• Journal of Advanced Marine Engineering and Technology
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• v.39 no.10
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• pp.1023-1030
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• 2015

The purpose of this paper is to present the basic mathematical modeling of a hexacopter, which could be used to develop proper methods for stabilization and trajectory control. A hexacopter consists of six rotors with three pairs of counter-rotating fixed-pitch blades. This mechanism is an under-actuated, dynamically unstable, six-degrees-of-freedom system. The whole motion of this object consists of translational and rotational motion in three dimensions, where the translational motion is created by changing the direction and magnitude of the upward propeller thrust. The hexacopter is controlled by adjusting the angular velocities of the rotors, which are spun by electric motors. It is assumed to be a rigid body; thus, the differential equation of the hexacopter dynamics can be derived from the Newton-Euler equation. The Euler-angle parametrization of the three-dimensional rotations contains singular points in the coordinate space that can cause failure of both the dynamical model and control. In order to avoid singularities, the rotations of the hexacopter are parametrized in terms of quaternions. This choice has been made considering the linearity of the quaternion formulation and their stability and efficiency. Further, control simulation of a hexacopter applying cascaded-PID control is also presented in this paper.

• Journal of the Korean Society for Precision Engineering
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• v.27 no.2
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• pp.34-39
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• 2010

In order to achieve and maintain dimensional accuracy in laser micro-machining, dominant parameters such as laser power and laser focus position need to be monitored and controlled real time. Also, in order to selectively machine multi-layered materials, the material being presently machined need to be recognized. This paper presents an auto-focusing (AF) module to keep laser focus on a large-area surface; a real-time laser power stabilizing module based on optical attenuation; and a laser-induced breakdown spectroscopy (LIBS) module. With these monitoring modules, position error in laser focus on a 4" silicon wafer was kept below $4{\mu}m$, initially $51{\mu}m$, and laser power stability of a UV laser source was improved from 1.6% to 0.3%. Also, the material transition from polyimide to copper in machining of FCCL (flexible copper clad laminate) was successfully observed.

• Journal of the Institute of Convergence Signal Processing
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• v.8 no.2
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• pp.130-135
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• 2007

This paper deals with a controller design for a 2 dimensional aeroelatic model which has unknown parameters including polynomial type nonlinearity. Actually in case of state and acuator signal having magnitude, rate and bandwidth limitations, the controller can't be implemented and so in each case, a filter is used for implementation. First, error signals are defined upon the backstepping theory, and tracking error signals are also defined due to command signal and filter signals and then compensated tracking error signals are defined. Lastly, a Lyapunov function is defined for the stabilization and from this method, an adaptive law is derived. Simulations are done for the demonstrtion of the effectiveness of the algorithms.

• Journal of the Korean Institute of Intelligent Systems
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• v.12 no.1
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• pp.80-84
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• 2002

This paper proposes a decentralized control technique for 2-dimensional experimental helicopter systems. The decentralized control technique is especially suitable in large-scale control systems. We derive the stabilization condition for the interconnected Takagi-Sugeno (TS) fuzzy system using the rigorous tool-Lyapunov stability criterion and formulate the controller design condition in terms of linear matrix inequality (LMI). To demonstrate the feasibility of the proposed method, we include the experiment result as well as a computer simulation one, which strongly convinces us the applicability to the industry.

• Proceedings of the Korean Society of Propulsion Engineers Conference
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• 2004.03a
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• pp.186-191
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• 2004

The reactive flowfield of the transverse injecting combustor has been studied using Euler-Lagrange method in order to develop an efficient solution procedure for the understanding of liquid spray combustion in the transverse injecting combustor which has been widely used in ramjets and turbojet afterburners. The unsteady two-dimensional gas-phase equations have been represented in Eulerian coordinates and the liquid-phase equations have been formulated in Lagrangian coordinates. The gas-phase equations based on the conservation of mass, momentum, and energy have been supplemented by combustion. The vaporization model takes into account the transient effects associated with the droplet heating and the liquid-phase internal circulation. The droplet trajectories have been determined by the integration of the Lagrangian equation in the flow field obtained from the separate calculation without considering the iterative effect between liquid and gas phases. The reported droplet trajectories had been found to deviate from the initial conical path toward the flow direction in the very end of its lifetime when the droplet size had become small due to evaporation. The integration scheme has been based on the TEACH algorithm for gas-phase equation, the second order Runge-Kutta method for liquid-phase equations and the linear interpolation between the two coordinate systems. The calculation results has shown that the characteristics of the droplet penetration and recirculation have been strongly influenced by the interaction between gas and liquid phases in such a way that most of the vaporization process has been confined to the wake region of the injector, thereby improving the flame stabilization properties of the flowfield.

