• Title/Summary/Keyword: fin controller

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Controller Design of BLDC Motor Fin Position Servo System by Employing H-infinity Loop Shaping Method (H-infinity Loop Shaping 방법을 이용한 BLDC 전동기 핀 위치제어시스템 제어기 설계)

  • Zhu, He-Lin;Mok, Hyung-Soo;Lee, Hyeong-Geun;Han, Soo-Hee;Seo, Hyeon-Uk
    • The Transactions of the Korean Institute of Power Electronics
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    • v.24 no.1
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    • pp.49-55
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    • 2019
  • This study proposes a robust control of a fin position servo system using the H-infinity loop-shaping method. The fin position control system has a proportional (P) position controller and a proportional-integral (PI) controller. In this work, the position control loop requires a wide bandwidth. No current control loop exists due to the compact design of the system. Hence, the controller parameters are difficult to determine using the traditional cascade design method. The $H_{\infty}$ controller design method is used to design the controller's gain to achieve good performance and robustness. First, the transfer function of the system, which can be divided into tunable and fixed parts, is derived. The tunable part includes the position P controller and speed PI controller. The fixed part includes the rest of the system. Second, the optimized controller parameters are calculated using Matlab $H_{\infty}$ controller design program. Finally, the system with optimized controller is tested by simulation and experiment. The control performance is satisfactory, and the $H_{\infty}$ controller design method is proven to be valid.

Disturbance Torque Suppression Control of Servo Motors for Missile Fin Actuators (미사일 Fin 액츄에이터용 서보모터의 외란 토크 억제 제어)

  • Kim, Chang-Hwan
    • Journal of National Security and Military Science
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    • s.1
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    • pp.311-343
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    • 2003
  • In this paper, we propose a generalized disturbance torque suppression control scheme of servo motors for missile fin actuators. Our controller consists of both a model based feed-forward controller and a stabilizing feedback controller. The feed-forward controller is designed such that the output of nominal plant tracks perfectly the reference position command with a desired dynamic characteristics. The feedback controller stabilizes the overall closed loop system. Furthermore, the feedback controller contains a free function that can be chosen arbitrary. The free function can be designed so as to achieve both the suppression of disturbances and the robustness to model uncertainties. In order to illuminate the superior performance of our control scheme to the conventional ones, we present some simulation results.

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Predictive Control for a Fin Stabilizer

  • Yoon, Hyeon-Kyu;Lee, Gyeong-Joong;Fang, Tae-Hyun
    • Journal of Navigation and Port Research
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    • v.31 no.7
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    • pp.597-603
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    • 2007
  • A predictive controller can solve a control problem related to a disturbance-dominant system such as roll stabilization of a ship in waves. In this paper, a predictive controller is developed for a fin stabilizer. Future wave-induced moment is modeled simply using two typical regular wave components for which six parameters are identified by the recursive Fourier transform and the least squares method using the past time series of the roll motion. After predicting the future wave-induced moment, optimal control theory is applied to discover the most effective command fin angle that will stabilize the roll motion. In the results, wave prediction performance is investigated, and the effectiveness of the predictive controller is compared to a conventional PD controller.

A Singular Perturbation-like Method to Compensate the Effect of Fin Actuator Dynamics in Nonlinear Missile Control (비선형 미사일 제어에서의 핀 구동기 동역학 영향을 보상하는 새로운 유사특이섭동기법)

  • Hong, Jin-Woo;Yeom, Joon-Hyung;Song, Seong-Ho;Ha, In-Joong
    • Proceedings of the KIEE Conference
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    • 2006.04a
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    • pp.219-221
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    • 2006
  • The recently developed autopilot controller can make the input-output (I/O) dynamic characteristics of the nonlinear missile dynamics linear and independent of flight conditions. However, significant fin actuator dynamics can degenerate the I/O dynamic performance of the overall system. In this paper, we propose a singular perturbation-like method to compensate the effect of significant fin actuator dynamics in nonlinear missile control. The proposed compensation method does not require the time derivatives of fin angles but can maintain the linear I/O dynamic characteristics provided by the recently developed autopilot controller.

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Implementation of Fuzzy Decoupling Digital Xontroller for Three Fin Torpedo (삼타어뢰의 퍼지 비연성 디지탈 제어기 구현)

  • 원태현;곽병철;구본순
    • 제어로봇시스템학회:학술대회논문집
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    • 1993.10a
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    • pp.1076-1079
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    • 1993
  • A fuzzy digital controller is combined an autopilot system for compensating the cross coupling effect of the induced roll due to the dynamic characteristic of three fin torpedo. However the utilization of fuzzy chip has many interfacing problems with typical microprocessors of the guidance and control unit. Since a fuzzy digital controller on a microprocessor uses a finite word length A/D converters arul D/A converters, ADC and DAC may generate nonlinear effects such as deadband and limit cycle phenomena. In this paper, the robustness of fuzzy digital controller is tested with ADC a finite word length.

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Real-time simulation for fuzzy control of three fin torpedo (삼타어뢰의 퍼지제어를 위한 실시간 시뮬레이션)

  • 남세규;원태현;구본순;이만형;유완석
    • 제어로봇시스템학회:학술대회논문집
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    • 1992.10a
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    • pp.869-873
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    • 1992
  • A fuzzy controller is designed for compensating the cross-coupling effect of induced roll due to the dynamic characteristics of three fin torpedo. Since the utilization of fuzzy-coprocessor has many interfacing problems with typical microprocessors of the guidance and control unit, the simplified fuzzy inference method based on nonfuzzy-processor is proposed to implement fuzzy controllers of three fin torpedo. This method provides a flexible rule-base design to guarantee the robust control. The good potential of the proposed design is shown through real-time simulations using both a mathematical model on AD-100 computer and an implemented controller on Intel 80C186/80C 187 microprocessors employing 12bit A/D converter.

