• 제어로봇시스템학회논문지
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• 제14권3호
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• pp.254-262
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• 2008

In this paper, we propose an adaptive neural dynamic surface control (DSC) approach with $H_{\infty}$ tracking performance for full dynamics of nonlinear flight systems. It is assumed that the model uncertainties such as structured and unstrutured uncertainties, and external disturbances influence the nonlinear aircraft model. In our control system, self recurrent wavelet neural networks (SRWNNs) are used to compensate the model uncertainties of nonlinear flight systems, and an adaptive DSC technique is extended for the disturbance attenuation of nonlinear flight systems. All weights of SRWNNs are trained on-line by the smooth projection algorithm. From Lyapunov stability theorem, it is shown that $H_{\infty}$ performance nom external disturbances can be obtained. Finally, we present the simulation results for a nonlinear six-degree-of-freedom F-16 aircraft model to confirm the effectiveness of the proposed control system.

• 제어로봇시스템학회논문지
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• 제7권7호
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• pp.574-581
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• 2001

In this paper we design and evaluate the longitudinal nonlinear N(aub)z-CSAS(Command and Stability Augmentation System) flight control law in \"DMI(Dynamic Model Inversion)-method\" and classical \"Gain Scheduling-method\", respectively, to meet the handling quality requirements associated with push-over pull-up maneuver. It is told that the flight control law designed in \"DM-method\" is adequate to the full flight regime without gain scheduling and is efficient to produce the time response shape desired to the handling quality requirements. On the contrary, the flight control law designed in \"Gain Scheduling-method\" is easy to be implemented in flight control computer and insensitive to variation of the actuator model characteristics.n of the actuator model characteristics.

• 한국항공우주학회지
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• 제38권2호
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• pp.169-179
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• 2010

3중 비행제어시스템이 종래의 4중 비행제어시스템과 유사한 수준의 시스템 신뢰성과 이중 결함시의 안전한 운용성능을 제공하기 위해서는 기존의 고전적인 다중화 설계기법에 많은 변경과 수정이 필요하다. 이에 따라 국내에서 개발된 고등훈련기급의 3중 비행제어시스템 다중화 설계기법은 4중 시스템과 동일한 수준의 생존성을 확보하기 위해서 3중 시스템의 핵심인 비행제어컴퓨터의 입출력 프로세서와 메인 프로세서를 기능적으로 분리시켜 상호 고장에 대한 영향성을 최소화키고, 시스템의 치명적인 결함을 검출하기 위해서 특별한 고장 분석 기법과 격리 알고리즘을 적용하여 비행제어시스템의 안정성과 신뢰도가 보장되도록 설계하였다. 본 논문은 이러한 다중 시스템 구조와 고장관리 설계기법을 소개하고 설계된 3중 비행제어시스템의 손실율 분석을 통해서 기존 신뢰성 요구도가 만족됨을 해석적으로 입증하였으며, 또한 3중 비행제어시스템의 각종 고장모드에 대한 시스템 영향성 및 안정성 시험을 통해서 그 성능을 검증하였다.

• 한국군사과학기술학회지
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• 제14권2호
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• pp.213-221
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• 2011

Avionics system tends to be designed to have the integrated architecture, and it is getting difficult and complex to verify the flight-critical function because of sophisticated structure. In Korean Utility Helicopter, mission computer acts as the MUX Bus Controller to handle the data from both communication, identification, mission/display and survivability equipment inside Mission Equipment Package and aircraft subsystems such as fuel system and electrical system while it is interfacing with Automatic Flight Control System and Full-Authority Digital Engine Control via ARINC-429 bus. The Flight Displays which is classified as flight-critical function in aircraft is implemented on Primary Flight Display after mission computer processes data from AFCS in order to generate graphics. This paper defines the flight-critical function implemented in mission computer for KUH, and presents the static and dynamic test procedures which is performed on System Integration Laboratory along with Playback Recorder prior to flight test.

