• Title/Summary/Keyword: Propulsion Controller

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Positioning Control of Magnetic Levitation Stage Using Sliding Mode Controller (슬라이딩모드제어기를 적용한 자기부상 스태이지의 위치제어)

  • Jeon, Jeong-Woo;Lee, Joo-Hoon;Hwang, Don-Ha;Kang, Dong-Sik;Kim, Sung-Shin
    • Proceedings of the KIEE Conference
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    • 2005.07d
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    • pp.2576-2578
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    • 2005
  • In this paper, we address two position control scheme; the lead-lag control and the sliding mode control for a stage system, which is levitated and driven by electric magnetic actuators. This consists of a levitating object (called platen) with 4 permanent magnetic linear synchronous motors in parallel. Each motor generates vertical force for suspension against gravity and propulsion force horizontally as well. The sliding mode control algorithm is more effective than the lead-lag control algorithm to reduce effects from movements and disturbances of other axis.

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A Study on the Evaluation of Automatic Steering System of Ships in Folowing Seas (추사파중을 항행하는 선박의 자동조타 시스템 평가에 관한 연구)

  • 이경우;손경호
    • Journal of the Korean Institute of Navigation
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    • v.25 no.4
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    • pp.407-415
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    • 2001
  • In the present study, irregular disturbances to ship dynamics is proposed, where irregular disturbances implying irregular wave and the fluctuating component of wind for the evaluation of automatic steering system of ship in following seas. Prediction method based on the principle of linear superposition. Irregular wave disturbances in following seas is calculated by frequency variation method. The mathematical model of each element of an automatic steering system is derived, which takes account of a few non-linear mechanisms. PD(Proportional-Derivative) controller and low-pass filter with a weather adjustment are adopted to modelling the characteristics of an autopilot. Performance index is introduced from the viewpoint of energy saving, which derived from the concept of energy loss on ship propulsion. Finally, the present methods are applied to two typical types of ship ; an ore carrier and a fishing boat. The various effects of control constants of autopilot on propulsive energy loss are investigated

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Electromagnetic Actuator for Active Vibration Control of Precise System (초정밀 시스템의 능동 진동제어용 전자기 액츄에이터)

  • Lee, Joo-Hoon;Jeon, Jeong-Woo;Hwang, Don-Ha;Kang, Dong-Sik;Choi, Young-Kiu
    • Proceedings of the KIEE Conference
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    • 2005.10b
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    • pp.228-230
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    • 2005
  • In this paper, we address an active vibration control system, which suppresses the vibration engaged by magnetically levitated stage. The stage system consists of a levitating platen with four permanent magnetic linear synchronous motors in parallel. Each motor generates vertical force for suspension against gravity and propulsion force horizontally as well. This stage can generate six degrees of freedom motion via the vertical and horizontal forces. In the stage system, which represents the settling-time critical system, the motion of the platen vibrates mechanically. We designed an active vibration control system for suppressing vibration due to the stage moving. The command feedforward with inertial feedback algorithm is used for solving stage system's critical problems. The components of the active vibration control system are accelerometers for detecting stage tables's vibrations, a digital controller with high precise signal converters. and electromagnetic actuators.

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Dynamic Positioning Control of a Twin-hull Unmanned Surface Ship (쌍동형 무인선의 동적위치제어에 관한 연구)

  • Kang, Minju;Kim, Taeyun;Kim, Jinwhan
    • The Journal of Korea Robotics Society
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    • v.11 no.4
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    • pp.217-225
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    • 2016
  • Dynamic Positioning (DP) is used to automatically maintain the position and heading of a floating structure subjected to environmental disturbances. A DP control system is composed of a motion controller to compute the desired force and moment and a thrust allocator to distribute the computed force and moment to multiple thrusters considering mechanical and operational constraints. Among various thruster configurations, azimuth thrusters or propeller/rudder pairs tend to make the allocation problem difficult to solve, because these types of propulsion systems include nonlinear constraints. In this paper, a dynamic positioning strategy for a twin-thruster ship that is propelled by two azimuthing thrusters is addressed, and a thrust allocation method which does not require a numerical optimization solver is proposed. The applicability of the proposed method is demonstrated with an experiment using an autonomous boat.

Robust sliding mode control for a USV water-jet system

  • Kim, HyunWoo;Lee, Jangmyung
    • International Journal of Naval Architecture and Ocean Engineering
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    • v.11 no.2
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    • pp.851-857
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    • 2019
  • A new robust sliding mode control with disturbance and state observers has been proposed to control the nozzle angle of a water-jet system for a Unmanned Surface Vehicle (USV). As the water-jet system of a ship is subjected to direct disturbances owing to the exposure to the marine environment in water, it requires a robust control. A state observer and a disturbance observer are added to the water jet nozzle control system to achieve a robust control against disturbances. To verify the performance of the proposed algorithm, a test bed is constructed by a propulsion system used in the popular USV. This proposed algorithm has been evaluated by comparing to the existing algorithm through experiments. The results show that the performance of the proposed algorithm is better than that of the conventional PID or sliding mode controller when controlling the steering of the USV with disturbances.