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A New Velocity Measurement Method using Linear Type Hall-effect Sensor for Electro-mechanical Fin Actuator (선형홀센서를 이용한 전기식 구동장치의 속도 신호 구현)

  • Gu, Jeong-Hoi;Song, Chi-Young
    • The Transactions of The Korean Institute of Electrical Engineers
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    • v.59 no.1
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    • pp.70-75
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    • 2010
  • The objective of this paper is to propose a new velocity measurement method for an electro-mechanical fin actuator. The model of the electro-mechanical fin actuator includes uncertainties such as unknown disturbances and parameter variations in flight condition. So, an electro-mechanical fin actuator system needs robust control algorithm which requires not only position information but also velocity information. Usually, analog tachometers have been used for velocity feedback in an electro-mechanical fin actuator. However, using these types of sensors have problems such as the cost, space, and malfunction. These problems lead to propose a new velocity measurement method using linear type Hall-effect sensor. In order to verify the proposed method, several experiments are performed using Model Following Sliding Mode Controller(MFSMC). It is shown that the MFSMC with a new velocity measurement method using linear type Hall-effect sensor can satisfy the requirements without using of velocity sensor.

Control Design of the High Performance Nozzle System(Jet Vane Type) (추력방향제어 시스템 Controller)

  • 이명준;김성진
    • Proceedings of the Korean Society of Propulsion Engineers Conference
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    • 1998.04a
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    • pp.24-24
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    • 1998
  • 미사일의 수직 발사 시스템은 수송 및 발사에 필요한 공간을 작게 차지하고 간편하여 각국이 선호하고 있다. 그러나 미사일이 수직발사 초기에는 매우 낮은 속도로 상승하므로 미사일의 방향조정용 Fin의 공력이 발생하지 않기 때문에 초기에 Jet Vane 등의 기계장치를 이용 추력의 방향을 제어하여 마사일의 방향을 목표로 향하도록 하는 Controller가 필요하게 된다. 본 Controller는 DC Motor와 감속기를 이용하여 Vane을 제어 할 수 있도록 설계되어 있으며 1차적으로는 지상 시험용 Controller를 개발 완료된 상태에 있다. 추후 실제 사용하기 위한 Controller를 만들기 위해서는 Main 유도장치와의 상호 Interface 관계를 고려하여 설계되어야 하며 소량 경량화 및 충분한 신뢰성을 갖춘 Controller를 개발하여야 한다.

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A Digital Fin Stabilizer Controller Design for Reduction of Ship Rolling in Waves (해양파에 의해 발생하는 선박 횡동요 감소를 위한 Fin Stabilizer 제어기 구성)

  • Cho, Cheol-Joo;Lim, Kye-Young
    • Proceedings of the KIEE Conference
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    • 2011.07a
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    • pp.1742-1743
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    • 2011
  • 항해 중인 선박에 가장 영향을 미치는 것은 해양파이다. 해양파는 주로 바람에 의해서 생성이 되며 지역적으로 바람의 세기와 방향이 다르기 때문에 파의 높이와 파의 길이가 정해져 있지 않은 불규칙파가 발생한다. 선박에 미치는 해양파의 힘에 따라 횡동요의 크기 및 주기가 달라진다. 해양파의 힘의 크기가 선박의 복원력보다 크게 되면 선박은 전복이 된다. 이런 이유로 선박 운동을 인위적으로 억제하기 위하여 Fin Stabilizer를 사용하게 되었다. Fin Stabilizer는 짧은 시간에 동작하여 선박의 안전을 향상시킬 수 있으며, 운행 효율을 높일 수 있기 때문에 최근 들어 널리 사용되고 있는 방법이다. 본 논문에서는 해양파의 힘이 선박에 영향을 미칠 때의 횡요각 변화를 관찰하고 설계한 제어기의 성능정도를 위한 Simulation을 수행하였다. Simulation 결과를 토대로 Fin Stabilizer를 제어하기 위한 Digital 제어기를 구성하였다.

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A New Approach to Structure of Aerodynamic Fin Control System for STT Missiles

  • Song, Chan-Ho;Lee, Yong-In;Kim, Seung-Hwan;Kim, Pil-Seong
    • 제어로봇시스템학회:학술대회논문집
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    • 2003.10a
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    • pp.537-541
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    • 2003
  • In order to control the missiles by aerodynamics, control surfaces sometime called fins are used. Deflection angles of these fins are the right control variables of the aerodynamics, but aerodynamicists prefer to use analytic variables called aileron, elevator and rudder instead of these physical variables, because these three analytic variables dominantly influence on the roll, pitch and yaw channels of the missile maneuver, respectively, and each can be assumed a linear combination of four fin deflection angles. On that basis, roll, pitch and yaw autopilots for controlling the attitudes or lateral acceleration of the missile are designed, and as a consequence outputs of each autopilot are aileron, elevator and rudder commands, respectively. In the existing fin control scheme for the typical tail-fin controlled cruciform missiles, firstly these outputs are distributed to four fin defection commands, and after that four fins are actuated by fin controllers so that their deflections follow the commands. This paper shows that performance of such control schemes can be degraded significantly when fin actuators have certain physical constraints such as slew rate, voltage or current limit, uncertainty of actuator dynamics, and so on, and propose a new control scheme which alleviates such problems. This scheme can be widely applied to various fin actuation systems. But in this paper, for convenience, tail-fin controlled cruciform missile is taken as an example, and it is shown that a proposed control scheme gives better performance than the existing one.

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