• 한국항공우주학회지
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• 제34권5호
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• pp.65-73
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• 2006

위성이 발사체로부터 분리될 때 초기 각속도가 발생한다. B-dot 로직은 일반적으로 위성의 초기각속도 제어에 사용되나, 상대적으로 제어시간이 많이 소요된다는 단점이 있다. 이런 문제를 해결하기 위해 본 논문에서는 피치 바이어스 모멘텀 방식을 사용하는 초소형 위성에 적용 가능한 디텀블링(detumbling) 방식을 새롭게 제안하였다. 제안된 디텀블링 방식은 제어시간이 약 20분 이내로 기존의 방식에 비해 상당한 시간을 줄일 수 있다. 본 논문에서 제안한 디텀블링 방식을 사용할 경우 기존의 모멘텀 휠 초기구동 방식을 사용할 수 없다. 따라서 휠의 속도를 안정적으로 공칭 속도까지 증가시키는 방식을 제안하고 시뮬레이션을 통해 비교, 검증하였다. 시뮬레이션 결과 기존의 방식과 비교했을 때 제어시간을 단축할 수 있었으며 휠의 공칭 속도와 3축 안정화를 이룰 수 있었다.

• 한국항공우주학회지
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• 제42권3호
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• pp.221-228
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• 2014

본 논문은 유도형 활공 탄약의 운용 개념을 소개하고, 이를 위한 항법 알고리듬을 제안하였다. 유도형 활공 탄약은 기존의 유도형 탄약과는 다르게 사거리 증가를 위한 날개를 장착하고 활공하며, 이를 위해 날개 전개 전 탄체의 회전은 제거된다. 따라서 일정한 회전속도를 고려한 기존 유도형 탄약 항법 알고리듬은 활공 중에는 사용할 수 없다. 또한 탄체의 회전이 제거되면 회전 관성이 작아져 횡축이 불안정해져 횡축 가속도를 제어해야 하고, 이로 인해 롤 자세에 의한 횡축 중력 가속도 성분을 알 수 없다. 따라서 횡축 중력 가속도 성분을 기반으로 롤 자세를 추정하는 등속 수평 비행 상태를 가정한 기존 항법 알고리듬은 사용할 수 없다. 본 논문에서는 유도형 활공 탄약의 회전 중 상태 추정을 위해서는 Lucia가 제안한 알고리듬을 사용하였고, 활공 중 상태 추정을 위해서는 새로운 항법 알고리듬을 제안하였다.

• 한국항해학회지
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• 제10권2호
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• pp.97-114
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• 1986

Ship's maneuverability is very important factor in safe ship handling and economical ship operation. Steering characteristics are consisted of course stability and maneuverability. Today in many advanced ship-building countries, they study ship's course stability, using model ship tests, such as straight line tests, rotating arm tests and Planar Motion Mechanism (PMM) etc., in tow in tanks. It is the purpose of this paper to provide ship's handlers with better understanding of steering characteristics and to help them in safe controlling and manevering . In this paper, the author simulated response of various vessels, running straight course with constant speed, and they are disturbed by small external disturbance of one degree yaw angle with no angular velocity . The author used the hydrodynamic derivtives resulted at tests of Davidson's laboratory in Stevens Institute of Technology, New Jersey, U.S.A. Course stability was evaluated and analyzed in various respects, such as block coefficient, ratio of ship's length to beam, draft and rudder area ratio etc. The obtained results are as follows : (1) The ship's course stability is affected by magnitude of block coefficient greatly. In case that the block coefficient is more than 0.7, the deviation varies at nearly same rate but the requistite time to reach the steady course is different. (2) The ship's course stability is affected by magnitude of L/B. When the dimensionless time reaches about 3, the deviation and requisite time to reach the steady course are influenced nearly same. After the dimensionless time is about 3, they change on invariable ratio. (3) The effect to course stability by L/T and RA' can be neglected. (4) The reason why thy VLCC and container feeder vessel are unstable on their course is that their block coefficient is generally more than 0.8 and the ratio of ship's length to beam is about 6.0.

• 한국운동역학회지
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• 제17권1호
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• pp.191-199
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• 2007

This study was conducted to examine the biomechanical characteristics of open spike in the volleyball to improve the technique of the volleyball spike. The subjects were six male college and high school athletes. The motions of volleyball spike were filmed by using two Sony VX 2000 Video Cameras. The mechanical factors were angle and angular velocity of body segments in the upper and the lower limbs. The conclusions were as follows; 1. The angle of the shoulder joint of the skilled showed larger than that of the unskilled in impacting of the volley ball spike. 2. The angle of the elbow joint of the skilled showed larger than that of the unskilled in impacting of the volley ball spike. 3. The angle of the wrist joint of the skilled showed smaller than that of the unskilled in impacting of the volley ball spike. 4. The angle of the hip joint of skilled showed larger than that of unskilled in impacting of the volley ball spike. 5. The angle of the knee joint of the skilled and the unskilled showed same in take off and impacting of the volley ball spike, and that of the skilled showed smaller than that of the unskilled in take-off touchdown and touchdown after impact of the volley ball spike. 6. The angle of the ankle joint of skilled showed larger than unskilled in take-off of the volley ball spike. 7. The angular velocity of the shoulder joint, elbow joint, wrist joint of the skilled showed faster than that of the unskilled in impacting of the volley ball spike. Taken together the result of them, I have come to conclusion that knee joint angle in touchdown of the take off should be decreased and knee joint angle in take off should be increased, and then stability of the take off should be made and, and that extension of the elbow joint should be made and wrist joint angle decreased and shoulder and hip joint angle increased, and then C.O.G of the arm and hand should be positioned ahead C.O.G of the body in impacting for effective impact of the spike, and that the transfer of the angular velocity of body segments for effective impact of the spike make from the proximal segment to the distal segment at spike in volleyball.