Variable Speed Drives of Induction Motor for Traction Application with Modified Sliding Mode Control

  • Ryoo, Hong-Je;Kim, Jong-Soo;Rim, Geun-Hie;Dragos Ovidiu Kisck;Won, Chung-Yuen
    • Journal of KIEE
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    • v.11 no.1
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    • pp.62-68
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    • 2001
  • In this paper it is proposed an advanced modified sliding mode control of a rotor field oriented control of induction motor. The application of this unconventional control has very good results, such as disturbance rejection and nice dynamic properties. Stability can be guaranteed even in the worst situation. A conventional "sliding mode" controller is characterised by fast switching control signal, which causes the chattering of the drive system. To overcome this problem, a modified law is used, by introducing a hysteresis band and a continuous control, which modifies the conventional law. The control is accomplished with dual TMS320C44 floating-point digital signal processor. The validity of the proposed method was verified by experiment on the propulsion system simulator, used for the development of Korean High-Speed Railway Train(KHSRT).in(KHSRT).

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4 degrees of freedom control for attractive levitation module (자기부상 모듈의 4자유도 제어)

  • Kim, Kook-Hun;Kim, Choon-Kyung;Cho, Chang-Hee;Kim, Jong-Hoon;Park, Min-Kook
    • Proceedings of the KIEE Conference
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    • 1993.07a
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    • pp.271-273
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    • 1993
  • One maglev vehicle is composed of 6 or 8 modules. Each module is composed of 4 staggered magnets attached to an aluminum bogie. In the view point of levitation control except propulsion-by LIM. 5 is the maximum degree of freedom to be controlled. But rolling control of the vhhicle depends on the bogie structure. We describe just anti-roll type bogie structure and 4 degree of freedom control is sufficient for levitation quality improvement. Multivariable pole-placement concept is used for controller design. Control experiment is performed on a specially designed test module as well as actual bogie system.

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A Study on the Improvement of Control Characteristic and Performance of the Marine Mechanical-Hydraulic Governor using Fuzzy Control Scheme (퍼지 제어기법에 따른 선박용 유압조속기의 제어특성 및 성능개선에 관한 연구)

  • 강창남
    • Journal of Advanced Marine Engineering and Technology
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    • v.20 no.3
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    • pp.137-143
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    • 1996
  • The propulsion marine diesel engine has been widely applied with a mechanical-hydraulic governor to control the ship speed for long time. But it was recently very difficult for the mechanical-hydraullic governor to control the speed of engine under the condition of low speed and low load because of jiggling and hunting by rough fluctuation of rotating torque. To solve these problems of control systems, the performance improvement of mechanical-hydraulic governor is required. In this paper, in order to analyze the speed stability of control systems, the influence of parameters of the engine dead time, gain, damping ratio was discussed on the view of control engineering. The performance improvement of a conventional mechanical hydraulic governor is confirmed to be possible by fuzzy control scheme.

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Depth Control of a Hybrid Underwater Glider in Parallel with Control of Horizontal Tail Wing (수평 꼬리 날개의 제어를 병행하는 하이브리드 수중 글라이더의 깊이 제어)

  • Joo, Moon Gab
    • IEMEK Journal of Embedded Systems and Applications
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    • v.14 no.1
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    • pp.25-31
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    • 2019
  • An underwater glider is a type of autonomous unmanned vehicle and it advances using a vertical zig-zag glide. For this purpose, the position of an internal battery is regulated to control its attitude, and the amount of water in a buoyancy bag is regulated to control the depth. Underwater glider is suitable for a long-distance mission for a long time, because the required energy is much smaller than the conventional autonomous unmanned vehicle using propeller propulsion system. In this paper, control of horizontal tail wing is newly added to the conventional battery position and buoyancy control. The performance of the proposed controller is shown through Matlab simulation.

DC Bus Voltage Regulation With Six-Step Operation in Maritime DC Power System (식스 스텝 운전을 이용한 선박용 DC 전력 시스템의 직류단 전압 제어)

  • Yun, Jonghun;Son, Young-Kwang;Sul, Seung-Ki
    • The Transactions of the Korean Institute of Power Electronics
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    • v.26 no.4
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    • pp.263-270
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    • 2021
  • Active AC/DC converters with PWM operation are utilized to regulate rectified DC bus voltage of a permanent magnet synchronous generator in the maritime DC power system. A DC bus voltage regulation strategy that exploits the six-step operation is proposed in this study. Compared with that of the PWM operation, switching loss of the converter can be significantly reduced under the six-step operation. Moreover, conduction loss can also be reduced due to the high modulation index and reduced flux-weakening current of the six-step operation. A controller is used for the proposed DC bus voltage regulation strategy to verify its validity with the simulation and experimental setup. The simulation and the experimental test results showed that the converter loss reduces to a maximum of 70% and 19%, respectively.