• 해양환경안전학회:학술대회논문집
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• 해양환경안전학회 2003년도 추계학술발표회
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• pp.141-148
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• 2003

본 연구에서는 선박의 안전항해의 관점에서 IMO조종성기준 중 변침 및 보침 성능에 관해 검토하였다. 침로불안정의 정도가 각각 다른 세척의 시리즈선박을 채택하여 지그재그시험에 관한 수치시뮬레이션을 수행하여 침로불안정의 정도와 오버슈트각 사이의 관계를 규명하였다. 그 결과 오버슈트각은 변침 및 보침 성능의 기준이 될 수 있음을 확인하였다. 그리고 자체개발한 시뮬레이터를 활용하여 시리즈선박의 항로항행에 관한 실시간 시뮬레이션 실험을 수행하여 선박의 조종난이도와 침로불안정의 정도 사이의 관계를 규명하였다. 아울러 수치시뮬레이션과 시뮬레이션실험 결과를 토대로 IMO조종성기준의 변침 및 보침 성능에 관한 새로운 안을 제시하였다.

• 대한조선학회논문집
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• 제43권4호
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• pp.460-466
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• 2006

The three-dimensional RANS equations were applied to analyze the flow field of a submarine. To validate the code, the DARPA SUBOFF bare hull and an eliipsoid at angles of attack of $10^{\circ}\;and\;30^{\circ}$ were simulated and good agreement with experiments was obtained. After the code validation, the flows over the full configuration of DARPA SUBOFF model having a fairwater and four stern appendages were simulated at four angles of attack $(0^{\circ},\;10^{\circ},\;20^{\circ},\;30^{\circ})$ and three yaw angles $(10^{\circ},\;20^{\circ},\;30^{\circ})$ Specifically, the pressure contours and streamlines of fairwater and stern appendage were compared as the angle of attack and yaw angle changed. The variations of hydrodynamic forces were also calculated.

• 한국통신학회논문지
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• 제19권3호
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• pp.505-514
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• 1994

무궁화 위성체는 10년 수명기간 동안 통신 및 직접방송 위성서비스에 필요한 빔의 지향성을 유지하기 위하여 정확하고 신뢰성있는 자세제어 시스팀을 요구하고 있다. 본고에서는 무궁화 위성체가 정지궤도에서 정상운용모드로 동작하는데 요구되는 자세제어부속시스팀에 대한 상세설계기법 및 성능에 대해서 기술하고자 한다.

• 항공우주기술
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• 제3권2호
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• pp.160-169
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• 2004

KOMPSAT-2 위성의 MSC는 고해상도 위성영상을 얻기 위하여 TDI 기능을 적용하고, 위성 운영방법으로 자세각 요각에 대한 제어를 요구한다. 본 연구에서는 TDI 기능의 개념과 요구되는 조건을 만족하는 위성의 요각을 계산하기 위하여 촬영궤적평면의 기하관계를 설정하여 최종적으로 요각의 계산식을 구하였다. 이를 바탕으로 프로그램을 작성하고 시뮬레이션 하여 궤도와 촬영 자세각에 따른 요각의 계산결과를 탑재컴퓨터에서 설정되는 요각과 비교하였다.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2001년도 춘계학술대회 논문집
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• pp.545-550
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• 2001

This paper studied on the lateral motion and yaw motion of the gantry crane that is used for the automated container terminal. Though several problems are occurred in driving of the gantry crane, they are solved by the motion by the operators. But, if the gantry crane is unmanned, it is automatically controlled without any operator. There are two types, cone and flat type in driving wheel shape. In cone type, the lateral vibration and yaw motion of crane are issued. In flat type, the collision between wheel-flange and rail or the fitting between wheel-flanges and rail is issued. Especially, the collision between wheel-flange and rail is a very critical problem in driving of unmanned gantry crane. To bring a solution to the problems, the lateral and yaw dynamic equations of the driving mechanism of two driving wheels are derived. Then, we investigate the driving characteristics of gantry crane. In this study, the proposed controller, based on Model Based Controller, is used to control the lateral displacement and yaw angle of the gantry crane. And the availability of the proposed controller is showed through the comparison with the result of the proposed controller and PD controller. The simulation results of the driving mechanism, using the Runge-Kutta Method that is one of the numerical analysis methods, are presented in this paper.

