• 한국항공우주학회지
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• 제34권4호
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• pp.40-46
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• 2006

위성기술의 비약적 발달에 따라서 설계 및 제작에 소용되는 비용은 저렴하지만 신뢰도가 높은 인공위성 자세제어 시스템 개발이 요구되고 있다. 본 연구는 이러한 요구를 만족시키기 위해 반작용휠에 의한 모멘텀 바이어스 벡터가 임의의 방향(태양 방향)을 지향하고 안정화되는 위성시스템을 제시하였다. 위성 시스템에서 고장 가능성이 가장 적은 자기장 센서, 저정밀 태양센서 및 자기토커를 센서와 구동기로 사용하였으며, 고전적 선형 제어방법에 의해 2축 제어하는 제어시스템 설계방법을 제시하였다. 제어기는 PD 형태의 간단한 제어기가 사용되었고, 선형화된 위성시스템에 대한 PD 제어기 설계방법이 적절한 가정과 함께 제시되었다. 제시된 제어기 설계방법에 의해 설계된 폐루프 시스템의 장기 안정성 검증을 위해서 비선형 시뮬레이션 방법을 사용하였다.

• Advances in aircraft and spacecraft science
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• 제7권6호
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• pp.553-570
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• 2020

To address the problems caused by the strong coupling of an airbreathing hypersonic vehicle's airframe and propulsion to the integrated control system design, an integrated airframe-propulsion model is established, and the coupling characteristics between the aircraft and engine are analyzed. First, the airframe-propulsion integration model is established based on the typical nonlinear longitudinal dynamical model of an air-breathing hypersonic vehicle and the one-dimensional dual-mode scramjet model. Thrust, moment, angle of attack, altitude, and velocity are used as transfer variables between the aircraft model and the engine model. The one-dimensional scramjet model can accurately reflect the working state of the engine and provide data to support the coupling analysis. Second, owing to the static instability of the aircraft model, the linear quadratic regulator (LQR) controller of the aircraft is designed to ensure attitude stability and height tracking. Finally, the coupling relationship between the aircraft and the engine is revealed through simulation examples. The interaction between vehicle attitude and engine working condition is analyzed, and the influence of vehicle attitude on engine safety is considered. When the engine is in a critical working state, the attitude change of the aircraft will not affect the engine safety without considering coupling, whereas when coupling is considered, the attitude change of the aircraft may cause the engine unstart, which demonstrates the significance of considering coupling characteristics.

• 한국진공학회:학술대회논문집
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• 한국진공학회 2011년도 제40회 동계학술대회 초록집
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• pp.185-185
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• 2011

ZnTe semiconductor is very attractive materials for optoelectronic devices in the visible green spectral region because of it has direct bandgap of 2.26 eV. The prototypes of ZnTe light emitting diodes (LEDs) have been reported [1], showing that their green emission peak closely matches the most sensitive region of the human eye. Another application to photovoltaics proved that ZnTe is useful for the production of high-efficiency multi-junction solar cells [2,3]. By using the pulse laser deposition system, ZnTe thin films were deposited on ZnO thin layer, which is grown on (0001) Al2O3substrates. To produce the plasma plume from an ablated ZnO and ZnTe target, a pulsed (10 Hz) YGA:Nd laser with energy density of 95 mJ/$cm^2$ and wavelength of 266 nm by a nonlinear fourth harmonic generator was used. The laser spot focused on the surface of the ZnO and ZnTe target by using an optical lens was approximately 1 mm2. The base pressure of the chamber was kept at a pressure around $10^{-6}$ Torr by using a turbo molecular pump. The oxygen gas flow was controlled around 3 sccm by using a mass flow controller system. During the ZnTe deposition, the substrate temperature was $400^{\circ}C$ and the ambient gas pressure was $10^{-2}$ Torr. The structural properties of the samples were analyzed by XRD measurement. The optical properties were investigated by using the photoluminescence spectra obtained with a 325 nm wavelength He-Cd laser. The film surface and carrier concentration were analyzed by an atomic force microscope and Hall measurement system.

