• pp.73-86
• /
• 1995

The automatic control system in the greenhouse have to be developed to the direction of considering various factors the variables such as condition of the cultivation and greenhouse, the properties and types of products. Therefore, it is more important to set up variables appropriately than the problems of automatic control system itself, and the automatic control system which satisfy these problems should be simplified in the aspect of operation. In addition, even the individual automations are not perfect yet, so more studies are required for the development of comprehensive automatic system in korea. This study was carried out to automatize environment control systems for greenhouse, especially from most intensive labor requiring parts such as watering, irrigating liquefied fertilizer, spraying chemicals, mixing and ventilation system, etc. The results are summarized as follows. 1. Control type tensiometer was expected to be desirable in the automation of watering system, therefore, a new tensiometer was designed and developed through this study. 2. The chemical spraying system developed through this study was found to be excellent in the aspect of operation. 3. When pulse type water discharge meter was used in the mixing of liquefied fertilizer and chemical solution, the error of mixing were range $\pm$0.1~0.15%. 4. The water level switch of electrod type used for controlling water level was found to be affective in both control performance and operation cost. 5. The water and level control system can be omitted if each tank size are standardized in accordance with greenhouse size, therefore, the installation cost might be significantly reduced. 6. The developed general controller was excellent in hardware parts, but still remained to be improved in software parts.