• 한국항공우주학회지
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• 제30권7호
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• pp.105-112
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• 2002

높은 받음각 상태에 있는 연장된 앞전을 갖는 편요된 삼각날개 주위의 와류 유동 특성에 대하여 날개 윗면에서의 압력 측정을 통하여 연구하였다. 본 연구에서는 와류 유동의 물리적 현상, 특히 높은 받음각 상태에서 받음각과 옆미끄럼각이 날개 형상 주위의 공력 특성에 미치는 영향에 중점을 두었다. 실험 데이터로부터 LEX 와류가 날개와류에 유익한 효과를 부여함을 명확하게 알 수 있었다. 이는, 작은 옆미끄럼각 상태에서는 비교적 높은 받음각에 이르기까지 와류의 붕괴 없이 날개와류를 안정화시킴을 알 수 있다. 특정 범위의 받음각과 옆미끄럼각 상태에서는 롤링 모멘트가 역전되는 흥미로운 유동 현상을 관찰할 수 있었다.

• 한국항공우주학회지
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• 제30권5호
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• pp.109-117
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• 2002

옆미끄럼이 있는 조건에서 LEX를 갖는 삼각날개의 와류 특성을 유동의 가시화에 의한 실험적 방법으로 연구하였다. 모델은 $65^{\circ}$ 후퇴각의 갖는 평판 날개이다. 자유 유동속도는 6.2 m/s이며, 이 속도와 날개뿌리 시위를 기준으로 한 레이놀즈 수는 $4.4\times10^5$ 이다. 받음각 범위와 옆미끄림각 범위는 각각 $16^{\circ}\sim28^{\circ}$와 $0^{\circ}\sim-15^{\circ}$ 이다. 미세수적과 레이저 평면광에 의한 가시화는 오공 프로브에 의한 측정으로부터 얻을 수 없었던 보다 자세한 와유동 구조를 관찰 할 수 있도록 하였다. 옆미끄럼각이 있는 경우, 바람쪽은 LEX 와류와 날개 와류의 상호작용과 붕괴가 촉진되는 반면, 바람반대쪽은 두 와류의 상호작용과 붕괴가 억제되었다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.1706-1709
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• 2003

This paper demonstrates a unique method for measuring vehicle states such as body sideslip angle and tire sideslip angle using Global Positioning System(GPS) velocity information in conjunction with other sensors. A method for integrating Inertial Navigation System (INS) sensors with GPS measurements to provide higher update rate estimates of the vehicle states is presented, and the method can be used to estimate the tire cornering stiffness. The experimental results for the GPS velocity-based sideslip angle measurement. From the experimental results, it can be concluded that the proposed method has an advantage for future implementation in a vehicle safety system.

• Journal of Electrical Engineering and Technology
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• 제8권4호
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• pp.899-910
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• 2013

This paper presents a novel lateral stability control system for electric vehicle based on sideslip angle estimation through Kalman filter using the integration of a single antenna GPS receiver and yaw rate sensor. Using multi-rate measurements including yaw rate and course angle, time-varying parameters disappear from the measurement equation of the proposed Kalman filter. Accurate sideslip angle estimation is achieved by treating the combination of model uncertainties and external disturbances as extended states. Active front steering and direct yaw moment are integrated to manipulate sideslip angle and yaw rate of the vehicle. Instead of decoupling control design method, a new control scheme, "two-input two-output controller", is proposed. The extended states are utilized for disturbance rejection that improves the robustness of lateral stability control system. The effectiveness of the proposed methods is verified by computer simulations and experiments.

• 한국가시화정보학회지
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• 제2권2호
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• pp.52-57
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• 2004

The development and interaction of vortices over a delta wing with leading edge extension (LEX) was investigated through off-surface flow visualization using micro water droplets and a laser beam sheet. Angles of attack of $20^{\circ}$ and 24$^{\circ}$ were tested at sideslip angles of $0^{\circ}$, $-5^{\circ}$, and $-10^{\circ}$ The flow Reynolds number based on the main-wing root chord was $1.82{\times}10^{5}$. The wing vortex and the LEX vortex coiled around each other while maintaining comparable strength and identity at a zero sideslip. The increase of angle of attack intensified the coiling and shifted the cores of the wing and LEX vortices inboard and upward. By sideslip, the coiling, the merging and the diffusion of the wing and LEX vortices were increased on the windward side, whereas they were delayed significantly on the leeward side. The present study confirmed that the sideslip angle had a profound effect on the vortex structure and interaction of a delta wing with LEX, which characterized the vortex-induced aerodynamic load.

