• Journal of the Society of Naval Architects of Korea
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• v.53 no.1
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• pp.10-17
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• 2016

When a planing hull straightly runs and turns, its floating position and pitch angle are changed depending on its speed, and large transient motion happens. In this paper, six degrees of freedom(6 DOF) equations of motion, which could simulate the motion of a planing hull, are established. Static and dynamic forces in vertical plane are modeled using pre-calculated displacements and metacentric heights depending on various draft, lift under bottom, and vertical damping coefficients which are used to tune the final motion. Hydrodynamic coefficients in horizontal plane at various equilibrium state are calculated by using Lewandowski's empirical formula and the speed-dependent equilibrium state are calculated beforehand by Savitsky's formula. The speed effects are considered by curve-fitting the coefficients at various speed to the polynomials. Accelerating, decelerating and backing, turning, and zig-zag are simulated and compared with the sea trial results, and it is confirmed that the speed reduction, roll, and pitch during such maneuvers of sea trial and simulation are well consistent.

• The Journal of Korea Robotics Society
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• v.19 no.1
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• pp.8-15
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• 2024

This paper proposes a linear model predictive control of 6-DOF remotely operated underwater vehicles using nonlinear robust internal-loop compensator (NRIC). First, we design a integrator embedded linear model prediction controller for a linear nominal model, and then let the real model follow the values calculated through forward dynamics. This work is carried out through an NRIC and in this process, modeling errors and external disturbance are compensated. This concept is similar to disturbance observer-based control, but it has the difference that H_∞ optimality is guaranteed. Finally, tracking results at trajectory containing the velocity discontinuity point and the position tracking performance in the disturbance environment is confirmed through the comparative study with a traditional inverse dynamics PD controller.

• Journal of Advanced Research in Ocean Engineering
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• v.3 no.1
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• pp.25-31
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• 2017

Generally, underwater gliders do not have separate propellers for their forward movement. They derive a propulsive force due to the difference between their buoyancy and gravity. The attitude of an underwater glider is controlled by changing the relative position of the buoyancy center and mass center. In this study, we derived nonlinear 6-DOF dynamic and mathematical models for the motion controller and buoyancy controller. Using these equations, we performed dynamic underwater glider simulations and verified the suitability of the design and dynamic performance of the proposed underwater glider.

• Structural Engineering and Mechanics
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• v.10 no.6
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• pp.603-619
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• 2000

Analysis of a framed structure for vertical vibration requires a lot of computational efforts because large number of degrees of freedom are generally involved in the dynamic responses. This paper presents an efficient modeling technique for vertical vibration utilizing substructuring technique and super elements. To simplify the modeling procedure each floor in a structure is modeled as a substructure. Only the vertical translational degrees of freedom are selected as master degrees of freedom in the inside of each substructure. At the substructure-column interface, horizontal and rotational degrees of freedom are also included considering the compatibility condition of slabs and columns. For further simplification, the repeated parts in a substructure are modeled as super elements, which reduces computation time required for the construction of system matrices in a substructure. Finally, the Guyan reduction technique is applied to enhance the efficiency of dynamic analysis. In numerical examples, the efficiency and accuracy of the proposed method are demonstrated by comparing the response time histories and the analysis time.

• International Journal of Aeronautical and Space Sciences
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• v.11 no.2
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• pp.69-79
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• 2010

This paper describes the experimental framework for the control system design and validation of a rotorcraft unmanned aerial vehicle (UAV). Our approach follows the general procedure of nonlinear modeling, linear controller design, nonlinear simulation and flight test but uses an indoor-installed multi-camera system, which can provide full 6-degree of freedom (DOF) navigation information with high accuracy, to overcome the limitation of an outdoor flight experiment. In addition, a 3-DOF flying mill is used for the performance validation of the attitude control, which considers the characteristics of the multi-rotor type rotorcraft UAV. Our framework is applied to the design and mathematical modeling of the control system for a quad-rotor UAV, which was selected as the test-bed vehicle, and the controller design using the classical proportional-integral-derivative control method is explained. The experimental results showed that the proposed approach can be viewed as a successful tool in developing the controller of new rotorcraft UAVs with reduced cost and time.