• 대한기계학회논문집A
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• 제24권8호
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• pp.1899-1909
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• 2000

This paper proposes a new $H_{\infty}$ yaw moment control scheme using brake torque switching for improving vehicle performance and stability especially in high speed driving. In the scheme, one wheel is selected, depending on the vehicle states, at which a brake torque for control is applied. Steering angles are modeled as a disturbance to the system and the $H_{\infty}$ controller is designed to minimize the difference between the performance of the vehicle and that of the desired model. Its performance robustness as well as stability robustness to system parameter variations is assured through ${\mu}$-analysis. Various simulations with a nonlinear 8-DOF vehicle model show that proposed controller enhances the vehicle performance and stability under disturbances and parameter variations as well as under the normal driving condition.

• International Journal of Automotive Technology
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• 제8권1호
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• pp.49-57
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• 2007

This paper proposes a traction control system (TCS) that uses a sliding mode wheel slip controller and a PID throttle valve controller. In addition, a yaw motion controller (YMC) is also developed to improve lateral stability using a PID rear wheel steering angle controller. The dynamics of a vehicle and characteristics of the controllers are validated using a proposed full-car model. A driver model is also designed to steer the vehicle during maneuvers on a split ${\mu}$ road and double lane change maneuver. The simulation results show that the proposed full-car model is sufficient to predict vehicle responses accurately. The developed TCS provides improved acceleration performances on uniform slippery roads and split ${\mu}$ roads. When the vehicle is cornering and accelerating with the brake or engine TCS, understeer occurs. An integrated TCS eliminates these problems. The YMC with the integrated TCS improved the lateral stability and controllability of the vehicle.

• 동력기계공학회지
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• 제8권4호
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• pp.57-63
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• 2004

Conventionally, 2WS is used for vehicle steering, which can only steering front wheel. In case of trying to high speed lane change or cornering through this kind of vehicle equipped 2WS, it may occur much of Yaw moment. On the other hand, 4WS makes decreasing of Yawing Moment, outstandingly, so it is possible to support vehicle movement stable. And conventional ABS and TCS can only possible to control the longitudinal movement of braking equipment and drive which can only available to control of longitudinal direction. There after new braking system ESP was developed, which controls both of longitudinal and lateral, with adding of the function of controlling Active Yaw Moment. On this paper, we show about not only designing of improved braking and steering system through establishing of the integrated control system design of 4WS and ESP but also designing of the system contribute to precautious for advanced vehicle stability problem.

• 한국자동차공학회논문집
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• 제5권3호
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• pp.76-85
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• 1997

The understeer characteristics of four wheel steering system(4WS system) in a high speed region have a negative effect upon the yaw velocity, leading to a decrease in the handling ability of vehicle. As a result, even if the side slip angle of vehicle can be kept up a minimum, a driver must compensate a decrease in yaw velocity by increasing the steering wheel angle in order to track the desired vehicle path. In this study, to keep the side slip angle of vehicle at zero and achieve a suitable yaw velocity in vehicle motion, a full active 4WS system(FA 4WS system) with actively steerable front and rear wheels is presented based on a nonlinear vehicle model and a model following control of yaw velocity. And the analysis results show the fat that, besides the excellent stability of vehicle, the FA 4WS system is able to realize better handling performance of vehicle than the previous 4WS systems in the high speed region.

• International Journal of Aeronautical and Space Sciences
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• 제9권1호
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• pp.66-75
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• 2008

In this work, we explore the feasibility of roll-pitch-yaw integrated autopilots for high angle-of-attack missiles. An investigation of the aerodynamic characteristics of a surface-to-air missile is presented, which reveals the strong effects of cross coupling between the longitudinal and lateral dynamics. Robust control techniques based on $H_{\infty}$ synthesis are employed to design roll-pitch-yaw integrated autopilots. The performance of the proposed roll-pitch-yaw integrated controller is tested in high-fidelity nonlinear five-degree-of-freedom simulations accounting for kinematic cross-coupling effects between the lateral and longitudinal channels. Against nonlinearity and cross-coupling effects of the missile dynamics, the integrated controller demonstrates superior performance when compared with the controller designed in a decoupled manner.