• 한국정보통신학회논문지
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• 제7권7호
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• pp.1509-1513
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• 2003

선박 자율운항 시스템은 운항 안전성 확보, 운항능률의 향상, 선내 노동력 감소 및 작업환경 개선에 목표로 두고 있으며, 궁극적으로는 운항 경제성 확보를 통한 승선 인원의 최소화에 그 목적이 있다. 최근에는 적응제어방법 등을 응용하여 선박의 다양한 비선형성을 보상하고 선박의 회두각 유지제어, 항로 추적제어, 롤-타각제어, 선박 위치제어, 선박 자동접이안 등의 분야에 관한 연구가 수행중이며 실제 선박을 대상으로 한 응용연구가 진행 중에 있다. 선박의 Steering Machine에 의해 조정되는 Rudder angle과 선박의 회두각의 관계와 Load Condition은 선박운항 파라메터에 영향을 주는 비선형적인 요소로서 작용한다. 또한 외란 요소인 파도의 유속과 방향, 풍속과 풍량 등은 선박의 운항을 힘들게 하는 주요 요인이 된다. 따라서 선박 자율운항 시스템에는 다양한 비선형성을 극복할 수 있는 강인한 제어 알고리즘을 필요로 한다. 본 논문에서는 퍼지 알고리즘을 이용하여 선박의 비선형적인 요인 및 외란을 극복할 수 있는 선박 자율운항 시스템을 설계하고 시뮬레이션을 통행 제안된 알고리즘의 우수성을 확인하였다.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2004년도 학술대회 논문집 정보 및 제어부문
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• pp.608-610
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• 2004

In continuous annealing line (CAL), POSCO, the center position control (CPC) is an essential technique that renders the steel-strip to pass at the center of a roll in order to prevent the strip from skewing or breaking. The CPC algorithm currently installed on the steering roll in the heating section of CAL is to control the strip position by using the reverse phase of error from the center position, without considering the dynamics of strip horizontal movement. Such algorithm may, unfortunately, require a manual operation occasionally when the range of strip input becomes wide, causing the dynamics 0 be dominant. Other PID-type control is rarely used in automatic operation because the excess of response may occur when the discontinuous points such as welding joints pass through rolls. In this paper, we identify the CPC system by using off-line data and design a compensator for the excessive dynamics by using the adaptive inverse control. Simulation result depicts the improved reliability of the proposed CPC system.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.296-300
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• 2003

The autopilot system targets decreasing labor, working environment improvement, service safety security and elevation of service efficiency. Ultimate purpose is minimizing number of crew for guarantee economical efficiency of shipping service. Recently, being achieving research about Course Keeping Control, Track Keeping Control, Roll-Rudder Stabilization. Dynamic Ship Positioning and Automatic Mooring Control etc. which compensate nonlinear characteristic using optimizing control technique. And application research is progressing using real ship on actual field. Relation of Rudder angle which adjusted by Steering Machine and ship-heading angle are non-linear. And Load Condition of ship as non-linear element that influence to Parameter of ship. Also, because the speed of a current and direction of waves, velocity and quantity of wind etc. that is disturbance act in non-linear from, become factor who make serv ice of shipping painfully. Therefore, service system of shipping requires robust control algorithm that can overcome nonlinearity. In this paper, Using fuzzy algorithm ,Design autopilot system of ship that could overcome the non-linear factor of ship and disturbance and examined result through simulation.

• 한국해양공학회지
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• 제24권2호
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• pp.10-17
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• 2010

Conventionally, because it is difficult to control a ship in shallow water and because attempting to do so creates unwanted environmental effects, maneuvering ships in the harbor area for berthing is usually done with the assistance of tugboats. In this paper, we propose a new method for berthing ships automatically by using bow and stern thrusters. Specifically, a steering motion model of a ship is considered, and parameters in the equation are evaluated by the system identification technique. An optimal controller based on observations was designed from the linearization of the non-linear ship motion in the horizontal plane. It is used to reduce the uncertainty about the ship's dynamics and reduce measurement requirements. The performance of the controller was also analyzed for its robustness relative to avoiding disturbing the environment due to winds, currents, and wave-drift forces. Experiments were conducted to estimate the potential for identifying result and the design of the controller. Specifically, in this paper, the system modeling and tracking control approach are discussed based on a two-degree-of-freedom (2DOF) servo-system design.

• 제어로봇시스템학회논문지
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• 제21권7호
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• pp.615-620
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• 2015

DOB (Disturbance Observer) is an useful control method for estimating the disturbance applied to dynamic systems. Disturbance observer can be used to implement a robust control system to generate a control input for rejecting the disturbance, and it can be also used to estimate the disturbance to obtain information. The system that uses disturbance estimation is investigated for high performance control such as automatic door systems, walking robot and electric power steering system in vehicles. In this paper, a novel disturbance observer which is called disturbance and current observer for estimating load torque in the motor system is proposed. The difference between the DOB for disturbance rejection and DCOB is mathematically verified. Current and angular velocity are required for estimating the load torque of the motor in DOB. However, the DCOB can estimate load torque and current without current sensor. DCOB is designed based on modeling of the motor system. Appropriate Q-filter is selected and the applicability of DCOB is verified by simulation. The estimated disturbance and current of the electric motor can be verified without current sensor, as experiments of the actual motor system.

