• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.614-619
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• 2004

The line-of-sight (LOS) stabilization system is a precision electro-mechanical gimbals assembly for rejecting vibration to isolate the load from its environment and point toward the target in a desired direction. This paper describes the design of gimbals system to reject the disturbance and to improve stabilization. To generate movement commands for the actuators in the stabilization system, the control system uses a sensor of angular rotation. The controller is a DSP with transducer and actuator interfaces. Unknown parameters of the gimbals are estimated using the signal compression method. The cross-correlation coefficient between the impulse response from the assumed model and the one from model of the gimbals is used to obtain the better estimation. And SMCPE (sliding mode control with perturbation estimation) is used to control the gimbals. SMCPE provides robustness of the control against the modeling deficiencies and unknown disturbances. In order to compare the performance of SMCPE with the classical SMC, a sample test result is presented.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.59 no.11
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• pp.2073-2082
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• 2010

The 4-th generation of mobile communication aims to realize global, fast and mobile communication service. The satellite communication charges a key role in this field. In this study, an OTM(On-The-Move) antenna which is mounted on ground vehicles and is used for mobile communication between vehicle and satellite was addressed. Since vehicles move during communication, active antenna line-of-sight stabilization is a core technology to guarantee high satellite communication quality. Stabilization of a satellite tracking antenna which consists of 2-DOF gimbals, an elevation gimbal over an azimuth gimbal, was considered in this study. Various disturbance torques such as static and dynamic mass imbalance torques, variation of moment of inertia according to elevation angle, friction torque related to vehicle motion, equivalent disturbance torque due to antenna roll motion, etc. were analyzed. As a robust stabilization control, rate feedback with sliding mode control and position feedback with proportional+integral control was suggested. To compensate antenna roll motion, a supplementary roll rate feed forward control was included beside of the feedback control loop. The feasibility of the analysis and the proposed control design were verified along with some simulation results.

• Journal of the Korea Institute of Military Science and Technology
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• v.5 no.3
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• pp.62-76
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• 2002

This paper describes the design of a Coordinates Tracking algorithm for EOTS and its error analysis. EOTS stabilizes the image sensors such as FLIR, CCD TV camera, LRF/LD, and so on, tracks targets automatically, and provides navigation capability for vehicles. The Coordinates Tracking algorithm calculates the azimuth and the elevation angle of EOTS using the inertial navigation system and the attitude sensors of the vehicle, so that LOS designates the target coordinates which is generated by a Radar or an operator. In the error analysis in this paper, the unexpected behaviors of EOTS that is due to the time delay and deadbeat of the digital signals of the vehicle equipments are anticipated and the countermeasures are suggested. This algorithm is verified and the error analysis is confirmed through simulations. The application of this algorithm to EOTS will improve the operational capability by reducing the time which is required to find the target and support especially the flight in a night time flight and the poor weather condition.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.60 no.12
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• pp.2386-2391
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• 2011

Tracking and detecting targets by the millimeter wave seeker is affected by moving of platform. In order to perform the tracking performance, stabilization of a millimeter wave seeker which consists of 2-axis gimbals was considered in this study. The feasibility of the analysis and the 2-axis gimbal servo system modeling design were verified along with some simulation results.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2004.10a
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• pp.600-603
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• 2004

UAV (Unmanned Aerial Vehicle) is an aerial vehicle that can accomplish the mission without pilot. UAV was developed for a military purpose such as a reconnaissance in an early stage. Nowadays usage of UAV expands into a various field of civil industry such as a drawing a map, broadcasting, observation of environment. These UAV, need vision system to offer accurate information to person who manages on ground and to control the UAV itself. Especially LOS(Line-of-Sight) system wants to precisely control direction of system which wants to tracking object using vision sensor like an CCD camera, so it is very important in vision system. In this paper, we propose a method to recognize object from image which is acquired from camera mounted on gimbals and offer information of displacement between center of monitor and center of object.