• 제어로봇시스템학회논문지
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• 제19권1호
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• pp.1-9
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• 2013

This paper presents a new control algorithm for dynamic control of a unicycle robot. The unicycle robot motion consists of a pitch that is controlled by an in-wheel motor and a roll that is controlled by a reaction wheel pendulum. The unicycle robot doesn't have any actuator for a yaw axis control, which makes the derivation of the dynamics relatively simple. The Euler-Lagrange equation is applied to derive the dynamic equations of the unicycle robot to implement the dynamic speed control of the unicycle robot. To achieve the real time speed control of the unicycle robot, the sliding mode control and LQ regulator are utilized to guarantee the stability while maintaining the desired speed tracking performance. In the roll controller, the sigmoid-function based sliding mode controller has been adopted to minimize the chattering by the switching function. The LQR controller has been implemented for the pitch control to drive the unicycle robot to follow the desired velocity trajectory in real time using the state variables of pitch angle, angular velocity, angle and angular velocity of the wheel. The control performance of the two control systems form a single dynamic model has been demonstrated by the real experiments.

• 한국항공우주학회지
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• 제35권6호
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• pp.526-532
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• 2007

본 논문에서는 반작용 휠을 사용하는 위성체의 내고장 제어 문제를 다루고 있다. 고장은 구동기(반작용 휠)에만 발생한다고 가정하였으며, 고장에 대해서도 자세제어 성능을 유지할 수 있는 제어알고리듬을 제안한다. 자세제어 루프는 각속도 제어 루프를 포함하고 있으며, 각속도 제어 루프에 시간지연제어 기법을 적용하여 고장에 대응할 수 있도록 한다. 제안한 제어기의 안정성 조건을 제시하며, 시뮬레이션을 통해 다양한 형태의 고장에 대해 안정된 자세 추종 성능을 검증한다.

• 대한전기학회논문지:시스템및제어부문D
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• 제53권10호
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• pp.703-713
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• 2004

This paper presents the new obstacle avoidance method that is composed of vision and sonar sensors, also a navigation algorithm is proposed. Sonar sensors provide poor information because the angular resolution of each sonar sensor is not exact. So they are not suitable to detect relative direction of obstacles. In addition, it is not easy to detect the obstacle by vision sensors because of an image disturbance. In This paper, the new obstacle direction measurement method that is composed of sonar sensors for exact distance information and vision sensors for abundance information. The modified splitting/merging algorithm is proposed, and it is robuster for an image disturbance than the edge detecting algorithm, and it is efficient for grouping of the obstacle. In order to verify our proposed algorithm, we compare the proposed algorithm with the edge detecting algorithm via experiments. The direction of obstacle and the relative distance are used for the inputs of the fuzzy controller. We design the angular velocity controllers for obstacle avoidance and for navigation to center in corridor, respectively. In order to verify stability and effectiveness of our proposed method, it is apply to a vision and sonar based mobile robot navigation system.

• 제어로봇시스템학회논문지
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• 제22권7호
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• pp.502-507
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• 2016

In this paper, we propose a tracking control method for a quadrotor equipped with a 2-DOF manipulator, which is based on the multiple sliding surface control (MSSC) method. To derive the model of a quadrotor equipped with a 2-DOF manipulator, we obtain the models of a quadrotor and a 2-DOF manipulator based on the Lagrange-Euler formulation separately - and include the inertia and the reactive torque generated by a manipulator when these obtained models are combined. To make a quadrotor equipped with a manipulator track the desired path, we design a double-loop controller. The desired position is converted into the desired angular position in the outer controller and the system's angle tracks the desired angular position through the inner controller based on the MSSC method. We prove that the position-tracking error asymptotically converges to zero based on the Lyapunov stability theory. Finally, we demonstrate the effectiveness of the proposed control system through a computer simulation.

• 한국항공우주학회지
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• 제31권5호
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• pp.10-17
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• 2003

정적으로 불안정한 비행선의 안전성을 확보하기 위해서는 동적 안정성이 필수적으로 요구된다. 본 연구에서는 강제진동 풍동시험을 보완하고 검증하기 위한 수치해석이 수행되었다. 비행선의 저속 유동장 해석을 위해 저마하수 예조건화된 수치기법이 적용되었다. 동적 감쇠계수의 변화를 두 가지 계산방법을 적용해 살펴보았다. 계산결과, 비행선은 각 방향의 모멘트에 대해 동적으로 안정되고, 힘에 대해서는 불안정하게 나타났다. 또한, 감쇠계수는 받음각과 각속도의 크기에 대한 영향보다 회전방향에 대한 영향이 더 큼을 확인하였다.

• 한국산학기술학회논문지
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• 제15권8호
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• pp.4796-4801
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• 2014

관절형 고속철도차량의 승차감 향상 및 주행안전을 위해서는 객차 갱웨이 통로연결막에 대한 화재안전성, 방음기능과 함께 3축 회전각변위(롤링/요잉/피칭) 모드하의 내구성을 만족하는 것이 중요하다. 그러나 국내의 경우 본 통로연결막에 대한 내구성 시험 및 규격은 아직 표준화되지 않고 있다. 본 연구에서는 비선형 구조해석 결과와 고무피로특성으로부터 피로 수명을 예측하였다. 또한, 리그 피로시험을 구축하여 본 부품의 내구성을 검토하였다.