• 한국신재생에너지학회:학술대회논문집
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• 한국신재생에너지학회 2006년도 춘계학술대회
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• pp.277-280
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• 2006

Using yaw system, Wind turbine can face the wind to make it's electricity generating maximum and to make it's fatigue load minimum. So, in wind turbine design process, selecting optimum yaw system is very important work. In this paper, the yaw moments on yaw bearing, yaw drive and yaw brake were calculated. and From the result, the duty cycle was obtained. At last, using this duty cycle, optimum yaw system is selected.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2006년 학술대회 논문집 정보 및 제어부문
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• pp.199-201
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• 2006

풍력발전기에 있어서 블레이드의 Yaw방향 제어는 끊임없이 변화하는 풍향에 대해 효율의 극대화와 블레이드의 강도 및 진동측면에서 대단히 중요하다. 기존의 블레이드 Yaw 방향 측정은 접촉 및 비접촉 센서가 이용되어왔다. 본 논문에서는 풍력발전기의 원격모니터링 시스템에서 기본적으로 설치되는 카메라를 이용하여 블레이드의 Yaw방향을 측정하는 방법을 제안한다. 블레이드가 풍향에 따라 회전할 때 영상 누적을 행하고, 누적영상에 대해 경계점을 추정하여 타원의 궤적을 추정한다. 추정된 경계점들을 이용하고 최소자승법을 적용하여 타원방정식을 추정하고, 장축과 단축을 연산한다. 장축과 단축의 변화를 이용하여 카메라의 촬영방향의 기준점으로부터 Yaw방향의 변화를 정량적인 값으로 산출하여 이를 바탕으로 Yaw회전각을 추정한다. Yaw 방향 추정의 검증을 위해 블레이드 속도와 Yaw 방향의 제어가 가능한 모형풍력발전기를 제작하고 실험을 통하여 제안한 추정알고리즘의 유효성을 검증한다.

• 풍력에너지저널
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• 제10권3호
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• pp.5-11
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• 2019

This paper suggests and compares two algorithms, a moving average filter method and a method developed by the National Renewable Energy Laboratory (NREL), to verify the yaw control algorithm characteristic to reduce yaw error for a wind turbine. A characteristic change for yaw movement in accordance with control parameter change that consists of each control method has been verified. Also, yaw simulations were performed using nacelle wind data measured from two areas with different turbulence intensities and the yaw movement data in each area was compared. These two algorithms and real data were compared by calculating mean absolute error (MSE) and the number of yawing (NY). As a result of the analysis, the MSE values were not significantly different between the two algorithms, but the algorithm proposed by the NREL was found to reduce yaw movement by up to 50 percent more than the moving average filter method.

• Journal of Mechanical Science and Technology
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• 제14권8호
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• pp.836-844
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• 2000

In this research any abnormal motion of a vehicle is detected by utilizing the difference between the reference and actual yaw velocities as sell as the information on vehicle slip angle and slip angular velocity. This information is then used as a criterion for execution of the yaw moment control. A yaw moment control algorithm based on the brake control is proposed for improving the directional stability of the vehicle. The controller executes brake controls to provide each wheel with adequate brake pressures, which generate the needed yaw moment. It is shown that the proposed yaw moment control logic can provide excellent cornering capabilities even on low friction roads. This active control scheme can prevent a vehicle from behaving abnormally, and can assist normal drivers in coping with dangerous situations as well as experienced drivers.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2000년도 춘계학술대회논문집A
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• pp.487-492
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• 2000

Yaw moment control algorithm for improving stability of a vehicle in cornering is presented in this paper. A change of the yaw moment according to an increment in brake ship at each wheel is examined and reflected in the control algorithm. This control algorithm computes the target yaw velocity as the vehicle motion desired by the driver for directional stability control in cornering and it makes the actual yaw velocity follow the target one. The yaw moment control was achieved by brake slip control and simple brake slip control logic was introduced in this paper.

• 자동차안전학회지
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• 제13권1호
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• pp.6-13
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• 2021

This paper presents yaw moment control for modification of steering characteristic in rear-driven vehicle with front in-wheel motors (IWMs). The proposed control algorithm is designed to modify yaw rate response of the test vehicle. General approach for modification of steering characteristic is to define the desired yaw rate and track the yaw rate. This yaw rate tracking method can cause the chattering problem because of the IWM actuator response. Large overshoot and settling time in IWM torque response can amplify the oscillation in control input and yaw rate. To resolve these problems, open-loop IWM controller for cornering agility was designed to modify the understeer gradient of the vehicle. The proposed algorithm has been investigated via the computer simulations and the vehicle tests. The performance evaluation has been conducted on dry asphalt using E-segment test vehicle. The performance of the proposed algorithm has been compared to general yaw rate tracking algorithm in the vehicle tests. It has been shown that the proposed control law improved the cornering agility without chattering problem.