• 한국항해항만학회지
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• 제35권5호
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• pp.359-363
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• 2011

본 연구에서는 만타 형상을 가진 무인잠수정(Manta-type unmanned underwater test vehicle)의 제어 성능 평가를 수행 하였다. 제어 방법으로서 PID제어, Fuzzy 제어가 적용되었으며, 6자유도 운동 수학모델과 Matlab Simulink을 이용하여 조종 운동 시뮬레이션을 수행하였다. 또한, 설계된 제어기로 수심제어 및 방위제어에 적용하여, 조류의 외란 하에서 제어 성능을 평가하였다.

• 한국정보통신학회:학술대회논문집
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• 한국해양정보통신학회 2007년도 춘계종합학술대회
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• pp.724-727
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• 2007

선박 운항 자동화 시스템은 선내 노동력 감소, 작업 환경 개선, 운항 안전성 확보 및 운항 능률의 향상을 목표로 하며, 궁극적으로는 운항 경제성확보를 위한 승선 인원의 최소화에 그 목적이 있다. 최근에는 적응 제어방법 등을 응용하여 선박의 비선형성을 보상하여 선박의 회두각 유지제어(Course Keeping Control), 항로 추적제어(Track Keeping Control), 롤-타각제어(Roll-Rudder Stabilization), 선박 위치제어(Dynamic Ship Positioning), 선박자동 접이안(Automatic Mooring Control) 등에 관한 연구를 수행하고 있으며 실제의 선박으로 대상으로 응용연구가 진행 중이다. 선박은 Steering Machine에 의해 조정되는 Rudder angle과 선박의 회두각의 관계는 비선형적이며, 선박의 Load Condition은 선박의 Parameter에 영향을 주는 비선형적인 요소로서 작용한다. 또한 외란요소인 파도의 유속(流速)과 방향, 풍속과 풍량 등이 비선형적인 형태로 작용하므로 선박의 운항을 힘들게 하는 요인이 된다. 따라서 선박의 운항시스템에는 비선형성을 극복할 수 있는 강인한 제어 알고리즘을 요구한다. 본 논문에서는 퍼지 알고리즘을 이용하여 선박의 비선형적인 요인 및 외란을 극복할 수 있는 선박의 자율운항 시스템을 설계하고 시뮬레이션을 통해 그 결과를 살펴보았다.

• 한국항해학회지
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• 제9권2호
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• pp.13-26
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• 1985

The purpsoe of automatic steering system is to keep the ship's course stable with the minimum course error and rudder angle, and there have been a number of studies as to the optimal design and adjustment of the autopilot. Recently, modern control theories are being used widely in analyzing and designing the system. When a ship is at sea, autopilot installed on the ship plays an important role, particularly in the respect of economic aspects, that is, when the design and the adjustment of adjustable parameters are not conducted perfectly, the amount of loss in energy and the extension of sailing distance become large. Therefore the optimal design and adjustment of a autopilot are very important. Though P.I.D type autopilots are widely spread and generally used in modern ships, the suitability and the adjusting method are not clarified. In this paper the authors considered the stabilaity and the economical efficiency of the P.I.D. type autopilot and investigated various facts which should be considered at the time of designing and using the P.I.D. type autopilot through the digital computer simulation.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.397-402
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• 2005

In this paper, to improve the efficiency of welding and user convenience in the shipbuilding industry, a PC-based off-line programming (OLP) technique and the development of a robot transfer unit are presented. The developed OLP system is capable of not only robot motion simulations but also automatic generations of a series of robot programs. The strength of the developed OLP system lies in its flexibility in handling the changes of the welding robot's target objects. Moreover, for a precise transfer of the robot to a desired location, an auxiliary mobile platform named a robot-origin-transfer-unit (ROTU) was developed. To enhance the cornering capability of the platform in a narrow area, the developed ROTU is equipped with 2 steering wheels and 1 driving wheel. Both the OLP and the ROTU were field-tested and their performances were proven successful.

• 한국철도학회:학술대회논문집
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• 한국철도학회 2009년도 춘계학술대회 논문집
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• pp.452-456
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• 2009

This paper presents a method for precisely localizing and parking of bimodal trams. In order to gam an automatically driving system for bimodal trams, precise up-to-date localization, velocity recognition, distance to next station and precise parking location estimation functions are required. This paper proposes a system consisting of control device, steering device, sensor input equipment, driving system, tachometer, vehicle-side sensors, magnetic markers and magnetic sensors. The tram recognizes the precise location via magnetic markers containing information. Parking position and precise distance calculation is embodied by a tachometer. The vehicle-side sensors are used to assure safe station approaching and parking magnetic markers provide improvement of precision while tram parking. This paper provides a system realizing localization and precise parking and afterwards the automatic drive test results are reported and analyzed.