• International Journal of Aeronautical and Space Sciences
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• v.16 no.2
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• pp.278-294
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• 2015

Considering the guidance and control problem of the near space interceptor (NSI) during the terminal course, this paper proposes a three-channel independent integrated guidance and control (IGC) scheme based on the backstepping sliding mode and finite time disturbance observer (FTDO). Initially, the three-channel independent IGC model is constructed based on the interceptor-target relative motion and nonlinear dynamic model of the interceptor, in which the channel coupling term and external disturbance are regarded as the total disturbances of the corresponding channel. Then, the FTDO is introduced to estimate the target acceleration and control system loop disturbances, and the feed-forward compensation term based on the estimated values is employed to effectively remove the effect of disturbances in finite time. Subsequently, the IGC algorithm based on the backstepping sliding mode is also given to obtain the virtual control moment. Furthermore, a robust least-squares weighted control allocation (RLSWCA) algorithm is employed to distribute the previous virtual control moment among the corresponding aerodynamic fins and reaction jets, which also takes into account the uncertainty in the control effectiveness matrix. Finally, simulation results show that the proposed IGC method can obtain the small miss distance and smooth interceptor trajectories.

• Journal of the Korean Society of Propulsion Engineers
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• v.11 no.4
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• pp.26-37
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• 2007

A virtual engine test based on "Numerical test cell" can extremely reduce the time and cost for the development of a hardware by coupling multidisciplinary analysis. This paper introduces the development activities of full engine simulation programs in U.S.A. and Europe, with the their related techniques(the engineering models, the simulation environment and high performance computing) based on the NPSS(Numerical Propulsion System Simulation). NASA Glenn research conte. leads the development efforts of NPSS by assembling the current codes and improving their Auctions. VIVACE(Value Improvement through a Virtual Aeronautical Collaborative Enterprise), a consortium of universities, research centers and companies in Europe, is developing the PROOSIS(PRopulsion Object Oriented Simulation Software). The capability for the domestic development is also estimated by surveying the current status.

• Advances in aircraft and spacecraft science
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• v.7 no.1
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• pp.79-90
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• 2020

The dynamic coupling between shaker and test-article has been investigated by recent research through the so called Virtual Shaker Testing (VST) approach. Basically a VST model includes the mathematical models of the test-item, of the shaker body, of the seismic mass and the facility vibration control algorithm. The subsequent coupled dynamic simulation even if more complex than the classical hard-mounted sine test-prediction, is a closer representation of the reality and is expected to be more accurate. One of the most remarkable benefits of VST is the accurate quantification of the frequency down-shift (with respect to the hard-mounted value), typically affecting the first lateral resonance of heavy test-items, like medium or large size Spacecraft (S/Cs), once mounted on the shaker. In this work, starting from previous successful VST experiences, the parameters having impact on the frequency shift are identified and discussed one by one. A simplified analytical system is thus defined to propose an efficient and effective way of calculating the lower bound frequency shift through a simple equation. Such equation can be useful to correct the S/C lateral natural frequency measured during the test, in order to remove the contribution attributable to the shaker in use. The so-corrected frequency value becomes relevant when verifying the compliance of the S/C w.r.t. the frequency requirement from the Launcher Authority. Moreover, it allows to perform a consistent post-test correlation of the first lateral natural frequency of S/C FE model.

• Journal of the Korean Magnetics Society
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• v.26 no.6
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• pp.206-212
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• 2016

The shape of a iron bed supporting a permanent magnet in a large-sized motor is a important factor for determining the coupling strength with the yoke. In a large-sized motor, there is a difference in electromagnetic force with the yoke depending on the shape of the iron bed. In this paper, we show the differences and problems by calculating the electromagnetic force between the double bed and the single bed through the virtual air gap, and show that the single bed is superior in terms of the binding force. It is also shown that the binding force between the bed and the yoke is improved by carving the groove shape under the bed.

• Journal of Electrical Engineering and Technology
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• v.13 no.5
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• pp.1935-1944
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• 2018

With the increase of the production of energy from renewable, it becomes important to look at techniques to store this energy. Therefore, a single winding bearingless flywheel motor (SWBFM) specially for flywheel energy storage system is introduced. For the control system of SWBFM, coupling between the torque and the suspension subsystems exists inevitably. It is necessary to build a reasonable radial force mathematical model to precisely control SWBFM. However, SWBFM has twelve independently controlled windings which leads to high-order matrix transformation and complex differential calculation in the process of mathematical modeling based on virtual displacement method. In this frame, a Maxwell tensor modeling method which is no need the detailed derivation and complex theoretical computation is present. Moreover, it possesses advantages of universality, accuracy, and directness. The fringing magnetic path is improved from straight and circular lines to elliptical line and the rationality of elliptical line is verified by virtual displacement theory according to electromagnetic torque characteristics. A correction function is taken to increase the model accuracy based on finite element analysis. Simulation and experimental results show that the control system of SWBFM with radial force mathematical model based on Maxwell tensor method is feasible and has high precision.

