• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2004년도 ICCAS
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• pp.699-703
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• 2004

The autopilot system targets decreasing labor, working environment, service safety security and elevation of service efficiency. Ultimate purpose is minimizing number of crew for guarantee economical efficiency of shipping service. Recently, being achieving research about Course Keeping Control, Track Keeping Control, Roll-Rudder Stabilization, Dynamic ship Positioning and Automatic Mooring Control etc. which compensate nonlinear characteristic using optimizing control technique. And application research is progressing using real ship on actual field. Relation of Rudder angle which adjusted by Steering Machine and ship-heading angle are non-linear. And, Load Condition of ship acts as non-linear element that influence to Parameter of ship. Also, because the speed of a current and direction of waves, velocity and quantity of wind etc. that id disturbance act in non-linear form, become factor who make service of shipping painfully. Therefore, service system of shipping requires robust control algorithm that can overcome nonlinearity. In this paper, Using GA algorithm,design autopilot system of ship that could overcome the non-linear factor of ship and disturbance and examined result through simulation.

• 한국항해항만학회지
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• 제35권7호
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• pp.551-556
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• 2011

In this paper new enhanced post-process predicting the speaker's intention was suggested to implement the real-time control module for ship's autopilot using speech recognition algorithm. The parameter was developed to predict the likeliest wheel order based on the previous order and expected to increase the recognition rate more than pre-recognition process depending on the universal speech recognition algorithms. The values of parameter were assessed by five certified deck officers being good at conning vessel. And the entire wheel order recognition process were programmed to TMS320C5416 DSP so that the system could recognize the speaker's orders and control the autopilot in real-time. We conducted some experiments to verify the usefulness of suggested module. As a result, we have confirmed that the post-recognition process module could make good enough accuracy in recognition capabilities to realize the autopilot being operated by the speech recognition system.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1989년도 한국자동제어학술회의논문집; Seoul, Korea; 27-28 Oct. 1989
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• pp.87-92
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• 1989

An autopilot for the class of Bank-To-Turn missiles is developed using a multivariable plant model & control design methodology. The roll-pitch-yaw cross coupling is included in the design considerations. Feedback system is designed using the Linear Quadratic Gaussian with Loop Transfer Recovery (LQG/LTR). Nonlinear simulations are presented to demonstrate the performances of the designed system.

• 제어로봇시스템학회논문지
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• 제15권1호
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• pp.15-22
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• 2009

The guidance controller of the conventional aircraft consists of inner-loop (autopilot) and outer-loop (guidance). If the guidance controller can be designed as an integrated guidance and control (IGC), the various advantages exist. The integrated guidance and control formulation can compensate for the effect of autopilot lag. An integrated approach also helps avoid the iterative procedure involved in tuning the guidance and autopilot subsystems, if designed separately. Integrated design is also less susceptible to saturation and stability problems. This paper presents an approach to IGC design for the unpowered air vehicle with the only flaperon using a combination of adaptive output feedback inversion and backstepping techniques. Adaptive neural networks are trained online with available measurements to compensate for unmodeled nonlinearities in the design process.

• 한국항해항만학회지
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• 제30권4호
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• pp.259-265
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• 2006

This paper presents an improved adaptive neural network autopilot based on our previous study for track-keeping control of ships. The proposed optimal neural network controller can automatically adapt its learning rate and number of iterations. Firstly, the track-keeping control system of ships is described For the track-keeping control task, a way-point based guidance system is applied To improve the track-keeping ability, the off-track distance caused by external disturbances is considered in learning process of neural network controller. The simulations of track-keeping performance are presented under the influence of sea current and wind as well as measurement noise. The toolbox for track-keeping simulation on Mercator chart is also introduced.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.342-345
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• 2005

This paper describes dynamics analysis of a small training boat and a new type of ship's autopilot not only to keep her course but also to reduce her roll motion. Firstly, statistical analysis through multi-variate auto regressive model is carried out using the real data collected from the sea trial on an actual small training boat Sazanami after the navigational system of the boat was upgraded. It is shown that the roll motion is strongly influenced by the rudder motion and it is suggested that there is a possibility of reducing the roll motion by controlling the rudder order properly. Based on this observation, a new type of ship's autopilot that takes the roll motion into account is designed using the muti-variate modern control theory. Lastly, digital simulations by white noise are carried out in order to evaluate the proposed system and a typical result is demonstrated. As results of simulations, the proposed autopilot had good performance compared with the original data.

• 수산해양기술연구
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• 제39권1호
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• pp.1-7
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• 2003

When a ship is course-keeping in the open seas, autopilot system is adapted. The design of autopilot system is very important for improvement of ship′s element research. Automatic steering system consists of autopilot device, power unit, steering gear, magnetic or gyro compass and ship dynamics. In order to evaluate automatic steering system of ships in open seas. we need to know the characteristics of each component of the system, and also to know the characteristics of disturbance to ship dynamics. In this paper, I provide evaluation method of autopilot navigation system of the fishing ship. Prediction method based on the principle of linear superposition is introduced for irregular disturbance. For the evaluation of automatic steering system of a ship, "performance index" is introduced from the viewpoint of energy saving and calculation method is frequency response analysis. Finally, I carried out calculation of sensitivity of control constants of autopilot with various conditions of ocean environments.

• 전자공학회논문지SC
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• 제37권3호
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• pp.33-43
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• 2000

특이섭동 기법을 이용한 제어 시스템의 설계가 가능하기 위해서는 무엇보다도, 빠른 동력학의 안정성이 중요하다. 그런데, 제어기의 디지털 구현으로 인하여, 이 빠른 동력학의 안정도가 영향을 받을 수 있다. 본 논문은 최근의 개발된 우수한 성능의 특이섭동 기반의 STT 자동조정장치(autopilot) 설계의 경우를 들어 이러한 특이섭동 기법에 기반하여 설계된 제어 시스템에 대한 샘플링 영향을 조사하고 개선된 제어기 설계의 예를 제시하여, 특이섭동 기반 제어 시스템 에 대한 샘플링 영향 분석의 필요성 및 유효성을 밝혔다.

• 한국군사과학기술학회지
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• 제10권2호
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• pp.53-60
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• 2007

This paper presents a robust nonlinear autopilot design method based on dynamic inversion and PI(Proportional-Integral) control law. The new controller structure which is different from previous work is composed of classical linear PI control law and nonlinear fast dynamic inversion. A pitch axis model of highly maneuverable missiles and a linearized model for designing Pl controller are presented. The performance of proposed method is illustrated via nonlinear simulations including aerodynamic uncertainties and actuator dynamics.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1991년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 22-24 Oct. 1991
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• pp.355-360
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• 1991

A method of autopilot gain-scheduling is presented for missiles which have heavy aerodynamic coupling between pitch and yaw channels due to high maneuverability. Pitch and yaw, autopilot are cross-coupled, and their feedback gains are scheduled by total acceleration and bank angle for given Mach number and height. Bank angle information is obtained by using a simple estimator. By computer simulation, it is shown that the proposed method is superior to other existing methods.