• Journal of the Korean institute of surface engineering
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• v.36 no.1
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• pp.69-73
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• 2003

The atmospheric pressure plasma is regarded as an effective method for surface treatments because it can reduce the period of process and doesn't need expensive vacuum apparatus. The performance of non-transferred plasma torches is significantly depended on jet flow characteristics out of the nozzle. In order to produce the high performance of a torch, the maximum discharge velocity near an annular gap in the torch should be maintained. Also, the compulsory swirl is being produced to gain the shape that can concentrate the plasma at the center of gas flow. In this work, the distribution of gas flow that goes out to atmosphere through a plenum chamber and nozzle is analyzed to evaluate the performance of atmospheric pressure plasma torch which can present the optimum design of the torch. Numerical analysis is carried out with various angles of an inlet flow velocity. Especially, three-dimensional model of the torch is investigated to estimate swirl effect. We also investigate the stabilization of plasma distribution. For analyzing the swirl in the plenum chamber and the flow distribution, FVM (finite volume method) and SIMPLE algorithm are used for solving the governing equations. The standard k-model is used for simulating the turbulence.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.34 no.2
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• pp.75-81
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• 2006

Thermal effect of finite-rate chemistry on linear combustion stability and film-cooling effect are investigated in sample rocket engines. The flow variables required to evaluate stability limits are obtained from CFD data with finite-rate chemistry adopted in three dimensional chamber. Major flow variables are affected appreciably by finite--rate chemistry and thereby, the calculated stability limits are modified. It is found that finite-rate chemistry contributes to stability enhancement in thermal point of view. And film cooling also has the effect of combustion stabilization.

• Wind and Structures
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• v.17 no.3
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• pp.263-274
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• 2013

A numerical technique for fluid-structure interaction, which is based on the finite element method (FEM) and computational fluid dynamics (CFD), was developed for application to an industrial chimney equipped with a pendulum tuned mass damper (TMD). In order to solve the structural problem, a one-dimensional beam model (Navier-Bernoulli) was considered and, for the dynamical problem, the standard second-order Newmark method was used. Navier-Stokes equations for incompressible flow are solved in several horizontal planes to determine the pressure in the boundary of the corresponding cross-section of the chimney. Forces per unit length were obtained by integrating the pressure and are introduced in the structure using standard FEM interpolation techniques. For the fluid problem, a fractional step scheme based on a second order pressure splitting has been used. In each fluid plane, the displacements have been taken into account considering an Arbitrary Lagrangian Eulerian approach. The stabilization of convection and diffusion terms is achieved by means of quasi-static orthogonal subscales. For each period of time, the fluid problem was solved and the geometry of the mesh of each fluid plane is updated according to the structure displacements. Using this technique, along-wind and across-wind effects have been properly explained. The method was applied to an industrial chimney in three scenarios (with or without TMD and for different damping values) and for two wind speeds, showing different responses.

• Wind and Structures
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• v.38 no.3
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• pp.161-170
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• 2024

In recent years, there have been an increasing number of experimental studies showing the need to include robustness criteria in the design process to develop complex active control designs for practical implementation. The paper investigates the crosswind aerodynamic parameters after the blocking phase of a two-dimensional square cross-section structure by measuring the response in wind tunnel tests under light wind flow conditions. To improve the accuracy of the results, the interpolation of the experimental curves in the time domain and the analytical responses were numerically optimized to finalize the results. Due to this combined effect, the three aerodynamic parameters decrease with increasing wind speed and asymptotically affect the upper branch constants. This means that the aerodynamic parameters along the density distribution are minimal. Taylor series are utilized to describe the fuzzy nonlinear plant and derive the stability analysis using polynomial function for analyzing the aerodynamic parameters and numerical simulations. Due to it will yield intricate terms to ensure stability criterion, therefore we aim to avoid kinds issues by proposing a polynomial homogeneous framework and utilizing Euler's functions for homogeneous systems. Finally, we solve the problem of stabilization under the consideration by SOS (sum of squares) and assign its fuzzy controller based on the feasibility of demonstration of a nonlinear system as an example.

• Korean Journal of Optics and Photonics
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• v.16 no.3
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• pp.287-294
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• 2005

In this paper, an optical true time-delay (TTD) for two-dimensional (2-D) phased array antennas (PAAs), composed of a multi-wavelength optical source and a fiber optic delay line matrix consisting of $2\times2$ optical switches with optical fiber connected between cross ports, has been proposed. A 2-bit $\times4-bit$ optical TTD for 10-GHz 2-D PAAs has been implemented by cascading a wavelength dependent TTD (WD-TTD) and a wavelength independent TTD (WI-TTD). The unit time delay for WD-TTD and WI-TTD have been chosen as ${\Delta}T=12ps$ and $\Delta\tau=6ps$, respectively. Time delay have been measured at all radiation angles. The maximum delay error for WD-TTD was measured to be 3 ps due to jitter incurred from gain switching. For the case of WI-TTD, error was within ${\pm}\;1\;ps$. The proposed optical TTD for a 2-D PAA has the following advantages: 1) higher gain compared to one-dimensional linear PAAs, 2) stabilization of optical power and wavelength by using a multi-wavelength optical source, and 3) fast beam scan and simple operation due to electronic control of the $2\times2$ optical switches matrix on a column-by-column basis.