• 로봇학회논문지
• /
• 제15권3호
• /
• pp.248-255
• /
• 2020

This paper introduces a Feedback Linearization (FL) controller to eliminate the gyro effect on a quadrotor UAV. In order to control the attitude of the quadrotor, the second model equation was differentiated to the 4-th order to induce the control input to be revealed, and then a new control input was derived based on the attitude transformation equation with a gyro effect. For the initial quick posture control of the quadrotor, the existing yaw control was replaced with a separate controller. The simulation was conducted with an experiment in which FL control to remove the gyro effect was applied to the quadrotor and an experiment without removing the gyro effect, from the experimental results, the maximum error seen in each axial direction of the quadrotor was x = 0.22 m, y = 0.20 m, z = 0.16 m. Through the proposed method, the effect of the FL controller for controlling the gyro effect of the quadrotor was confirmed.

• 자동차안전학회지
• /
• 제8권1호
• /
• pp.13-18
• /
• 2016

More than 80 percent of traffic accidents related with lane departure believed to be the result of crossing the lane due to either negligence or drowsiness of the driver. Lane-departure related accident in the highway usually involve high fatality. Even though LDWS is believed to prevent accident 25% and reduce fatalities by 15% respectively, its effectiveness in performance is yet to be confirmed in many aspects. In this study, the vehicle lateral locations relative to warning zone envelop (earliest and latest warning zone) defined in ISO standard, ECE and NHTSA regulations are compared with respect to various factors including delays, vehicle speed and vehicle heading angle with respect to the lane. Since LDWS is designed to be activated at the speed over 60 km/h, vehicle speed range for the study is set to be from 60 to 100 km/h. The vehicle heading angle (yaw angle) is set to be up to 5 degree away from the lane (abrupt lane change) considering standard for lane change test using double lane-change test specification. The TLC is calculated using factors like vehicle speed, yaw angle and reaction time. In addition, the effect of vehicle type and reaction time have been considered to assess LDWS safety.

• 한국자동차공학회논문집
• /
• 제8권4호
• /
• pp.121-129
• /
• 2000

this paper develops a computational model for the turning maneuver analysis of a cabover type heavy truck. The model having 42 degree-of-freedom is developed using ADAMS. Leaf springs used in the front and rear suspension systems are modeled by dividing it three links and joining them with joints. Force and displacement relationship showing nonlinear hysteric characteristics of the leaf spring is measured and modeled with an exponential function. A velocity and force relationship of a shock absorber is measured and modeled with a spline function. And a stabilizer bar is modeled using ADAMS beam element to consider a twisting and bending effect. To verify the developed model an actual vehicle test is performed in the double lane change course with 50kph and 60kph vehicle velocity. In the actual vehicle test lateral acceleration roll angle and yaw rate are measured, The tendency and peak-to-peak values of the actual vehicle test and simultion results are compared each other.

• 한국정밀공학회:학술대회논문집
• /
• 한국정밀공학회 2002년도 춘계학술대회 논문집
• /
• pp.233-237
• /
• 2002

Vehicle Dynamics Control(VDC) has been a breakthrough and become a new terminology for the safety of a driver and improvement of vehicle handling. This paper examines the usefulness of a brake steer system (BSS), which uses differential brake forces for steering intervention in the context of VDC. In order to help the car to turn, a yaw moment can be achieved by altering the left/light and front/rear brake distribution. The steering function achieved through BSS can then be used to control lateral position in an unintended road departure system. A 8-DOF non-linear vehicle model including STI tire model will be validated using the equations of motion of the vehicle, and the non-linear vehicle dynamics. Since Fuzzy logic can consider the nonlinear effect of vehicle modeling, Fuzzy controller is designed to explore BSS feasibility, by modifying the brake distribution through the control of the yaw rate of the vehicle. The control strategies developed will be tested by simulation of a variety of situation; the possibility of VDC using BSS is verified in this paper.

• 한국정밀공학회지
• /
• 제20권5호
• /
• pp.82-91
• /
• 2003

Vehicle dynamics control (VDC) has been a breakthrough and become a new terminology for the safety of a driver and improvement of vehicle handling. This paper examines the usefulness of a brake steer system (BSS), which uses differential brake forces for steering intervention in the context of VDC, In order to help the car to turn, a yaw moment can be achieved by altering the left/right and front/rear brake distribution. The steering function achieved through BSS can then be used to control lateral position in an unintended road departure system. An 8-DOF non-linear vehicle model including STI tire model will be validated using the equations of motion of the vehicle, and the non-linear vehicle dynamics. Since fuzzy logic can consider the nonlinear effect of vehicle modeling, fuzzy controller is designed to explore BSS feasibility, by modifying the brake distribution through the control of the yaw rate of the vehicle. The control strategies developed will be tested by simulation of a variety of situation; the possibility of VDC using BSS is verified in this paper.

