• 제어로봇시스템학회:학술대회논문집
• /
• 2003.10a
• /
• pp.508-513
• /
• 2003

This paper is concerned with a mixed control with aerodynamic fin and side thrusters applied to an agile missile using two-time scale dynamic inversion and linear time-varying control technique. The nonlinear dynamic inversion method with the weighting function allocates the desired control inputs (aerodynamic fin and side thrusters) to track a reference trajectory, and the time-varying control technique guarantees the robustness for the uncertainties. Closed-loop stability is achieved by the assignment of the extended-mean of these linear time-varying eigenvalues to the left half complex plane. The proposed schemes are validated by nonlinear simulations.

• Proceedings of the KIEE Conference
• /
• 2006.07d
• /
• pp.1789-1790
• /
• 2006

This paper reports a new test facility to investigate the characteristics of the thrusters mounted on the small scale underwater vehicle using Force/Torque sensor. With the test facility proposed here, No disassembly needs be made to the target vehicle, which makes us possible to get the realistic forces of the vehicle rather than the fortes of the thrusters themselves. Experimental data analyses, heave, sway, and surge, for the QI ROV are given as an example of this method.

• Journal of the Korean Society of Propulsion Engineers
• /
• v.3 no.1
• /
• pp.72-77
• /
• 1999

The mono-hydrazine thrusters which have been selected for satellite auxilliarly propulsion system since 1960s were koreanized for KOMPSAT attitude control. In this paper, design and manufacturing, test of the mono-hydrazine thruster were briefly reviewed with KOMPSAT attitude control thrusters and the key technology to be developed in the future for various small thrusters of launch vehicle, satellite and guidance missile were proposed.

• Proceedings of the KSME Conference
• /
• 2003.11a
• /
• pp.1578-1583
• /
• 2003

Time-Optimal solutions for attitude control with reaction wheels as well as with thrusters are studied. The suggested varying-time-sharing ratio thrusting is found to reduce the maneuvering time enormously. The hybrid control such as sequential hybrid and simultaneous hybrid with reaction wheels and thrusters are considered. The results show that simultaneous hybrid method reduces the maneuver time very much. Spacecraft model is KOrea Multi-Purpose SATellite(KOMPSAT)-II, which is being developed by KARI in KOREA as an agile maneuvering satellite.

• The Journal of Korea Robotics Society
• /
• v.11 no.4
• /
• pp.217-225
• /
• 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.

• Journal of Energy Engineering
• /
• v.2 no.1
• /
• pp.38-44
• /
• 1993

Electromagnetic seawater thrusters may be classified into four general categories : internal duct dc, external field dc, internal peristaltic ac, and external peristaltic ac. Internal duct dc thrusters offer the advantages of low magnetic field leakage, simple construction, and potentially high reliability. The most efficient internal duct configuration consists of converging inlet nozzle and a straight discharge duct. Ideal efficiency calculations based on the one-dimensional Bernoulli equation show that thrusters should be designed with large cross-sectional areas and operate at low discharge velocities. In practice, this may be accomplished by using multiple thruster ducts. Conductivity enhancement, high magnetic fields, and long electrodes will also improve efficiency.

• Proceedings of the Korean Society of Propulsion Engineers Conference
• /
• 2004.03a
• /
• pp.588-592
• /
• 2004

This paper presents the preliminary fabrication results of colloid thrusters which can provide thrust of the order of micro to milli-Newtons. MEMS technology has been used for fabrication, and four essential fabrication techniques - deep etching with nested masks, isotropic plasma etching, anisotropic reactive ion etching, and direct fusion wafer bonding - have been newly developed. Among diverse models which have been designed and fabricated, the fabrication results of 4-inch wafer-based colloid thrusters are presented.

• Journal of Ocean Engineering and Technology
• /
• v.8 no.2
• /
• pp.56-63
• /
• 1994

This paper presents a design method of multivariable robust servo system for tracking control system for AUV(Autonomous Underwater Vehicle). In order to obtain the basic data for the design of the tracking control system, the control algorithm is evaluated in the view of computer simulation results. The tracking control is carried out for an AUV with 2 main thrusters, 2 side thrusters and 2 thrusters for the movement to up-down direction. The results of computer simulation show that the proposed multivariable servo system design method is an efficient method for the control performance of tracking control system of AUV under severe underwater environment.

• Transactions of the Korean Society of Mechanical Engineers B
• /
• v.41 no.6
• /
• pp.373-380
• /
• 2017

In this study, we conducted computational fluid dynamics (CFD) simulations for the unsteady hydrodynamic interaction of multiple thrusters by solving Reynolds averaged Navier-Stokes equations. A commercial CFD software, STAR-CCM+ was used for all simulations by employing a ducted thruster model with combination of a propeller and No. 19a duct. A sliding mesh technique was used to treat dynamic motion of propeller rotation and non-conformal hexahedral grid system was considered. Four different combinations in tilting and azimuth angles of the thrusters were considered to investigate the effects on the propulsion performance. We could find that thruster-hull and thruster-thruster interactions has significant effect on propulsion performance and further study will be required for the optimal configurations with the best tilting and relative azimuth angle between thrusters.

• Journal of the Korean Society of Propulsion Engineers
• /
• v.14 no.6
• /
• pp.103-120
• /
• 2010

A development history of the thrusters used for space-vehicle orbit maneuver/attitude control is reviewed with their performance characteristics. Especially, a scrutiny is made for the current and practical application of TVC/Gimbal/Thrusters to the roll/pitch/yaw-axis control of each stage of launch vehicles. It is well perceived that a precise 3-axis attitude control system (ACS) must be equipped on the final stage of space launch vehicles (SLV) for an attainment of orbit-insertion accuracy. Under the superior reliability as well as moderate performance features, the monopropellant hydrazine thrusters occupy most of the SLV's 3-axis ACS currently operated. Domestic development status of the medium-thrust-level thruster is shortly introduced, finally.