• 제어로봇시스템학회논문지
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• 제16권11호
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• pp.1104-1109
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• 2010

This paper deals with the attitude control of an underactuated spacecraft that has fewer than three actuators. Even though such spacecrafts are known as uncontrollable, restricted missions are possible with controlling two-axis attitude angles. A variable speed control moment gyroscope is considered as an actuator. It is a kind of momentum exchange device and it shows highly nonlinear dynamical properties. Speed commands are generated by kinematic equations represented by Euler angles. A control law, that is designed to make a spacecraft follow the speed commands, is derived by the backstepping method. Angular speeds are estimated from the attitude measurements. Several estimation methods have been compared.

• 한국자동차공학회논문집
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• 제13권4호
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• pp.58-65
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• 2005

A method measuring angular speed and estimating angular acceleration of an automotive wind shield wiper pivot with limited resources has been proposed. Limited resources refer to the fact that processes cannot be operated in real-time with a regular notebook running a Microsoft Windows. Also, they refer to the fact that data acquisition cards have only two general purpose counters as many generic cards do. An optical incremental encoder has been employed for measuring angular motion. To measure the angular speed of the pivot, periods for the encoder's output pulses have been measured as the speed is related to the reciprocal of the period. Since only information acquired from one counter channel is the magnitude of the angular speed, sign correction is necessary. Also the information for the exact time when a pivot passes left and right dead points is also missing and the situation is inherent to the hardware setup. To find out the zero-crossing time of the angular speed, a linear interpolation technique has been employed. Lastly, to overcome the imperfection of the mechanical encoders, the angular speed has been curve fitted to a spline. Angular acceleration can be obtained by a differentiation of the angular speed.

• 한국정밀공학회지
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• 제29권6호
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• pp.671-679
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• 2012

This paper presents an estimation procedure for axial displacement in spindle equipped with angular contact ball bearings due to rotational speed. High-speed spindle-bearing system experiences axial displacement due to thermal expansion and rotational speed-dependent characteristics of angular contact ball bearings. This paper deals with the axial displacement caused by the rotational speed-dependent effects such as centrifugal force and gyroscopic moments. To this end, a bearing dynamic model is established that includes all the static and dynamic properties of angular contact ball bearing. An analytical formula to calculate the axial displacement based on contact angles between ball and races is derived to discuss the physics regarding the axial displacement in spindle. The proposed dynamic model is compared with a reference and a commercial program. Numerical examples are presented to show the effects of centrifugal force and gyroscopic moment on the axial displacement. The proposed model is also validated with an experimental result.

• 전력전자학회:학술대회논문집
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• 전력전자학회 1998년도 Proceedings ICPE 98 1998 International Conference on Power Electronics
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• pp.137-142
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• 1998

This paper describes a simple vector control scheme for the wound rotor type induction motors(WRIM) without the additional speed sensor in order to remove the external resistor bank which is usually adapted for the WRIM speed control. The motor angular speed is obtained indirectly from the slip angular speed is obtained indirectly from the slip angular speed and the slip angular speed is estimated by detecting the rotor currents only. Because the motor parameters are not included in the estimation algorithm, the proposed algorithm is free from the variation of the motor parameters and the robust sensorless vector control can be achieved. The performance of the proposed scheme is verified through the digital simulation.

• 한국항공우주학회지
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• 제42권10호
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• pp.816-822
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• 2014

위성의 각속도를 추정하는 비선형 관측기의 설계방법을 제안한다. SDRE 기법을 이용하여 관측기를 설계하는데, 오차 수렴에 대한 충분조건을 제시하였다. 대수 Riccati 형태의 이 조건은, 비선형 항을 Lipschitz 형태로 변환하고 이에 대한 수렴 조건을 유도하여 구해진다. 이 조건으로부터 관측기의 게인을 구할 수 있으며, 시뮬레이션을 이용하여 제안한 방법을 검증하였다.

• 한국항공우주학회지
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• 제41권4호
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• pp.284-290
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• 2013

위성의 각속도를 추정하고 반작용 휠의 고장을 검출하기 위하여 비선형 미지입력 관측기를 제안하였다. 위성의 각속도 추정을 위해서 입력 값을 필요로 하는데, 구동기에 고장이 발생하는 경우에 정확한 각속도 추정이 어렵다. 미지입력 관측기는 미지의 고장에 영향을 받지 않으면서 상태추정이 가능하다. 본 논문에서는 SDRE 기법을 적용하여 비선형 미지입력 관측기를 설계하였고, 시뮬레이션을 이용하여 제안한 방법을 검증하였다. 다양한 형태로 동시에 고장이 발생하더라도, 각속도 추정 및 고장 검출이 가능하였다.

