• 로봇학회논문지
• /
• 제13권2호
• /
• pp.103-112
• /
• 2018

In this paper, a high performance underwater vehicle which can be manufactured at low cost is designed and fabricated, and its performance is verified through experiments. To improve efficiency, the Myring equation is used to design the appearance and the duct structure including the thruster is planned to increase the propulsion efficiency while reducing the drag force. Through various methods, it is secured stable waterproof performance, and also is devised to have high speed movement and turning performance. The developed underwater vehicle is equipped with a high output BLDC motor to achieve a linear speed of up to 2 m/s and can change direction rapidly with stability through four rudders. The rudders are driven by coupling a timing belt and a pulley by extending the axis of a servo motor, and are equipped at the end of the body to turn heading. In addition, for stable posture control, the roll keeps its internal center of gravity low and maintains its stability due to restoring force. By controlling the four rudders, pitch and yaw are handled by the PID controller and show stable performance. To investigate the horizontal turning performance, it is confirmed that the yaw rate controller is designed and stable yaw rate control is performed.

• 한국소음진동공학회:학술대회논문집
• /
• 한국소음진동공학회 2007년도 추계학술대회논문집
• /
• pp.369-374
• /
• 2007

This paper presents yaw vibration control performances of railway vehicle featuring controllable magnetorheological damper. A cylindrical type of MR damper is devised and its damping force is evaluated by considering fluid resistance and MR effect. Design parameters are determined to achieve desired damping force level. The MR damper model is then incorporated with the governing equations of motion of the railway vehicle which includes vehicle body, bogie and wheel-set. Subsequently, computer simulation of vibration control via proportional-integral-derivative (PID) controller is performed using Matlab. Various control performances are demonstrated under external excitation by creep force between wheel and rail.

• 한국유체기계학회 논문집
• /
• 제4권3호
• /
• pp.62-77
• /
• 2001

The modern wind turbines are widely used as important natural energy sources for the electric generation in western countries and some Asian nations. They are commercially matured and progressive and clear policy for the more development with higher technical purposes is maintained throughout the world. Modern wind turbines produce nearly 2000 kW output in their largest sizes and this trend increases up to more powerful power and ultimate utilization of wind energy favoured by clean natural energy. This article has the points of reviewing the states of the art of modern wind turbines with their present technical directions toward next generation version. Some descriptionsare given for easy understanding of the turbine components and related fluid mechanics concerned. The general outlines of policy taken over some countries are also introduced.

• 대한조선학회 특별논문집
• /
• 대한조선학회 2007년도 특별논문집
• /
• pp.74-78
• /
• 2007

In this paper, the HPMM(Horizontal Planar Motion Mechanism) test is simulated in a numerical towing tank by using a commercial CFD(Computational Fluid Dynamics) code, FLUENT. The results of calculation are compared with those of static drift test or rotating arm test calculated by CFD to verify the results simulated by CFD. Through comparing pure sway test of HPMM test with static drift test and pure yaw test of HPMM with rotating arm test, it is found that HPMM test can be simulated in the numerical towing tank.

• 한국항공우주학회지
• /
• 제47권12호
• /
• pp.841-847
• /
• 2019

본 연구에서는 요 오차가 있는 상태에서의 수평축 풍력터빈 로터에 작용하는 시간에 따른 6분력 하중변동을 로터 허브에 중심을 둔 회전 및 비회전 좌표계에 대해서 수치해석 하였다. 수치해석을 위한 모형은 설계 사양이 상세히 공개된 20 kW급의 NREL Phase VI 로터로 선택하였으며, 설계 풍속 구간에 대해 요 및 전도 모멘트를 중점적으로 분석하였다. 해석을 위한 방법은 비정상 블레이드 요소이론을 적용하였으며, 그 방법을 이용하여 개발된 프로그램의 6분력 하중에 대한 수치해석 결과는 NREL의 FAST 프로그램의 해석 결과와 비교하여 검증을 완료하였다. 하중 해석 결과를 토대로 요 작동 상태인 수평축 풍력터빈 시스템의 요 및 전도 모멘트는 요 부속 장치의 사양 결정 및 지지부위의 기초 설계를 위해 중요한 기본 정보로 활용될 것으로 기대된다.

