• Journal of the Korean Society for Aeronautical & Space Sciences
• /
• v.31 no.9
• /
• pp.88-93
• /
• 2003

This Paper described the simulation program development for helicopter. In the design of flight control system to accomplish some special missions like UAV, it is important to minimize the execution time obtaining a linear model from nonlinear model that is used for design of controller. The first step for this kind of purpose is to complete a nonlinear model that contains full dynamic characteristics. The second step is to get the trim values that are obtained from the nonlinear model by solving an algebraic equation. And then stability and control derivatives are derived through hovering to forward flight by numerical perturbation that will be used for linear model for a specified flight condition. The software program(HeliSim) is developed by using MATLAB GUI and will provide easy modeling procedure. The suggested method in this paper is much more simpler than any other method like a fully scale helicopter model. The advantage of our suggested method will reduce the computational time due to simple formula to extract a linear model from nonlinear model that will be beneficially used for flight control system of unmanned helicopter by some reduction of computational load.

• Journal of Ocean Engineering and Technology
• /
• v.26 no.3
• /
• pp.6-12
• /
• 2012

In this paper, addressed is the control problem of generating a formation for a group of unmanned surface and underwater vehicles. The formation control scheme proposed in this work is based on a fusion of theleader-follower and virtual reference approaches. This scheme gives a formation constraint representation that is independent of the number of vehicles in the formation and the resulting control algorithm is scalable. One of the most important features in controller design is the ability of the controller to globally and exponentially stabilize the formation errors defined by the formation constraints. The proposed controller is based on feedback linearization, and the formation errors are shown to be globally and exponentially stable in the sense of Lyapunov.

• Journal of the Korean Society for Precision Engineering
• /
• v.29 no.4
• /
• pp.367-372
• /
• 2012

The biggest factors that lower the machining accuracy are thermal deformation and chatter vibration. In this article, we introduce the study case of technology that can automatically compensate the errors of these factors of a machine during processing on the machine tool's CNC(Computerized Numerical Controller) in real time. This study is related to the detection and compensation of thermal deformation and chatter vibration that can compensate for faster and produce processed goods with more precision by autonomous compensation. In addition, this study is related to the active control of vibration during machining, monitoring of cutting force and auto recognition of machining axes origin. Thus, we attempt to introduce the related contents of the development we have made in this article.

• Proceedings of the KIEE Conference
• /
• 2006.07d
• /
• pp.1850-1851
• /
• 2006

The sliding mode control is acceptable for Autonomous Underwater Vehicle(AUV), since the dynamics of AUV are highly nonlinear and have several parameter uncertainty such as the added mass terms, the hydrodynamic coefficients. The sliding mode control can deal well with nonlinearity of the system and offers a robustness to controller with parameter uncertainty. Since sliding mode control has the defect of chattering problem, only in ideal case the actuator can respond by control law. Therefore we propose the sliding mode control with non-chattering. And computer simulations illustrate the performance of the proposed controller.

• Proceedings of the KIEE Conference
• /
• 2008.07a
• /
• pp.2040-2041
• /
• 2008

본 논문은 최근 고도의 산업화 및 자동화, 전력전자 기술의 발전과 더불어 Power Electronics를 이용한 기술이 다양화됨에 따라 고조파 발생으로 인한 피해 방지 및 전력품질의 중요성이 대두되고 있는 가운데, 보다 효율적인 펌프운전을 위해 정밀성과 제어성능이 우수한 가변속 전력변환장치인 인버터가 적용된 최근 신설된 무인 수도사업장을 대상으로 저압 펌프모터의 기동특성과 고조파를 측정, 분석하여 국제기준에서 제시하는 고조파 관리기준에 적합성 여부를 분석한 사례를 중심으로 연구되었다.

• Proceedings of the KSR Conference
• /
• 2008.06a
• /
• pp.519-534
• /
• 2008

The Maglev travels at levitated status from the rail in some gab (about $8\sim10mm$). it make difference with the existing subway or the another LRV. The detection method of the train speed and the train position to be used at Maglev's signaling system differ with the existing subway or the another LRV's. so, the signal system construction of the new method is necessary. This paper describes the configuration and characteristic of the total signaling system (TTC/Wayside/Cab/Guide way system etc.) developed for Maglev, and the design concept of the signaling system based on the latest wireless LAN communication for driverless operation.

• Proceedings of the KIPE Conference
• /
• 2018.07a
• /
• pp.171-173
• /
• 2018

섬이나 고립된 지역들은 디젤 발전기를 이용하여 전력 공급을 해왔다. 발전소와 송배전설비 증설에 대한 경제적 문제와 사회적 갈등이 심하기 때문이다. 최근 이러한 비용, 사회 그리고 환경 문제로 인해 에너지 자립섬에 대한 관심이 증가하고 있다. 에너지 자립섬이란, 태양광, 풍력 등 신재생에너지와 배터리를 이용해 필요한 에너지를 스스로 생산하고 사용하는 섬을 말한다. 따라서 디젤 발전기 화석연료 사용량과 유지보수 비용을 줄일 수 있다. 본 논문에서는 상위제어기에 해당하는 EMS(Energy Management System)를 이용해 디젤 발전기, 태양광 PCS(Power Conversion System)와 에너지저장장치(Energy Storage System: ESS)의 유기적인 운영으로 높은 에너지 자립률을 달성한 사례를 소개하고자 한다.

• IEMEK Journal of Embedded Systems and Applications
• /
• v.13 no.6
• /
• pp.321-328
• /
• 2018

This paper presents an automatic target tracking flight system using a PID controller based on velocity command of a multirotor UAV. The automatic flight system includes marker based onboard target detection and an automatic velocity command generation replacing manual controller. A quad-rotor UAV is equipped with a camera and an image processing computer to detect the marker in real time and to estimate the relative distance from the target. The marker tracking system consists of PID controller and generates velocity command based on the relative distance. The generated velocity command is used as the input of the UAV's original flight controller. The operation of the proposed system was verified through actual flight tests using a marker on top of a moving vehicle and tracks it to successfully demonstrate its capability using a quad-rotor UAV.

• Proceedings of the Korea Information Processing Society Conference
• /
• 2022.11a
• /
• pp.887-889
• /
• 2022

화재로 발생하는 산업시설의 인명·재산 피해를 줄이고 기존 소방 설비의 단점을 보완하는 소방 로봇을 제안한다. 소방 로봇은 무인 시스템으로 설계되었으며 6개의 핵심 기능인 화재 감지, 화재 진압, 현장 이동, 화재 알림, 소방서 신고, 현장 모니터링으로 구성된다. 로봇의 구성은 구동부, 제어부, 소화부로 이루어져 있으며, 각 구성 중 일부를 선정하고 테스트 통하여 화재 진압에 유효함을 증명하였다.

• Journal of Institute of Control, Robotics and Systems
• /
• v.19 no.5
• /
• pp.442-449
• /
• 2013

In this paper, a simulation system based on X-Plane and MATLAB/Simulink for multiple UAVs is presented. For the conceptual design of this proposed system, a hierarchical system architecture for multiple UAVs is presented. This architecture has object-oriented data structure which consists of three objects (UAV status, mission and task, and environment) and a hierarchy consisting of four layers (decision making layer, task assignment layer, path and motion planning layer, and collision avoidance layer) is also proposed. In addition, this paper shows a implementation of simulation system based on the proposed system architecture using X-Plane and MATLAB/Simulink. The result of simulation from the developed system in this paper validate capability of application for multiple UAVs in real environment.