• 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.

• 풍력에너지저널
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• 제9권4호
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• pp.9-15
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• 2018

In a previous study, a technique for measuring wind speed and direction by using a roll-rotating three-axis ultrasonic anemometer was proposed and verified by wind tunnel tests. In the tests, instead of a roll sensor, roll angle was trimmed to make no up flow in the transformed wind speeds. Verification was done in point of the residual error of the rotation effect treatment. In this study, roll angle was measured from the roll motor encoder and the transformed wind speed and direction on the test section axis were compared with the ones provided to the test section. As a result, up to yaw $20^{\circ}$ at a wind speed of 12 m/sec or over, the RMS error of wind speed was within the double of the ultrasonic anemometer error. But at yaw $30^{\circ}$, it was over the double of the ultrasonic anemometer error. Regardless of wind speed, at yaw $20^{\circ}$ and $30^{\circ}$, the direction error was within the double of the ultrasonic anemometer error. But at yaw $10^{\circ}$ or less, it was within the error of the ultrasonic anemometer itself. This is a very favorable characteristic to be used for wind turbine yaw control.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2004년도 추계학술대회 논문집
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• pp.1380-1383
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• 2004

The scanning type XY stage is frequently used these days as precision positioning system in equipment for semiconductor or display element. It is requested higher velocity and more precise accuracy for higher productivity and measuring performance. The position accuracy of general stage is primarily affected by the geometric errors caused by parasitic motion of stage, misalignments such as perpendicular error, and thermal expansion of structure. In the case of scanning type stage, H type frame is usually used as base stage which is driven by two actuators such as linear motor. In the point view of scanning process, the stage is used in moving motion. Therefore, dynamic variation is added as significant position error source with other parasitic motion error. Because the scanning axis is driven by two actuators with two position detectors, 2 dimensional position errors have different characteristic compared to general tacked type XY stage. In this study 2D position error of scanning stage is analyzed by 1D heterodyne interferometer calibrator, which can measure 1D linear position error, straightness error, yaw error and pitch error, and perpendicular error. The 2D position error is evaluated by diagonal measurement (ISO230-6). The yaw error and perpendicular error are compensated on the base stage of scanning axis. And, the horizontal straightness error is compensated by cross axis compensation. And, dynamic motion error in scanning motion is analyzed.

• 한국소음진동공학회논문집
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• 제18권10호
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• pp.997-1005
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• 2008

Linear motor stage is a useful device in precision engineering field because of its simple power transmission mechanism and accurate positioning. Even though linear motor stage shows fine positioning accuracy along travel axis, geometric dependent errors which relay on machining and assembling accuracy should be addressed to increase total positioning performances. In this paper, we suggests a cost effective yaw error compensation servo-system which is mounted on platform of the stage and nullify travel position dependent yaw error. This paper also provides a method of designing a sliding mode control which is robust to existing friction disturbance and model uncertainties. The reachability condition of slinding mode control for the yaw error compensating servo-system has been established. From some experimental results by using an experimental set-up, the sliding mode control showed its effective in disturbance rejection and its performance was superior to conventional linear controls.

• 풍력에너지저널
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• 제4권1호
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• pp.46-52
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• 2013

The wind generally includes turbulence characteristics in nature. So the yaw errors between wind turbine direction and wind direction occur due to turbulence fluctuation. The yaw errors affect the fatigue load of wind turbine system and power reduction. The components of turbulence intensity are different from those of each site where the wind turbines are installed. We studied that the fatigue load and power efficiency are improved by controlling yaw motions. In this study, we controlled the averaged yaw error time according to site conditions by turbulence intensity.

• Journal of Advanced Marine Engineering and Technology
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• 제25권1호
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• pp.199-208
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• 2001

In this paper, an automatic route tracking algorithm using the position variables and the yaw angle of a ship is suggested, Since most autopilot systems paly only a role of course-keeping by integrating the gyrocompass output, they cannot cope with position errors between the desired route and real route of the ship resulted from a drifting and disturbances such as wave, wind and currents during navigation. In order for autopilot systems to track the desired route, a method which can reduce such position errors is required and some algorithms have been proposed[1,2]While such were turned out effective methods, they have a shortage that the rudder control actions for reducing the position errors are occurred very frequently. In order to improve this problem it is necessary to convert that error into the corresponding yaw angle and necessary to treat only yaw angle control problem. To do this a command generation algorithm which converts the rudder angle command reducing the current position error into they yaw angle command is suggested. To control the ship under disturbances and nonlinearities of the ship dynamics, the adaptive fuzzy controller is developed. Finally, through computer simulations for two ship models, the effectiveness of the suggested method and the possibility of the automatic route tracking are assured.

• 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.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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• pp.1099-1102
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• 1996

In this paper, roll/yaw attitude control of spacecraft using a double gimbaled wheel is discussed with two feedback controllers designed. One is a PD controller with no phase difference between roll and yaw control input. The other is a PD controller with a phase lag compensator about the yaw control input. The phase lag compensator is designed as a first order system and a lag parameter is designed for the yaw angle control. There are two case simulations for each controller ; constant disturbance torques and initial errors of nutation at motion. We obtain the results through simulations that steady-state error and rising time of yaw angle are determined by the compensator. Simulation parameters used in this study are the values of KOREASAT F1.

• 전기학회논문지
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• 제59권12호
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• pp.2292-2297
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• 2010

To improve the performances of Sawyer motors and to regulate yaw rotation, various feedback control methods have been developed. Almost all of these methods require information on the position, velocity or full state of the motor. Therefore, in this paper, a nonlinear observer is designed to estimate the full state of the four forcers in a Sawyer motor. The proposed method estimates the full state using only positional feedback. Generally, Sawyer motors are operated within a yaw magnitude of several degrees; outside of this range, Sawyer motors step out. Therefore, this observer design assumes that the yaw is within ${\pm}90^\b{o}$. The convergence of the estimation error is proven using the Lyapunov method. The proposed observer guarantees that the estimation error globally exponentially converges to zero for all arbitrary initial conditions. Furthermore, since the proposed observer does not require any transformation, it may result in a reduction in the commutation delay. The simulation results show the performance of the proposed observer.

• 전기학회논문지
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• 제64권2호
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• pp.289-296
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• 2015

In this paper, we propose the nonlinear control based on singular perturbation theory for position tracking and yaw regulation of planar motor. Singular perturbation theory is characterized by the existence of slow and fast transients in the system dynamics. The proposed method consists of auxiliary control to decouple error dynamics. We develop model reduction with control input. Also, we derIve decoupled error dynamics with auxiliary input. The controller is designed in order to guarantee the desired position and yaw regulation without current feedback or estimation. Simulation results validate the effect of proposed method.