• International Journal of Precision Engineering and Manufacturing
• /
• 제8권2호
• /
• pp.49-53
• /
• 2007

In this study, we investigated experimentally the potential of a planer positioning mechanism with three degrees of freedom using a flexure guide and an electromagnetic linear motor. The goal was to produce a multi-axis positioning system with nanometric resolution over a 1-mm stroke. An $X-Y-\theta$ stage was designed based on previous results from a single-axis prototype and was constructed with a flexure guide mechanism and voice coil motor type linear actuators. We examined the necessity of a driving method and control system to ensure high resolution for multi-axis positioning. Experiments were conducted to evaluate the performance, and the results confirmed the mechanism's potential; fine point-to-point (PTP) positioning was achieved over a 1-mm stroke, with a resolution of 2 nm for translation in X-Y and 0.01 asec for yaw in $\theta$.

• 한국정밀공학회:학술대회논문집
• /
• 한국정밀공학회 1995년도 추계학술대회 논문집
• /
• pp.765-768
• /
• 1995

A double parallel manipulator has only two or three links in each parallel mechanism. this reduces link interferences so that we expect a large workspace. To prove this property, this paper analyzes the workspace of a double parallel manipulator and compare it with that of a Stewart Platform. the analysis is separately conducted in a positional and an orientational division. For each, we obtain the workspace accrding to the ranges of lengths of links and show the volume in a cartesian coordinate or the angular ranges in yaw and pitch motions.

• 한국자동차공학회논문집
• /
• 제3권3호
• /
• pp.66-78
• /
• 1995

In this paper, we address vehicle modeling and dynamic analysis of four wheel steering systems (4WS). 4WS is one of the devices used for the improvement of vehicle maneuverability and stability. All research done here is based on a production vehicle from a manufacturer. To study actual system response, a three dimensional, full vehicle model was created. In past research of this type, simple, two dimensional, bicycle vehicle models were typically used. First, we modelled and performed a dynamic analysis on a conventional two wheel steering(2WS) vehicle. The modeling and analysis for this model and subsequent 4WS vehicles were performed using ADAMS(Automatic Dynamic Analysis of Mechanical Systems) software. After the original vehicle model was verified with actual experiment results, the rear steering mechanism for the 4WS vehicle was modelled and the rear suspension was changed to McPherson-type forming a four wheel independent suspension system. Three different 4WS systems were analyzed. The first system applied a mechanical linkage between the front and rear steering mechanisms. The second and third systems used, simple control logic based on the speed and yaw rate of the vehicle. 4WS vehicle proved dynamic results through double lane change test.

• 한국정보기술학회 영문논문지
• /
• 제8권2호
• /
• pp.101-110
• /
• 2018

This paper introduces feedback linearization (FL) based adaptive sliding mode control (ASMC) effective against ground effects of the quadrotor UAV. The proposed control has the capability of estimation and effective rejection of those effects by adaptive mechanism, which resulting stable attitude and positioning of the quadrotor. As output variables of quadrotor, x-y-z position and yaw angle are chosen. Dynamic extension of the quadrotor dynamics is obtained for terms of roll and pitch control input to be appeared explicitly in x-y-z dynamics, and then linear feedback control including a ground effect is designed. A sliding mode control (SMC) is designed with a class of FL including higher derivative terms, sliding surfaces for which is designed as a class of integral type of resulting closed loop dynamics. The asymptotic stability of the overall system was assured, based on Lyapunov stability methods. It was evaluated through some simulation that attitude control capability is stable under excessive estimation error for unknown ground effect and initial attitude of roll, pitch, and yaw angle of $30^{\circ}$ in all. Effectiveness of the proposed method was shown for quadrotor system with ground effects.

• 해양환경안전학회지
• /
• 제25권3호
• /
• pp.306-312
• /
• 2019

This paper investigates to design a controller for maritime autonomous surface ship (MASS) by means of adaptive super-twisting algorithm (ASTA). A input-out feedback linearization method is considered for multi-input multi-output (MIMO) system. Sliding Mode Controller (SMC) is suitable for MASS subject to ocean environments due to its robustness against parameter uncertainties and disturbances. However, conventional SMC has inherent disadvantages so-called, chattering phenomenon, which resulted from the high frequency of switching terms. Chattering may cause harmful failure of actuators such as propeller and rudder of ships. The main contribution of this work is to address an appropriate controller for MASS, simultaneously controls surge and yaw motion in severe step inputs. Proposed control mechanism well provides convergence bewildered by external disturbances in the middle of steady-state responses as well as chattering attenuation. Also, the adaptive algorithm is contributed to reducing non-overestimated value of control gains. Control inputs of surge and yaw motion are displayed by smoother curves without excessive control activities of actuators. Finally, no overshoot can be seen in transient responses.