• Journal of Mechanical Science and Technology
• /
• 제17권5호
• /
• pp.654-667
• /
• 2003

This paper presents a consequence of the systematic approach to identify the aerodynamic parameters of an unmanned aerial vehicle (UAV) equipped with the automatic flight control system. A 3-2-1-1 excitation is applied for the longitudinal mode while a multi-step input is applied for lateral/directional excitation. Optimal time step for excitation is sought to provide the broad input bandwidth. A fully automated programmed flight test method provides high-quality flight data for system identification using the flight control computer with longitudinal and lateral/directional autopilots, which enable the separation of each motion during the flight test. The accuracy of the longitudinal system identification is improved by an additional use of the closed-loop flight test data. A constrained optimization scheme is applied to estimate the aerodynamic coefficients that best describe the time response of the vehicle. An appropriate weighting function is introduced to balance the flight modes. As a result, concurrent system models are obtained for a wide envelope of both longitudinal and lateral/directional flight maneuvers while maintaining the physical meanings of each parameter.

• 한국생산제조학회지
• /
• 제23권4호
• /
• pp.337-344
• /
• 2014

While implicit integration methods such as Newton's method have excellent stability for the analysis of stiff and constrained mechanical systems, they have the drawback that the evaluation and LU-factorization of the system Jacobian matrix required at every time step are time-consuming. This paper proposes a Jacobian update-free Newton's method in order to overcome these defects. Because the motions of all bodies in a vehicle model are limited with respect to the chassis body, the equations are formulated with respect to the moving chassis-body reference frame instead of the fixed inertial reference frame. This makes the system Jacobian remain nearly constant, and thus allows the Newton's method to be free from the Jacobian update. Consequently, the proposed method significantly decreases the computational cost of the vehicle dynamic simulation. This paper provides detailed generalized formulation procedures for the equations of motion, constraint equations, and generalized forces of the proposed method.

• 항공우주시스템공학회지
• /
• 제16권3호
• /
• pp.63-72
• /
• 2022

본 논문에서는 전개형 메쉬 안테나의 동적 강성 설계 및 다물체 동역학을 이용한 요구되는 구동력 및 전개 특성을 분석하고자 한다. 프레임(frame) 요소를 이용하여 전개 구조물을 모델링한다. 다각(polygon) 형상 전개 구조물의 전개/수납된 형상에 따른 고유치 문제를 분석하였다. Kane's 방정식을 이용하여 전개 구조물의 다물체 동역학 방정식을 유도하고 PUTD (pseudo upper triangular decomposition) 방법을 적용하여 구속조건 문제를 해결하였다. 고유진동 해석 및 다물체 동역학 시뮬레이션을 통해 설계된 전개형 구조의 구조 동특성 및 실현성을 살펴보고자 한다.

• 대한기계학회:학술대회논문집
• /
• 대한기계학회 2003년도 추계학술대회
• /
• pp.1614-1619
• /
• 2003

In this study, position and force simultaneous trajectory tracking control system with pneumatic cylinder driving apparatus is proposed. The pneumatic cylinder driving apparatus that consists of two pneumatic cylinders constrained in series and two proportional flow control valves offers a considerable advantage as to non-interaction of the actuators because of the low stiffness of the pneumatic cylinders. The controller applied to the driving system is composed of a non-interaction controller to compensate for interaction of two cylinders and a disturbance observer to reduce the effect of model discrepancy of the driving system in the low frequency range that cannot be suppressed by the non-interaction controller. The experimental results with the proposed control system show that the interacting effects of two cylinders are eliminated remarkably and the proposed control system tracks the given position and force trajectories accurately.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 2003년도 ICCAS
• /
• pp.565-569
• /
• 2003

In this paper, a robust filter is proposed to effectively estimate the system states in the case where system model uncertainties as well as disturbances are present. The proposed robust filter is constructed based on the linear approximation methods for a general nonlinear uncertain system with an integral quadratic constraint. We also derive the important characteristic of the proposed filter, a modified $H_{\infty}$ performance index. Analysis results show that the proposed filter has robustness against disturbances, such as process and measurement noises, and against parameter uncertainties. Simulation results show that the proposed filter effectively improves the performance.