• Journal of computational fluids engineering
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• v.22 no.1
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• pp.15-25
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• 2017

Swirl flow is often found in proximal coronary arteries, because the aortic valves can induce swirl flows in the coronary artery due to vortex formation. In addition, the curvature and tortuosity of arterial configurations can also produce swirl flows. The present study was performed to investigate fractional flow reserve alterations in a post-stenotic distal part due to the presence of pre-stenotic swirl flow by computational fluid dynamics analysis for virtual stenotic models by quantifying fractional flow reserve(FFR). Simplified stenotic coronary models were divided into those with and without pre-stenotic swirl flow. Various degrees of virtual stenosis were grouped into three grades: mild, moderate, and severe, with degree of stenosis of 0 ~ 40%, 50 ~ 60%, and 70 ~ 90%, respectively. In this study, three-dimensional computational hemodynamic simulations were performed under hyperemic conditions in virtual stenotic coronary models by coupling with a zero-dimensional lumped parameter model. The results showed that the influence of pre-stenotic swirl inflow is dominant on FFR alteration in mild stenosis, whereas stenosis is dominant on FFR alteration in moderate/severe stenosis. The decrease in FFR caused by swirl flow is more significant in mild stenosis than moderate/severe stenosis. Biomechanical modeling is useful for clinicians to provide insight for medical intervention strategies. This hemodynamic-based parameter study could play a critical role in the development of a non-invasive imaging-based strategy-support system for percutaneous transluminal angioplasty in cases of mild/moderate stenosis.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.2765-2770
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• 2003

This paper introduces a novel control algorithm, energy bounding algorithm, for stable haptic interaction. The energy bounding algorithm restricts energy generated by zero-order hold within consumable energy by physical damping that is energy consumption element in the haptic interface. The passivity condition can always be guaranteed by the energy bounding algorithm. The virtual coupling algorithm restricts the actuator force with respect to the penetration depth and restricts generated energy. In contrast, energy bounding algorithm restricts the change of actuator force with respect to time and restricts generated energy by zero-order hold. Therefore, much stiffer contact simulation can be implemented by the energy bounding algorithm. Moreover, the energy bounding algorithm doesn’t is not computationally intensive and the implementation of it is very simple.

• Journal of Institute of Control, Robotics and Systems
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• v.15 no.3
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• pp.306-314
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• 2009

The pelvis platform is the mechanical part which accomplishes the activities of diminishing the disturbances from the lower body and maintaining a balanced posture. When a biped robot walks, a lot of disturbances and irregular vibrations are generated and transmitted to the upper body. As there are some important machines and instruments in the upper body or head such as CPU, controller units, vision system, etc., the upper part should be isolated from disturbances or vibrations to functions properly and finally to improve the biped stability. This platform has 3 rotational degrees of freedom and is able to maintain balanced level by feedback control system. Some sensors are fused for more accurate estimation and the control system which integrates synchronization and active filtering is simulated on the virtual environment.

• The Transactions of the Korean Institute of Electrical Engineers C
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• v.48 no.1
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• pp.57-61
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• 1999

Multiple slab waveguides are analyzed by using the transfer matrix method and by introducing a virtual leaky layer. It is shown that the analysis is conceptually equivalent to the prism coupling phenomenon. The Lorentzian function is made use of toobtain the eigenvalues of multiple waveguides. Computer simulations are performed onsingle layered, double layered wavegurdes. The calculation results are confirmed to agree well with those of the finite difference method.

• Journal of Biomedical Engineering Research
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• v.37 no.3
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• pp.105-111
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• 2016

Introduction: Surgical robot is the alternative instrument that substitutes the difficult and precise surgical operation; should have intuitiveness operationally to transfer natural motions. There are limitations of hand motion derived from contacting mechanical handle in the surgical robot master interface such as mechanical singularity, isotropy, coupling problems. In this paper, we will confirm and verify the feasibility of intuitive Non-restraint master interface which tracking the hand motion using infra-red camera and only 3 reflective markers without the hardware handle for the surgical robot master interface. Materials & methods: We configured S/W and H/W system; arranged 6 infra-red cameras and attached 3 reflective markers on hands for measuring 3 dimensional coordinate then we find the 7 motions of grasp, yaw, pitch, roll, px, py, pz. And we connected Virtual-Master to the slave surgical robot(Laparobot) and observed the feasibility. To verify the result of motion, we compare the result of Non-restraint master and that of clinometer (and protractor) through measuring 0~180 degree, 10degree interval, 1000 samples and recorded standard deviation stands for error rate of the value. Results: We confirmed that the average angle values of Non-restraint master interface is accurately corresponds to the result of clinometer (and protractor) and have low error rates during motion. Investigation & Conclusion: In this paper, we confirmed the feasibility and accuracy of 3D Non-restraint master interface that can offer the intuitive motion of non-contact hardware handle. As a result, we can expect the high intuitiveness, dexterousness of surgical robot.