• 한국항공우주학회지
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• 제33권1호
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• pp.85-92
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• 2005

가동노즐의 회전운동을 가능케 하는 플렉스실 베어링은 고정되어 있지 않은 회전중심과 고체모터의 연소압력에 의한 압축운동 등과 같은 고유의 비선형 운동특성을 갖는다. 이를 극복하고 발사체의 정확한 자세제어를 수행하기 위해서 플렉스실 베어링 장착 가동노즐의 추력벡터제어용 구동장치시스템은 보상제어회로 구성을 위한 별도의 가동노즐 위치정보 궤환 센서인 카운터 포텐시오미터를 필요로 한다. 이를 반영한 고체모터 가동노즐 추력벡터제어용 구동장치시스템 시제품 및 시험평가장치, 보상제어회로에 대한 설계 및 제작, 시험이 수행되었다. 연계통합시험 결과를 바탕으로 플렉스실 베어링을 장착한 가동노즐의 고유특성과 이의 추력벡터제어에 사용되는 구동장치시스템의 제어특성을 분석하였으며 그 결과를 본 논문에 요약하였다.

• International Journal of Aeronautical and Space Sciences
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• 제11권1호
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• pp.10-18
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• 2010

The purpose of this paper deals with direct multiple-shooting method (DMS) to resolve helicopter maneuver problems of helicopters. The maneuver problem is transformed into nonlinear problems and solved DMS technique. The DMS method is easy in handling constraints and it has large convergence radius compared to other strategies. When parameterized with piecewise constant controls, the problems become most effectively tractable because the search direction is easily estimated by solving the structured Karush-Kuhn-Tucker (KKT) system. However, generally the computation of function, gradients and Hessian matrices has considerably time-consuming for complex system such as helicopter. This study focused on the approximation of the KKT system using the matrix exponential and its integrals. The propose method is validated by solving optimal control problems for the linear system where the KKT system is exactly expressed with the matrix exponential and its integrals. The trajectory tracking problem of various maneuvers like bob up, sidestep near hovering flight speed and hurdle hop, slalom, transient turn, acceleration and deceleration are analyzed to investigate the effects of algorithmic details. The results show the matrix exponential approach to compute gradients and the Hessian matrix is most efficient among the implemented methods when combined with the mixed time integration method for the system dynamics. The analyses with the proposed method show good convergence and capability of tracking the prescribed trajectory. Therefore, it can be used to solve critical areas of helicopter flight dynamic problems.

• 한국항공우주학회지
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• 제42권4호
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• pp.317-325
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• 2014

스트랩다운 탐색기를 장착한 유도탄의 경우 유도에 필요한 시선각속도 추출을 위해서는 탐색기 측정치인 관측각속도에서 동체각속도 성분을 보상해 주어야 한다. 관측각속도에 포함된 동체각속도와 동체각속도 성분의 보상에 사용되는 자이로 출력인 동체각속도의 신호 특성의 차이는 호밍루프의 불안정성을 야기한다. 본 논문에서는 자이로 출력에 탐색기 지연을 고려하여 보상신호의 특성을 일치시키고, 탐색기 지연에 오차가 있을 경우에도 전체 호밍루프의 안정화를 이루기 위해 유도명령 단에 PID제어기를 적용하는 호밍루프 설계방법을 제안하였다. 보상 전 후의 선형모델 대한 안정성해석을 수행하였고, 비선형 6자유도 시뮬레이션을 통해 설계된 호밍루프의 안정성과 성능을 검증하였다.

• Journal of Astronomy and Space Sciences
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• 제26권1호
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• pp.31-46
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• 2009

An Unscented Kalman Filter (UKF) for estimation of the attitude and rate of a spacecraft using only magnetometer vector measurement is developed. The attitude dynamics used in the estimation is the nonlinear Euler's rotational equation which is augmented with the quaternion kinematics to construct a process model. The filter is designed for small satellite in low Earth orbit, so the disturbance torques include gravity-gradient torque, magnetic disturbance torque, and aerodynamic drag torque. The magnetometer measurements are simulated based on time-varying position of the spacecraft. The filter has been tested not only in the standby mode but also in the detumbling mode. Two types of actuators have been modeled and applied in the simulation. The PD controller is used for the two types of actuators (reaction wheels and thrusters) to detumble the spacecraft. The estimation error converged to within 5 deg for attitude and 0.1 deg/s for rate respectively when the two types of actuators were used. A joint state parameter estimation has been tested and the effect of the process noise covariance on the parameter estimation has been indicated. Also, Monte-Carlo simulations have been performed to test the capability of the filter to converge with the initial conditions sampled from a uniform distribution. Finally, the UKF performance has been compared to that of the EKF and it demonstrates that UKF slightly outperforms EKF. The developed algorithm can be applied to any type of small satellites that are actuated by magnetic torquers, reaction wheels or thrusters with a capability of magnetometer vector measurements for attitude and rate estimation.