• Journal of the Korea Institute of Military Science and Technology
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• v.19 no.3
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• pp.387-394
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• 2016

This paper proposes a new disturbance observer(DOB). The purpose of the DOB is to realize the plant performing like a model in the presence of disturbances which come from external environment and inherent nonlinearities and uncertainties in the plant. It is shown that the proposed DOB compensates those disturbances, nonlinearities and uncertainties, effectively. And it is theoretically proved that the proposed DOB can be guaranteed its stability for the stable plant. Its availability is shown by applying the DOB to the stabilization platform for EOTS(Electro Optical Tracking System).

• Journal of the Korea Institute of Military Science and Technology
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• v.16 no.2
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• pp.154-159
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• 2013

Alignment tolerance for EO/IR airborne camera using common optic is an important factor in stabilization accuracy and geo-pointing accuracy. Before airborne camera is mounted on the aircraft, defining alignment tolerance and verification of it is essential in production as well as research and development. In this paper we establish basic concept on the definition and elements of alignment tolerance for airborne camera and propose how to measure each of those elements. Components and the measurement sequence of alignment tolerance are as follows: 1) tolerance of alignment between EO and IR LOS. 2) tolerance of sensor alignment. 3) tolerance of position reporting accuracy. 4) tolerance of mount alignment

• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.492-495
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• 1997

Integral type system is that a system is represented by a proper rational function. In this paper, novel control scheme based on model reference approach is proposed for integral type system. The proposed scheme compensates various undesirable effects of the system. In especially, the proposed scheme applied to DC servo control system, analyzed its control characteristic. Performances of the proposed system show excellent control characteristics; complete compensation of the undesirable nonlinear friction and load viscous, For proving realistic validities, LOS(Line Of Sight) stabilization system which has typically many nonlinear effects is experimented. After executing the computer simulation in "MATLAB", then the results are compared with the experiments. The results are very similar in theoretical study and the proposed control scheme is successfully verified. verified.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.156.5-156
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• 2001

Stabilized tracking platform in a missile consisting of a flat planar antenna, pitch/yaw gimbals, gear trains, and current controlled DC drive motors for pitch and yaw gimbal must have a capability to track a target as an inertial sensor in the presence of missile body motion such as maneuvering and vibration. Because of this reason, tracking a target from dynamic platform requires a servo architecture that includes a outer tracking loop(position loop) and inner rate loop that stabilizes the line of sight(LOS). This paper presents a gimbaled platform model including nonlinear phenomena due to viscous and Coulomb friction based on experimental data and torque equilibrium equation, the design concept for the inner tacholoop having P controller structure ...

• Clinics in Shoulder and Elbow
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• v.17 no.4
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• pp.159-165
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• 2014

Background: Kirschner's wire (K-wire) transfixation and locking hook plate fixation techniques are widely used in the treatment of acute acromioclavicular joint (ACJ) dislocation. The purpose of this study was to compare the clinical and radiologic outcomes between K-wires transfixation and a locking hook plate fixation technique. Methods: Seventy-seven patients with acute ACJ dislocation managed with K-wire (56 shoulders) and locking hook plate (21 shoulders) were enrolled for this study. The mean follow-up period was 61 months. Results: At the last follow-up, the shoulder rating scale of the University of California at Los Angeles (UCLA) was higher in patients treated with locking hook plate than with K-wires ($33.2{\pm}2.7$ vs. $31.3{\pm}3.4$, p=0.009). In radiologic assessments, coracoclavicular distance (CCD) (7.9 mm vs. 7.7 mm, p=0.269) and acromioclavicular distance (ACD) (3.0 mm vs. 1.9 mm, p=0.082) were not statistically different from contralateral unaffected shoulder in locking hook plate fixation group, but acromioclavicular interval (ACI) was significant difference. However, there were significant differences in ACI, CCD, and ACD in K-wire fixation group (p<0.001). Eleven complications (20%) occurred in K-wire transfixation group and 2 subacromial erosions on computed tomography scan occurred in locking hook plate fixation group. Conclusions: ACJ stabilization was achieved in acute ACJ dislocations treated with K-wires or locking hook plates. Locking hook plate can provide higher UCLA shoulder score than K-wire and maintain CCD, and ACD without ligament reconstruction. K-wire transfixation technique resulted in a higher complication rate than locking hook plate.