• Journal of Ocean Engineering and Technology
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• v.20 no.6 s.73
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• pp.114-122
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• 2006

The most important thing in the container terminal is to handle the cargo effectively in a limited time. To achieve this objective, many strategies have been introduced and applied. If we consider the automated container terminal, it is necessary that the cargo handling equipment is equipped with more intelligent control systems. From the middle of the 1990s, an automated rail-mounted gantry crane (RMGC) and rubber-tired gantry crane (RTG) have been developed and widely used to handle containers in the yards. Recently, in these cranes, equipment like CCD cameras and sensors have been mounted to cope with the automated terminal environment. In this paper, we try to support the development of more intelligent automated cranes that make the cargo handling be performed effectively in the yards. For this plant, we ought to consider modeling, tracking control, anti-sway system design, skew motion suppressionand complicated motion control and suppressing problems. In this paper, the system modeling and a tracking control approach are discussed, based on a two-degree-of-freedom (2DOF) servo-system design. From the simulation results, the good control performance of the designed control system is evaluated.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.41 no.6
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• pp.465-472
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• 2013

In this paper, we suggest how to determine the parachute deploy position for accurate landing of a UAV at a desired position. The 9-DOF dynamic modeling of UAV-parachute system is required to construct the proposed algorithm based on neural network nonlinear function approximation technique. The input and output data sets to train the neural network are obtained from simulation results using UAV-parachute 9-DOF model. The input data consist of the deploy position, UAV's velocity, and wind velocity. The output data consist of the cross range and down range of landing positions. So we predict the relative landing position from the current UAV position. The deploy position is then determined through distance compensations for the relative landing positions from the desired landing position. The deploy position is consistently calculated and updated.

• International Journal of Naval Architecture and Ocean Engineering
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• v.7 no.2
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• pp.409-425
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• 2015

In this paper, we employ a dynamics modeling method for investigating a multi-body dynamics system of semi-submersible autonomous underwater vehicles consisting of a towing vehicle operated near the water surface, a tow cable, and a towfish. The towfish, which is towed by a marine cable for the purposes of exploration or mine hunting, is modeled with a Six-Degree-of-Freedom (6-DOF) equation of motion that reflects its hydrodynamics characteristics. The towing cable, which can experience large displacements and deformations, is modeled using an absolute nodal coordinate formulation. To reflect the hydrodynamic characteristics of the cable during motion, the hydrodynamic force due to added mass and the drag force are imposed. To verify the completeness of the modeling, a few simple numerical simulations were conducted, and the results confirm the physical plausibility of the model.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.44 no.5
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• pp.423-430
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• 2016

Recently, manned and unmanned aerial vehicles are faced with problems such as collision detection and avoidance, link-loss for integrated operations in NAS. Hence, on the basis of the performance data of EUROCONTROL's BADA and NASA, an environment was developed to simultaneously handle simulations of integrated operations of MAVs and UAVs along with ATC/ATM simulations, and dynamic modeling was then carried out. To validate the developed model, simulations were performed on a 6-DOF model by its segments and the results were compared to the RMSE results.

• International Journal of Aeronautical and Space Sciences
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• v.11 no.3
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• pp.175-183
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• 2010

The increased demand for a higher performing magnetic suspension and balance system (MSBS) resulted in an increase in costs for the efforts necessary for achieving an improved MSBS. Therefore, MSBS performance should be predicted during the design in order to reduce risk. This paper presents the modeling and simulation of an MSBS that controls 6-degree of freedom (DOF) of an aerodynamic body within the MSBS. Permanent magnets and electromagnets were modeled as coils, and this assumption was verified by experimental results. Finally, an MSBS simulator was developed, predicting that the MSBS is able to contain the model within a bounded region as well as measure external forces acting on the body during wind tunnel tests.