• International Journal of Aeronautical and Space Sciences
• /
• 제15권1호
• /
• pp.82-90
• /
• 2014

In this paper, the effect of Lorentz force on the stability of attitude orientation of a charged spacecraft moving in an elliptic orbit in the geomagnetic field is considered. Euler equations are used to derive the equations of attitude motion of a charged spacecraft. The equilibrium positions and its stability are investigated separately in the pitch, roll and yaw directions. In each direction, we use the Lorentz force to identify an attitude stabilization parameter. The analytical methods confirm that we can use the Lorentz force as a stabilization method. The charge-to-mass ratio is the main key of control, in addition to the components of the radius vector of the charged center of the spacecraft, relative to the center of mass of the spacecraft. The numerical results determine stable and unstable equilibrium positions. Therefore, in order to generate optimum charge, which may stabilize the attitude motion of a spacecraft, the amount of charge on the surface of spacecraft will need to be monitored for passive control.

• Wind and Structures
• /
• 제30권1호
• /
• pp.85-97
• /
• 2020

The accurate estimation of the buffeting response of a bridge pylon is related to the quality of the bridge construction. To evaluate the influence of wind field characteristics on the buffeting response of a pylon in a trumpet-shaped mountain pass, this paper deduced a multimodal coupled buffeting frequency domain calculation method for a variable-section bridge tower under the twisted wind profile condition based on quasi-steady theory. Through the long-term measurement of the wind field of the trumpet-shaped mountain pass, the wind characteristics were studied systematically. The effects of the wind characteristics, wind yaw angles, mean wind speeds, and wind profiles on the buffeting response were discussed. The results show that the mean wind characteristics are affected by the terrain and that the wind profile is severely twisted. The optimal fit distribution of the monthly and annual maximum wind speeds is the log-logistic distribution, and the generalized extreme value I distribution may underestimate the return wind speed. The design wind characteristics will overestimate the buffeting response of the pylon. The buffeting response of the pylon is obviously affected by the wind yaw angle and mean wind speed. To accurately estimate the buffeting response of the pylon in an actual construction, it is necessary to consider the twisted effect of the wind profile.

• The Korean Journal of Physiology and Pharmacology
• /
• 제6권4호
• /
• pp.193-197
• /
• 2002

In spite of abundant anatomical evidences for the fiber connection between vestibular nuclei and inferior olivary (IO) complex, the transmission of vestibular information through the vestibulo- olivo-cerebellar climbing fiber pathway has not been physiologically established. The aims of the present study were to investigate whether there are IO neurons specifically responding to horizontal rotation and also in which subregions of IO complex these vestibularly-activated neurons are located. The extracellular recording was made in 68 IO neurons and responses of 46 vestibularly-activated cells were analyzed. Most of the vestibularly-activated IO neurons responded to signals of vertical rotation (roll), while a small number (13/46) of recorded cells were activated by horizontal canal signal (yaw). Regardless of yaw-sensitive or roll-sensitive, vestibular IO neurons were excited, when the animal was rotated to the side contralateral to the recording side. The gain and excitation phase were very similar to otolithic or vertical-canal responses. Histologic identification of recording sites showed that most of vestibular IO neurons were located in ${\beta}$ subnucleus. Electrical stimulation of a HSC evoked an inhibitory effect on the excitability of the ipsilateral IO neurons. These results suggest that IO neurons mainly in the ${\beta}$ subnucleus receive vestibular signals from semicircular canals and otolithic organs, encode them, and transmit vestibular information to the cerebellum.

• 한국해양공학회지
• /
• 제34권5호
• /
• pp.304-315
• /
• 2020

The main features of offshore turret platforms are station-keeping and weathervaning functions. Due to the complexity of the yaw motion, abundant research is being done to verify the factors that affect the heading stability. Simulations are used for studies that are not possible with experiments, but the conditions must be verified using experimental results. This study presents methods to estimate turret-related parameters such as the rotational stiffness and rotational damping. A time series analysis was performed, and the results showed that the calculation using the obtained parameters agreed well with experimental results.

• 해양환경안전학회지
• /
• 제25권7호
• /
• pp.982-990
• /
• 2019

최근 점점 더 많은 연구자와 정부에서 해양에너지 자원 개발에 대한 관심이 고조되고 있다. 장죽수도는 조류에너지 밀도가 높아 조류 발전소를 건설하기에 적합한 잠재적 후보지 중 하나이다. 따라서 본 연구에서는 ADCIRC 모델을 이용하여 장죽수도의 조류자원의 잠재량을 평가하기 위한 수치적 접근방식을 제시하고, 내부 코드를 이용하여 조석 특성을 입력 매개변수로 활용하여 1 MW급 규모의 조류에너지 변환장치를 대상으로 4개의 레이아웃으로 배열하고 후류 효과로 인한 연간 에너지 생산량에 관한 수치해석을 수행하였다. 그 결과 효율이 가장 좋은 배치는 연간 최대 12.96 GWh/year의 에너지를 생성할 수 있으며, 이 값은 후류 효과로 인한 에너지 손실을 고려하면 연간 0.16 GWh씩 감소될 수 있음을 보였다. 또한, 창낙조 때 터빈 요 각도를 변경함으로써 이 요소가 에너지 추출에 미치는 영향을 분석하였으며, 터빈 배열은 터빈 요 각도가 346°와 164°(북쪽에서 시계 방향으로)일 때 대조기와 소조기에서 차례로 최대 조류 에너지를 얻을 수 있었다.