• 한국지진공학회논문집
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• 제9권2호통권42호
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• pp.7-15
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• 2005

본 연구에서는 하이브리드 면진장치가 설치된 단자유도 구조물의 동적거동을 예측할 수 있는 수치해석모델을 제안한다. 하이브리드 면진장치는 MR 감쇠기와 마찰진자시스템(FPS)으로 구성된다. MR감쇠기의 동적거동을 모형화하기 위하여 뉴로-퍼지 모델을 사용한다. 다양한 변위, 속도, 전압의 조합을 사용하여 MR 감쇠기의 성능실험을 수행한 후 얻어진 데이터를 이용하여 MR 감쇠기 뉴로-퍼지 모델을 ANFIS로 학습시킨다. FPS의 모형화는 본 연구에서 유도한 비선형 모델식에 근거하여 뉴로-퍼지 모형화방법을 사용하여 이루어진다. 본 연구에서는 MR 감쇠기로 전달되는 제어전압을 조절하기 위하여 퍼지논리제어기를 사용한다. 다양한 지진하중을 사용한 진동대 실험을 통하여 얻은 실험체의 동적응답과와 뉴로-퍼지 모형화방법을 사용한 수치해석의 결과를 비교한다. 뉴로-퍼지 모델을 사용하여 MR 감쇠기와 FPS를 모형화해서 수치해석을 수행한 결과 하이브리드 면진장치의 동적거동을 매우 정확하게 예측할 수 있었다.

• Journal of Power Electronics
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• 제6권1호
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• pp.38-44
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• 2006

In this paper, a speed sensorless control for an ultrasonic motor (USM) using a neural network (NN) is presented. In the proposed method, rotor speed is estimated by a three-layer NN which adapts nonlinearities associated with load torque and motor temperature into control. The intrinsic properties of a USM, such as high torque for low speeds, high static torque, compact size, etc., offer great advantages for industrial applications. However, the speed property of a USM has strong nonlinear properties associated with motor temperature and load torque, which make accurate speed control difficult. These properties are considered in designing a control method through the application of mathematical models. In these strategies, a detailed speed model of the USM is required which makes actual applications impractical. In the proposed method, a three-layer NN estimates the speed of the USM from the drive frequency, the root mean square value of input voltage and the surface temperature of the USM, where no mechanical speed sensor is needed. The NN speed based estimator enables inclusion of variations in driving conditions due to input signals of the NN involved during the driving state of the USM. The disuse of sensors offers many advantages on both the cost and maintenance front. Moreover, the model free sensorless control method offers practical controller construction within a small number of parameters. To validate the proposed speed sensorless control method for a USM, experiments have been executed under several conditions.

• 전자공학회논문지CI
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• 제39권1호
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• pp.48-59
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• 2002

본 논문에서는 어느 한 TSK(Takagi-Sugeno-Kang) 퍼지시스템이 주어 졌을 때 그 퍼지시스템과 동일한 입출력 관계를 갖는 singleton 퍼지시스템을 구하는 방법을 제안하고 응용 예를 보인다. 퍼지규칙의 결론부가 선형식인 퍼지시스템(TSK퍼지시스템)은 입출력 데이터로 모델 인식이 체계적으로 쉽게 이루어 질 수 있으며, 안정성을 보장하는 퍼지제어기 설계도 관한 연구도 많이 되어 있다. 한편 퍼지규칙 결론부가 실수인 퍼지시스템(singleton 퍼지시스템)은 규칙이 언어적 형태이므로 이해하기가 쉽고, 규칙의 조정이 용이한 장점이 있다. 이러한 두 퍼지 시스템의 장점을 살릴 수 있는 방안으로, TSK 퍼지시스템을 singleton 퍼지시스템으로 변환시키는 방법을 제안하며, 제안한 방법을 퍼지모델링과 퍼지제어기 설계에 응용하여 그 실용성을 보인다.