• 대한기계학회논문집A
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• 제23권6호
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• pp.931-942
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• 1999

This paper develops a 3 DOF vehicle model which includes lateral, roll and yaw motion to study a 4WS vehicle. The model is used for the simulation of a 4WS vehicle behavior, and to derive a control algorithm for rear wheel steering. This paper uses a feedforward plus feedback control scheme to compute a rear wheel steering angle. The feedforward control scheme for computing the first rear wheel steering angle uses a gain which is acquired by multiplying a proper value on a gain to maintain a zero sideslip angle. The feedback control scheme for computing the second rear wheel steering angle uses fuzzy logic and model following control scheme. A linear 2 DOF model is used as a reference model for model following control, and is derived from the developed 3 DOF model by neglecting sprung mass roll motion. A reference state variable is yaw rate, and is computed using the linear 2 DOF model. J-turn and lane change maneuver simulation are performed to show the effectiveness of the developed control scheme. The simulation results show that the 4WS vehicle with the developed control scheme has much better performance in yaw rate, lateral acceleration, roll angle, and sideslip angle than the 2WS vehicle. Also, the results show that the performance of the developed control is close to the one of an optimal control which assumes all states are perfect.

• 한국항공우주학회지
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• 제45권7호
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• pp.531-538
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• 2017

비행속력 및 받음각과 옆미끄럼각을 측정할 수 있는 플러시 대기자료측정장치를 소형의 무인항공기를 대상으로 설계/제작하였다. 동체 노즈콘 표면에 4개 압력 측정점과 5개 압력 측정점의 2가지 타입으로 플러시 압력공들을 만들었다. 플러시 압력공의 교정 압력 데이터는 전기체를 전산유체해석 코드로 계산하여 구축하였다. 교정압력 데이터로부터 받음각, 옆미끄럼각, 전압계수, 정압계수는 4차 다항식으로 표현하고, 최소자승법으로 교정계수 행렬을 구하였다. 비행시험 결과 4개 플러시 압력공 및 5개 플러시 압력공을 이용하여 예측된 비행속력, 받음각과 옆미끄럼각은 비교를 위해 장착한 5-압력공 프로브로 예측된 것과 잘 일치하였으며, 특히 4개의 압력공으로 5개 압력공과 거의 동일한 결과를 얻을 수 있었다.

• International Journal of Aeronautical and Space Sciences
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• 제7권2호
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• pp.137-144
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• 2006

The objective of this paper is to present trajectory guidance and control system with a dynamic inversion for a small unmanned aerial vehicle (UAV). The UAV model is expressed by fixed-mass rigid-body six-degree-of-freedom equations of motion, which include the detailed aerodynamic coefficients, the engine model and the actuator models that have lags and limits. A trajectory is generated from the given waypoints using cubic spline functions of a flight distance. The commanded values of an angle of attack, a sideslip angle, a bank angle and a thrust, are calculated from guidance forces to trace the flight trajectory. To adapt various waypoint locations, a proportional navigation is combined with the guidance system. By the decision logic, appropriate guidance law is selected. The flight control system to achieve the commands is designed using a dynamic inversion approach. For a dynamic inversion controller we use the two-timescale assumption that separates the fast dynamics, involving the angular rates of the aircraft, from the slow dynamics, which include angle of attack, sideslip angle, and bank angle. Some numerical simulations are conducted to see the performance of the proposed guidance and control system.

• 한국추진공학회지
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• 제18권3호
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• pp.8-16
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• 2014

본 논문은 옆미끄럼각에 따른 초음속 흡입구 버즈마진의 영향도에 대해 분석하였다. 버즈마진은 비행체 종축면에서 획득한 측정 물리량 기반으로 제어 명령을 산출하는 제어기에 의해 안정화 된다고 가정하였다. 해당 분석은 3차원 CFD를 통해 획득한 결과를 기반으로 수행되었으며, 3차원 CFD 해석 데이터는 종축면의 센서 측정 물리량을 모사하기 위해 사용되었다. 종축면 측정치 기반의 제어시스템에서는 기대하지 않은 횡방향 유동 섭동이 총 받음각의 증가의 결과로 나타나며, 이는 엔진 흡입구 성능의 감소를 의미한다. 결과적으로, 제어 안정성 또한 줄어들게 되어 보다 큰 제어 마진이 요구됨을 확인할 수 있었다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.1005-1007
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• 2005

A Nonlinear approach to control of Small Scale Rotary Wing Unmanned Aerial Vehicle (R-UAV) is presented. Using Backstepping, a globally stabilizing control law is derived. We derive backstepping control law for angle of attack and sideslip control. The inherent nonlinear nature of the system are considered here which helps in naturally stabilizing without extensive external effort. Thus, the resulting control law is much simpler than if the feedback linearization had been used.