• 전기학회논문지
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• 제67권10호
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• pp.1308-1316
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• 2018

Accurate tuning of parameter is very important in vector-controlled induction motor. Among the parameters of induction motor, detuning of rotor resistance used in controller design deteriorates drive performance. This paper presents a novel rotor resistance estimation strategy using slip angular velocity in vector-controlled induction motor drives. The slip angular velocity can be calculated by two methods. Firstly, it can be induced from the rotor voltage equation. Secondly, it can be induced from the difference between synchronous angular velocity and rotor angular velocity. The first method includes the rotor resistance, while the second method dose not include this parameter. From this fact, the rotor resistance can be identified by comparing the slip angular velocities in the two methods. In the tuned states of the rotor resistance, performances of flux estimator and speed drive are discussed. The simulation and experimental results are given to verify the validity of the proposed method in various situations.

• KSTLE International Journal
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• 제1권1호
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• pp.63-68
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• 2000

Angular contact ball bearings are mainly used in the spindle, which requires high speed and stiffness. The heat generation is studied by experiments and simulations using a pair of angular contact ball bearings. The temperature variation of inner and outer races and the temperature increment distribution are measured by using thermocouples for the rotational speed, preload, viscosity of lubricant. The measured values from experiments are used to estimate the heat conduction rate. The method of oil-air lubrication is used for the experiment. The amount of conduction heat transfer to the test spindle and the convection heat transfer coefficients long the spindle are computed by using inverse method with temperature increment distribution. Total heat generation rate is estimated with the heat partition rate which is calculated from temperatures of inner and outer races. In addition, the empirical factor of oil-air lubrication method for Palmgren's heat generation model is suggested. The empirical friction coefficients, which are obtained from the experiments, depend on the preload condition, and can give us more accurate estimation of the heat generation in ball bearings.

• 전기전자학회논문지
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• 제22권2호
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• pp.460-475
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• 2018

In the variable-speed wind energy system, to achieve maximum power point tracking (MPPT), the wind turbine should run close to its optimal angular speed according to the wind speed. Non-linear control methods that consider the dynamic behavior of wind speed are generally used to provide maximum power and improved efficiency. In this perspective, the mechanical power is estimated using Kalman filter. And then, from the estimated mechanical power, the wind speed is estimated with Newton-Raphson method to achieve maximum power without anemometer. However, the blade shape and air density get changed with time and the generator efficiency is also degraded. This results in incorrect estimation of wind speed and MPPT. It causes not only the power loss but also incorrect wind resource assessment of site. In this paper, the adaptive maximum power point tracking control algorithm for wind turbine system based on the estimation of wind speed is proposed. The proposed method applies correction factor to wind turbine system to have accurate wind speed estimation for exact MPPT. The proposed method is validated with numerical simulations and the results show an improved performance.

• 한국항공우주학회지
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• 제37권3호
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• pp.283-292
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• 2009

공력면의 전개 거동을 지배하는 미분방정식을 적분 형태를 바꾸어 전개 가능한 조건을 유도하여 전개에 필요한 힌지 토크를 추산할 수 있는 방정식을 얻었다. 방정식의 해는 주어진 전개 조건과 공력 조건에 대해 전개가 가능하기 위하여 전개 장치에 저장되어야 할 최소의 전개 에너지이며 방정식을 풀기위하여 공력과 중력, 마찰력 등 공력면에 작용하는 모멘트의 적분을 계산하여야 한다. 공력 롤 감쇠와 마찰력과 같은 비가역적 현상에 대한 적분을 수행하기 위하여 몇가지 가정과 모델링이 필요하였으며 특히 공력 롤 감쇠의 적분을 위하여 전개 각속도를 전개각만의 함수로 표현되도록 모델링하였고 이는 전개 과정에서 나타날 수 있는 최대 각속도와 형태를 가정함으로써 가능하였다. 방정식 풀이와 전개 각속도의 모델을 위하여 전개 에너지를 대표하는 이상 전개 각속도를 정의하였으며 최소의 전개 에너지를 구하는 방정식은 이상 전개 각속도에 대한 이차 방정식으로 표현된다. 제안된 추산법을 검증하기 위하여 여러 가지 전개 조건과 공력 조건에 대하여 최소 전개에너지를 추산하고 기 개발된 전개 거동 모사 프로그램을 이용하여 여러 형태의 전개 토크 형태에 대하여 추산 결과의 타당성을 비교 검토하였다.