• 제어로봇시스템학회논문지
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• 제22권9호
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• pp.759-765
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• 2016

This paper presents the principle, dynamics modeling and control, hardware implementation, and flight test result of a hybrid-type unmanned aerial vehicle (UAV). The proposed UAV was designed to provide both hovering and fixed-wing type aerodynamic flight modes. The UAV's flight mode transition was achieved through the attitude transformation in pitch axis, which avoids a complex rotor tilt mechanism from a structural and control viewpoint. To achieve this, a different navigation coordinate was introduced that avoids the gimbal lock in pitch singularity point. Attitude and guidance control algorithms were developed for the flight control system. For flight test purposes, a quadrotor attached with a tailless fixed-wing structure was manufactured. An onboard flight control computer was designed to realize the navigation and control algorithms and the UAV's performance was verified through the outdoor flight tests.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2007년도 제38회 하계학술대회
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• pp.1728-1729
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• 2007

This paper presents an adaptive neural dynamic surface control (DSC) approach with $H_{\infty}$ tracking performance for a full dynamics of a nonlinear flight system. It is assumed in this paper that model uncertainties such as structured and unstrutured uncertainties and external disturbances influence the nonlinear aircraft model. In our control system, self recurrent wavelet neural networks (SRWNNs) are used to compensate model uncertainties of the nonlinear flight system, and an adaptive DSC technique is extended for disturbance attenuation of the nonlinear flight system. From Lyapunov stability theorem, it is shown that $H_{\infty}$ performance from external disturbances can be obtained. Finally, we perform the simulation for the nonlinear six-degree-of-freedom F-16 aircraft model to confirm the effectiveness of the proposed control system.

• 제어로봇시스템학회논문지
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• 제18권9호
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• pp.878-886
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• 2012

This paper investigates the implementation and flight test of realtime vision guided autopilot system based on virtual instrumentation platform. A graphical design process via virtual instrumentation platform is fully used for the image processing, communication between systems, vehicle dynamics control, and vision coupled guidance algorithms. A significatnt ojective of the algorithm is to achieve an environment robust autopilot despite wind and an irregular image acquisition condition. For a robust vision guided path tracking and hovering performance, the flight path guidance logic is combined in a multi conditional basis with the position estimation algorithm coupled with the vehicle attitude dynamics. An onboard flight test equipped with the developed realtime vision guided autopilot system is done using the rotary UAV system with full attitude control capability. Outdoor flight test demonstrated that the designed vision guided autopilot system succeeded in UAV's hovering on top of ground target within about several meters under geenral windy environment.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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• pp.460-460
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• 2000

Until now various model matching systems have been proposed for linear system, but very little has been done for nonlinear system In this paper, a design method of discrete time flight control system using nonlinear model matching is proposed. This method is based on Hirschorn's algorithm and facilitates easy determination of the control law using the relationship, between the output and the input, which is obtained by the time shift of the output. Also as a result, this method is the extension of the linear model matching control system proposed by Wolovich, in which the control law is obtained by left-multiplying the output by the interactor matrix. At the end of paper, the proposed control system is applied to CCV flight control system of an aircraft and the feasibility of the proposed approach is shown by the numerical simulations.

• 한국항행학회논문지
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• 제10권4호
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• pp.299-305
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• 2006

두루미-II는 다목적 Test bed 항공기로서 개발되었으며, 일반적인 항공기의 비행동역학을 만족한다. 두루미-II의 비행시험 자료를 획득하기 위한 시스템이 탑재되어 있으며, 자동비행이 가능하도록 설계되었다. 본 연구에서는 두루미-II 조종시스템의 작동 순서를 설명한다. 분할된 조종면과 비행시험을 위해 요구되는 프로그램을 설명한다. 또한, 새로운 방법을 통한 정확한 조종입력을 인가하는 방법을 설명한다. 새로운 조종입력을 통한 비행시험 결과를 해석한다.

• International Journal of Internet, Broadcasting and Communication
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• 제10권2호
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• pp.13-18
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• 2018

Drones are controlled by the remote pilot from the ground stations using the radio control or autonomously following the pre-programmed flight plans. In this paper, we develop a method and an optimal path search system for providing 3D augmented reality flight (ARF) images for safe and efficient flight control of drones. The developed system consisted of the drone, the ground station and user terminals, and the optimal path search server. We use the Dijkstra algorithm to find the optimal path considering the drone information, flight information, environmental information, and flight mission. We generate a 3D augmented reality flight (ARF) image overlaid with the path information as well as the drone information and the flight information on the flight image received from the drone. The ARF image for adjusting the drone is generated by overlaying route information, drone information, flight information, and the like on the image captured by the drone.