• 한국해양공학회지
• /
• 제36권1호
• /
• pp.41-49
• /
• 2022

With the advancement of intelligent vehicles and unmanned systems, there is a growing interest in underwater surveys using autonomous marine vehicles (AMVs). This study presents an automated planning strategy for a long-term survey mission using a fleet of AMVs consisting of autonomous surface vehicles and autonomous underwater vehicles. Due to the complex nature of the mission, the actions of the vehicle must be of high-level abstraction, which means that the actions indicate not only motion of the vehicle but also symbols and semantics, such as those corresponding to deploy, charge, and survey. For automated planning, the planning domain definition language (PDDL) was employed to construct a mission planner for realizing a powerful and flexible planning system. Despite being able to handle abstract actions, such high-level planners have difficulty in efficiently optimizing numerical objectives such as obtaining the shortest route given multiple destinations. To alleviate this issue, a widely known technique in operations research was additionally employed, which limited the solution space so that the high-level planner could devise efficient plans. For a comprehensive evaluation of the proposed method, various PDDL-based planners with different parameter settings were implemented, and their performances were compared through simulation. The simulation result shows that the proposed method outperformed the baseline solutions by yielding plans that completed the missions more quickly, thereby demonstrating the efficacy of the proposed methodology.

• 한국정밀공학회지
• /
• 제26권2호
• /
• pp.86-93
• /
• 2009

Elastomeric O-rings have been the most common seals due to their excellent sealing capacity, and availability in costs and sizes. One of the critical applications of O-ring seals is solid rocket motor joint seal where the operating hot gas must be sealed during the combustion. This has long been a design issue to avoid the system failure. For laterally constrained, squeezed and pressurized condition, deformed shape of O-ring was measured by computed tomography method and CCD laser sensor, compared with numerical calculations. As clearance gap changes, sealing performance had been evaluated on peak contact stresses at top, bottom and side contact surfaces. As clearance gap increases, peak contact stresses and contact widths in top and side contact surfaces increase, and the asymmetry of stress distributions is promoted due to pressure increase. It is suggested that peak stress of bottom contact surface can be approximated by simple superposition of peak ones due to squeeze and pressure. Under pressurized condition, sealing performance is dependent on not peak stresses of bottom and side contact surfaces but that of top.

• 한국자동차공학회논문집
• /
• 제15권6호
• /
• pp.87-93
• /
• 2007

It is complicate to analysis the systems, dual mode hybrid systems, because they are composed of many planetary gear sets. For the performance test, it needs to define the systems with representative parameters. In this paper, system parameters, $\alpha$, $\beta$, $\zeta$, are introduced to define the systems, and an arbitrary system like E-IVT developed by Renault Motors is converted to the general system having equivalent parameters, such as $\beta'$, $R'_b$. Pontryagin principle and Kuhn-Tucker condition method are applied to solve the constrained problems, by which the methodology for accelerating test is generalized, and the results of the simulation are reported. In addition, the effects of alternative strategies are mentioned. The method of fuel economy test at engine mode is also introduced. The results of test at engine mode is different from the results of optimal trajectory, but the fuel economy of the engine mode is related to the highway driving and optimized operating of the system.

• 한국항공우주학회지
• /
• 제50권10호
• /
• pp.691-699
• /
• 2022

본 논문에서는 대형 메쉬 안테나 개발을 위한 모듈식 전개형 반사판 및 붐 구조의 전개 시 요구되는 구동력 및 전개 특성을 분석하고자 한다. 단위 전개 구조를 이용하여 모듈식 전개형 반사판 링과 붐 구조의 수납/전개된 형상을 분석하였다. Kane's 방정식을 이용하여 전개 구조물의 다물체 동역학 방정식을 유도하고 PUTD(Pseudo Upper Triangular Decomposition) 방법을 적용하여 구속조건 문제를 해결하였다. 다물체 동역학 시뮬레이션을 통해 설계된 모듈식 전개 반사판 링 그리고 붐 구조의 동적 특성을 살펴보고자 한다.

• 대한기계학회논문집
• /
• 제17권8호
• /
• pp.1940-1950
• /
• 1993

The theoretical investigation is done on the dynamic behavior of a crank shaft used in a scroll compressor. The compression performance of a scroll compressor is directly influenced by the sealing characteristics between fixed and orbiting scrolls, which is related with the dynamic behavior of a scroll compressor. Analyzing the constrained power transmitting system is came to be of importance, accordingly. The equations of motion and interacting forces of a scroll compressor are derived and solved numerically in this paper. The locus of the crank shaft is also obtained by employing the reaction force caused by the oil film of journal bearing. The results show that the crank shaft of a scroll compressor has considerably stable rotating locus.