• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 2003년도 ICCAS
• /
• pp.423-427
• /
• 2003

In this paper, it is to development of brake system with ABS function for aircraft. The test of brake system is required before applying on aircraft. The real-time dynamic simulator with 5-D.O.F. aircraft dynamic model is developed for braking performance test of ABS (Anti-skid Brake System) control h/w with anti-skid brake functions. The dynamic simulator is real-time interface system that is composed of dynamic simulation parts, master control parts, digital and analog in/out interface parts, and user interface parts. The 5-D.O.F. aircraft dynamic model is composed of a big contour and a little contour by simulation s/w. The big contour represents the interactions of forces in airframe, nose and main landing gear, and engines on the center of gravity. The little contour represents interactions of wheel, braking units, hydraulic units and a control unit. ABS control h/w unit with ABS control algorithm is also developed and is tested with simulator under the some conditions of gripping coefficient. We have known that ABS control h/w unit on wet or snowy runway as well as dry runway very well protects wheel skid.

• Journal of Electrical Engineering and Technology
• /
• 제1권4호
• /
• pp.409-413
• /
• 2006

This paper deals with the design and testing of a simulator system for microgrids with distributed generations. This system is composed of a Real Time Digital Simulator (RTDS) and a power amplifier. The RTDS parts are operated for real time simulation for the microgrid model and the distributed generation source model. The power amplifiers are operated fur amplification of the RTDS's simulated output signal, which is a node voltage of the microgrid and distributed generation source. In this paper, we represent an RTDS system design, specification and test results of a power amplifier and simulation results of a PV (Photovoltaic) system and wind turbine system. The proposed system is applicable for development and performance testing of a PCS (Power Conversion System) for renewable energy sources.

• 조명전기설비학회논문지
• /
• 제24권6호
• /
• pp.75-82
• /
• 2010

본 논문에서는 MSRDS 환경에서 가상 4족 애완 로봇과 실제 4족 애완 로봇을 동기화함으로써 애완용 로봇의 행동을 설계할 수 있는 새로운 응용 시뮬레이터를 개발하였다. 이를 통하여 실제 로봇의 걸음새 및 동작 개발에 필요한 시간비용을 줄이고, 지능형 서비스 애완 로봇의 상업화에도 도움이 될 것이다. 또한, 본 연구 결과를 이용하여 가상공간과 실공간의 모델링의 차이를 극복하는 연구에 이용할 수 있다. 본 논문의 결과로서 가상 로봇과 실제 로봇의 연동 제어를 통해 원격지에 있는 두 대의 로봇간의 원격제어가 가능하므로, 두 대의 애완 로봇을 이용한 네트워크 게임으로서도 활용할 수 있을 것으로 기대된다.

• 제어로봇시스템학회논문지
• /
• 제6권12호
• /
• pp.1099-1105
• /
• 2000

The interactive bicycle simulator presented in this paper consists of a Stewart platform manipulator, magneto-rheological steering and braking devices, and a visual simulator. To provide a rider with reality, these devices should be controlled in real-time and motions of the devices and the visual should be also synchronized. If any of the devices and the visual gets unsynchronized due to significant blocking of control signals, the reality of the simulator is no longer secured. This paper presents communication protocols that minimize the blocked time of the control processes to guarantee the synchronization. The protocols are designed based on IPC (InterProcess Communications) of QNX, TCP/IP, and serial communication. The performance of the designed communication protocols is evaluated with the implemented bicycle simulator, and found satisfactory.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 2005년도 ICCAS
• /
• pp.444-448
• /
• 2005

This paper presents a developing procedure of the CAN-based real-time simulator for car body control, aiming at replacing the actual W/H (Wiring Harness) and J/B(Junction Box) couple eventually. The CAN protocol, as one kind of field-bus communication, defines the lowest 2 layers of the ISO/OSI standard, namely, the physical layer(PL) and the data link layer(DLL), for which the CSMA/NBA protocol is generally adopted. For CPU, two PIC18Fxx8x's are used because of their built-in integration of CAN controller, large internal FLASH memory (48K or 64K), and their costs. To control J/B's and actuators, 2 controller boards are separately implemented, between which CAN lines communicate through CAN transceivers MCP255. A power motor for washing windshield, 1 door lock motor, and 6 blink lamps are chosen for actuators of the simulator for the first stage. For the software architecture, a polling method is used for the fast global response time despite its slow individual response time. To improve the individual response time and to escape from some eventual trapped-function loops, High/Low ports of the CPU are simply used, which increases the stability of the actuator modules. The experimental test shows generally satisfactory results in normal transmitting / receiving function and message trace function. This simulator based on CAN shows a promising usefulness of lighter, more reliable and intelligent distributed body control approach than the conventional W/H and J/B couple. Another advantage of this approach lies in the distributed control itself, which gives better performance in hard real-time computing than centralized one, and in the ability of integrating different modules through CAN.

