• The Transactions of The Korean Institute of Electrical Engineers
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• v.64 no.2
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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.

• Journal of the Korean Society of Visualization
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• v.17 no.2
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• pp.32-38
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• 2019

A comparison study between computational-fluid-dynamics simulation and wind tunnel test for a megawatt-class wind turbine is conducted. For the study, flow-field in wake, basic aerodynamic performance, and effect of the yaw error for a 1/86 scaled-down model of the NREL offshore 5 MW wind turbine are numerically calculated using commercial software "FloEFD" with $k-{\varepsilon}$ turbulence model. The computed results are compared to the wind tunnel test performed by the constant-velocity mode for the model. It is shown that discrepancy are found between the two results at lower tip-speed ratio and higher yaw angle, however, the velocity-defection distribution in the wake, the torque coefficient at moderated and high tip-speed ratios are in good agreement with the wind tunnel test.

• International Journal of Automotive Technology
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• v.7 no.7
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• pp.777-784
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• 2006

The lateral dynamic behaviours of a track inspection vehicle with laterally guided system are studied for the safety and comfort. A 10-DOF dynamic model is proposed counting for lateral and yaw motions. The equations for motions of the vehicle running on curved tracks at a constant speed are presented. It is shown by simulation that lateral guiding forces applied to the guiding wheels on the inner side of the track increase in a larger scale in comparison with those on the outer side when the vehicle passes through curved tracks with cant, and the front guiding spring forces is larger than the rears. Lateral vibrations due to yaw motions of the vehicle take place when the vehicle runs through curved tracks. Finally, effect of the lateral guidance on the vehicle dynamics is also examined and advantages of such a guiding system are discussed in some details. An optimal guided control is applied to restrain the lateral and yaw motions. The comparisons between the active and passive guidance explain the effect of the active control approaches.

• Journal of Korean Society of Environmental Engineers
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• v.31 no.4
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• pp.272-277
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• 2009

Three dimensional numerical analysis for the coal fired boiler has been performed to investigate the effect of yaw angle variation of the secondary air nozzles on the combustion characteristics and NOx emission. It was found that the prediction gives a good agreement with plant data. The increase in yaw angle up to $20^{\circ}$ have results in the decrease in NOx emission at furnace exit and recirculation flow intensity, together with the increase of unburned carbon in ash. It also has been recognized the remarkably change in configuration of fire ball with increase in yaw angle. The results from this study would be valuable in the case of the combustion modification of the corner firing coal-fired utility boiler.

• Journal of Navigation and Port Research
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• v.38 no.1
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• pp.19-27
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• 2014

When a ship operates in a shallow water and channel, the hull sinkage and asymmetrical force generated around the ship by the influence of sea bottom and bank walls are caused collision with sea bottom, other ships or the bank itself. Especially, the shipping company and pilots navigating the area of Europe and North America with many channels are deal with it as a important matter to prevent collision. In this paper, hydrodynamic force generated between the ship and bank using the numerical analysis for the safe navigation of ship, that is, sway force and yaw moment should be presumed qualitatively. It makes a program for fluid analysis of the shallow water and bank effect. Analyses are carried out for three kind of parameter, that is, ship's speed, water depth and ship-bank distance for crude oil carriers. The numerical analysis results are compared with results of the experiments and the previous published papers.

• Journal of Advanced Information Technology and Convergence
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• v.8 no.2
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• pp.101-110
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• 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.

• Journal of the Society of Naval Architects of Korea
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• v.45 no.5
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• pp.523-529
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• 2008

The course stability performance for tankers is evaluated by computational fluid dynamics. In the present work, a Reynolds averaged Navier-Stokes (RANS) code is applied to a maneuvering problem covering the pure drift and yaw motions. The purposes of this study are to evaluate the hydrodynamic force in the bare hull (AFRAMAX) in pure drift and yaw motion and to provide information about the trends in the forces and moments when the rudder angles are varied. The flow simulation is performed by FLUENT. The CFD code is examined to find the optimistic computational condition such as size of grid, turbulence model and initial condition. The hydrodynamic derivatives in drift and pure yaw motion are estimated by the numerical simulation, and then the stability levers are calculated. It is confirmed that the computations show the superiority and inferiority of course stability performance according to the hull forms. Finally, the CFD code is applied to the estimation of the rudder forces when the rudder angles are varied. The propeller effect expressed by the body force distribution is also included.

• Proceedings of the Korean Institute of Building Construction Conference
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• 2019.11a
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• pp.35-36
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• 2019

Major influence factors for piercing depth of concrete against small caliber bullet are target's property such as compression strength of concrete and bullet's property such as the velocity and weight of it. In particular about the bullet's property, velocity and incidence angle could be controlled by specific position or distance between targets and shooter, but the angle of yaw of bullet dose not. Because the the angle of yaw of bullet causes lower piercing force of bullet, some errors on piercing depth of concrete could be appeared by live fire test for the evaluation of protective performance. Therefore, we have checked the error canceling effect on the piercing depth of concrete by single shot and barrage of small caiber bullets. As a result, we identified that the error of piercing depth by the angle of yaw of bullet could be cancelled by barrage.

• Transactions of the Korean Society of Automotive Engineers
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• v.24 no.2
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• pp.198-204
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• 2016

In this study, a wind tunnel test was conducted to measure the aerodynamic characteristics of a streamline-designed high-speed bus with the change of wind direction and speed and the result is compared with the aerodynamic performance of a commercialized high-speed bus model (Model-0) manufactured by Zyle Daewoo Bus Corp. Aerodynamic performance of the existing rear-spoiler was tested to prove its aerodynamic effect on the test model bus. From the study, it was found that 24.6 % of the total drag of the original bus model (Model-0) was reduced on the streamline-designed model bus(model-1) without the rear-spoiler but only 14.3 % of the total drag was reduced with the spoiler on the streamlined model bus. It means that the rear spoiler does not work properly with the streamlined model bus (model-1) and should be noted that an optimum design of a rear-spoiler of a vehicle is important to reduce the induced pressure drag and increase the driving stability of a vehicle against yaw motion. The experimental outcome was also compared to the previous numerical research result to evaluate the reliability of the numerical algorithm of the aerodynamic performance analysis of a vehicle. The error rate (%) of the numerical result to the experimental output is about 5.4 % and it is due to the simplified body configuration of the numerical model bus. The drag increases at the higher yaw angle because the transparent frontal area of the model vehicle increases and the downward force increases with the yaw angle as well. It has a positive effect to the driving stability of the vehicle but the moderated downward force should be kept for the fuel economy of a vehicle.

• 한국기계연구소 소보
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• s.14
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• pp.101-110
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• 1985

Kyung-p-1 main line is characterized by its curves radii of which are considerably small. It is essential for running time reduction of train to improve capabilities of curve negotiation. This improvement can be achieved by designing a bogie with flexible suspension system. The effect of the improvement is mainly concerned in the primary yaw stiffness of bogie suspension. This paper gives a linear analysis for the motion of railway vehicle on curved track and gives also computer simulation results for Semaul Train. The results introduce a conclusion that the primary yaw stiffness of Semaul train is too rigid to be self-steering on Kyung-pu main line curves.