• 대한방사선치료학회지
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• 제30권1_2호
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• pp.139-151
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• 2018

목 적 : "Yaw방향의 보정이 가능한 Tomotherapy couch device"를 자체 제작하였고, 그 유용성을 평가하였다. 대상 및 방법 : 휨 강도가 $200kg/cm^2$의 경질 섬유판 재질로 Yaw방향의 회전 가능한 Tomotherapy couch device를 제작하고, 제작된 device의 물리적 정확성을 판단하기 위해 Varian사의 Novalis Tx의 CBCT Image와 MED-TEC사의 Iso-Align Phantom을 사용하여 device의 Yaw방향의 보정각도의 정확성을 측정하였고, Tomotherapy HDA에서의 치료를 위해 치료계획은 Accuray PrecisionTM를 이용하여 In House Head and Phantom 위에 치료계획을 설계하였고 제작한 device의 보정각도마다 치료 전 후의 MVCT의 adaptive plan을 Accuray PrecisionARTTM and PrecisionTM을 사용하여 선량을 평가하였다. 결 과 : Yaw방향의 보정이 가능한 Tomotherapy couch device를 자체 제작하였으며, 물리적 정확성의 측면에서 모든 각도별 vertical, lateral, longitudinal의 보정값은 약 1 mm 내외였고, 최대 보정값이 1.5 mm를 넘지 않았으며 Yaw방향의 보정은 최대 0.12도 오차 이내의 범위 안에 들어왔다. 치료후의 MVCT촬영 영상을 이용한 adaptive plan을 이용한 선량 평가에서도 모든 각도실험에서 target은 D95=Prescription dose를 만족하고, target내 선량이 95 %~107 % 이내에 들어왔으며, OAR 또한 본원에서 평가한 SMC Head and Neck tolerance dose 영역 내에 모두 들어왔다. 결 론 : 자체 제작한 "Yaw방향의 보정이 가능한 Tomotherapy couch device는 Tomotherapy의 치료에서 Yaw방향의 set-up 오차를 정확히 보정해준다. 비용적인 측면에서도 효과대비 저비용으로 장치를 만들 수 있을 뿐만 아니라 재촬영에 대한 환자가 받는 MVCT image dose를 방지하고 시간적으로도 환자의 회전율을 상승시킬 수 있으며, Yaw방향의 set up 오차를 보정하므로 더 정확한 방사선치료를 시행할 수 있다고 판단된다.

• Wind and Structures
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• 제28권2호
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• pp.71-87
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• 2019

The yaw and interference effects of blades affect aerodynamic performance of large wind turbine system significantly, thus influencing wind-induced response and stability performance of the tower-blade system. In this study, the 5MW wind turbine which was developed by Nanjing University of Aeronautics and Astronautics (NUAA) was chosen as the research object. Large eddy simulation on flow field and aerodynamics of its wind turbine system with different yaw angles($0^{\circ}$, $5^{\circ}$, $10^{\circ}$, $20^{\circ}$, $30^{\circ}$ and $45^{\circ}$) under the most unfavorable blade position was carried out. Results were compared with codes and measurement results at home and abroad, which verified validity of large eddy simulation. On this basis, effects of yaw angle on average wind pressure, fluctuating wind pressure, lift coefficient, resistance coefficient,streaming and wake characteristics on different interference zone of tower of wind turbine were analyzed. Next, the blade-cabin-tower-foundation integrated coupling model of the large wind turbine was constructed based on finite element method. Dynamic characteristics, wind-induced response and stability performance of the wind turbine structural system under different yaw angle were analyzed systematically. Research results demonstrate that with the increase of yaw angle, the maximum negative pressure and extreme negative pressure of the significant interference zone of the tower present a V-shaped variation trend, whereas the layer resistance coefficient increases gradually. By contrast, the maximum negative pressure, extreme negative pressure and layer resistance coefficient of the non-interference zone remain basically same. Effects of streaming and wake weaken gradually. When the yaw angle increases to $45^{\circ}$, aerodynamic force of the tower is close with that when there's no blade yaw and interference. As the height of significant interference zone increases, layer resistance coefficient decreases firstly and then increases under different yaw angles. Maximum means and mean square error (MSE) of radial displacement under different yaw angles all occur at circumferential $0^{\circ}$ and $180^{\circ}$ of the tower. The maximum bending moment at tower bottom is at circumferential $20^{\circ}$. When the yaw angle is $0^{\circ}$, the maximum downwind displacement responses of different blades are higher than 2.7 m. With the increase of yaw angle, MSEs of radial displacement at tower top, downwind displacement of blades, internal force at blade roots all decrease gradually, while the critical wind speed decreases firstly and then increases and finally decreases. The comprehensive analysis shows that the worst aerodynamic performance and wind-induced response of the wind turbine system are achieved when the yaw angle is $0^{\circ}$, whereas the worst stability performance and ultimate bearing capacity are achieved when the yaw angle is $45^{\circ}$.

• 제어로봇시스템학회논문지
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• 제20권12호
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• pp.1246-1251
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• 2014

This article presents an optimum yaw moment distribution scheme for a vehicle with electronic stability control (ESC) and active rear steering (ARS). After computing the control yaw moment in the yaw moment controller, it should be distributed into tire forces, generated by ESC and ARS. In this paper, yaw moment distribution is formulated as an optimization problem. New objective function is proposed to tune the relative magnitudes of the tire forces. Weighed pseudo-inverse control allocation (WPCA) is adopted to solve the problem. To check the effectiveness of the proposed scheme, simulation is performed on a vehicle simulation package, CarSim. From the simulation, the proposed optimum yaw moment distribution scheme is shown to effective for vehicle stability control.

• 제어로봇시스템학회논문지
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• 제20권7호
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• pp.701-705
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• 2014

This article presents a comparison among several yaw and roll motion controllers for vehicle rollover prevention. In the previous research, yaw and roll motion controllers can be independently designed for rollover prevention. Following this idea, several yaw and roll motion controllers are designed and compared in terms of rollover prevention. For the yaw motion control, PID, LQR, SMC (Sliding Mode Control) and TDC (Time-Delay Control) are adopted. For the roll motion control, LQR, LQ SOF (Static Output Feedback) control, PID, and SMC are adopted. To compare the performance of each controller, simulation is performed on a vehicle simulation package, CarSim$^{(R)}$. From simulation, TDC and LQ SOF are the best for yaw and roll motion control, respectively.