• 에너지공학
• /
• 제11권3호
• /
• pp.230-236
• /
• 2002

전력계통 실시간 제어에서는 전압, 전류, 유효전력, 무효전력, 역률, 시스템 주파수 등 전력계통 변수들을 측정하는 것이 중요하다. 이 변수들은 전압과 전류의 동기화된 페이저 정보부터 추출할 수 있다. 따라서 전압 및 전류의 동기화된 페이저 측정은 실시간 전력계통 제어에서 매우 중요한 역할을 한다. 이런 이유로 동기위상측정장치가 개발되었고 본 논문에서는 동기위상측정장치의 설계와 구현한 것을 제시하였고 제작된 시작품을 RTDS(Real-time Digital Simulator)와 실험실에 있는 380 V 3상 배전계통에 적용하여 측정된 실험결과를 통해 개발된 시작품의 성능을 검증하였다.

• 대한전기학회논문지:전력기술부문A
• /
• 제48권11호
• /
• pp.1434-1440
• /
• 1999

For the real-time power system analysis, there exists a limitation to the scale of the system to be simulated, hence it is necessary for the real-time simulation to develop reduced equivalent systems which preserve the desired property of the original system. In this paper, a procedure for developing an equivalent system whose scale is reduced within the hardware capacity of a real-time simulator is proposed. Also, the proposed procedure is applied to a KEPCO's system. The comparison between the original system and equivalent systems illustrates the capabilities of the proposed procedure.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 2001년도 ICCAS
• /
• pp.129.2-129
• /
• 2001

Visual effects are important cues for providing occupant s with virtual reality in a vehicle simulator which imitates real driving. The viewpoint of an occupant is sensitively dependent upon the occupant´s posture, therefore, the total body motion must be considered in a graphic simulator. A real time simulation is required for the dynamic analysis of complex human body motion. This study attempts to apply a neural network to the motion analysis in various driving situations. A full car of medium-sized vehicles was selected and modeled, and then analyzed using ADAMS in such driving conditions as bump-pass and acceleration. A multibody system analysis software, MADYMO, was used in the motion analysis of an adult male dummy in the seated position. Position data of the head were collected as inputs to the viewpoint movement. Based on these data, a back- propagation neural network was ...

• 한국자동차공학회논문집
• /
• 제8권4호
• /
• pp.158-168
• /
• 2000

Vehicle driving simulators can provide engineers with benefits on the development and modification of vehicle models. One of the most important factors to realistic simulations is the fidelity given by a motion system and a real-time visual image generation system. Virtual reality technology has been widely used to achieve high fidelity. In this paper the virtual environment including a visual system like a head-mounted display is developed for a vehicle driving simulator system by employing the virtual reality technique. virtual vehicle and environment models are constructed using the object-oriented analysis and design approach. Accordint to the object model a three dimensional graphic model is developed with CAD tools such as Rhino and Pro/E. For the real-time image generation the optimized IRIS Performer 3D graphics library is embedded with the multi-thread methodology. Compared with the single loop apprach the proposed methodology yields an acceptable image generation speed 20 frames/sec for the simulator.

• 한국정밀공학회:학술대회논문집
• /
• 한국정밀공학회 1995년도 추계학술대회 논문집
• /
• pp.346-349
• /
• 1995

In this paperwe develop a real-time simulator for direct drive cooperative robot by using OpenGL in a Windows NT based system. This simulator is composed of 2 parts, a display part and an interface part. In the display part the robot is modelled and rendered in 3D space. To do this OpenGL, a kind of graphic library, is used for rendering and animating robots and kinematics gives the information of the current robot configuration. The control and the feedback data are sent and received via the interface part. In real time simulation interfacing part needs fast data transfer rate and good nosic immunity. In experiment we have simulated 2-link direct drive cooperative robots using the trajectory tracking algorithm proposed in reference.