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REFERENCE LINKING PLATFORM OF KOREA S&T JOURNALS
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Journal of Institute of Control, Robotics and Systems
Journal Basic Information
Journal DOI :
Institute of Control, Robotics and Systems
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Volume & Issues
Volume 11, Issue 12 - Dec 2005
Volume 11, Issue 11 - Nov 2005
Volume 11, Issue 10 - Oct 2005
Volume 11, Issue 9 - Sep 2005
Volume 11, Issue 8 - Aug 2005
Volume 11, Issue 7 - Jul 2005
Volume 11, Issue 6 - Jun 2005
Volume 11, Issue 5 - May 2005
Volume 11, Issue 4 - Apr 2005
Volume 11, Issue 3 - Mar 2005
Volume 11, Issue 2 - Feb 2005
Volume 11, Issue 1 - Jan 2005
Selecting the target year
Oscillation Control for a Electro-Magnetic Vibratory Gyroscope
Kong, Hyeong-Jik ; Lee, Sug-Chon ; Park, Sung-Su ; Hong, Sung-Kyung ;
Journal of Institute of Control, Robotics and Systems, volume 11, issue 3, 2005, Pages 187~192
DOI : 10.5302/J.ICROS.2005.11.3.187
This paper presents the design of the Automatic Gain Control (AGC) system for the drive axis of a electro-magnetic driven cylinder gyroscope. The simulation and experimental results show that the designed AGC excites the cylinder at its natural frequency and maintains a specified amplitude of oscillations, and also track the natural frequency shifts due to temperature variations. The sensing performance of the AGC driven gyroscope is shown to be greatly improved compared to that of the open-loop driven one.
Development of Simulation Program for Tilt Rotor Aircraft
Yoo, Chang-Sun ; Choi, Hyung-Sik ; Park, Bum-Jin ; Ahn, Sung-Jun ; Kang, Young-Shin ;
Journal of Institute of Control, Robotics and Systems, volume 11, issue 3, 2005, Pages 193~199
DOI : 10.5302/J.ICROS.2005.11.3.193
VTOL(Vertical Take-Off and Landing) aircraft is attractive due to the reason that it is not necessary to have long runway. However a rotorcraft has a definite limitation to fly at the high speed due to the stall at the tip of rotor. To solve this problem, tilt rotor, tilt wing and lift fan were researched and developed. It was verified that the tilt rotor aircraft among them was more effective in disk loading. On this basis, the tilt rotor aircraft has been made into XV-15, V-22, BA-609 and Eagle Eye. This paper shows a nonlinear simulation program for general tilt rotor aircraft that was developed in order to validate the flight characteristics of tilt rotor aircraft and verified through the simulation analysis.
Model-Free Hybrid Fault Detection and Isolation For UAV Inertial Measurement Sensors
Kim, Seung-Keun ; Kim, You-Dan ;
Journal of Institute of Control, Robotics and Systems, volume 11, issue 3, 2005, Pages 200~206
DOI : 10.5302/J.ICROS.2005.11.3.200
In this paper, a redundancy management system for aircraft is studied, and FDI (Fault Detection and Isolation) algorithm of inertial sensor system is proposed. UAV system cannot allow triple or quadruple hardware redundancy due to the limitations on space and weight. In the UAV system with dual sensors, it is very difficult to identify the faulty sensor. Also, conventional FDI method cannot isolate multiple faults in a triple redundancy system. In this paper, hardware based FDI technique is proposed, which combines a parity equation approach with the wavelet based technique, which is a model-free FDI method. To verify the effectiveness of the proposed FDI method, numerical simulations are performed.
Guidance and Control Algorithm for Waypoint Following of Tilt-Rotor Airplane in Helicopter Flight Mode
Ha, Cheol-Keun ; Yun, Han-Soo ;
Journal of Institute of Control, Robotics and Systems, volume 11, issue 3, 2005, Pages 207~213
DOI : 10.5302/J.ICROS.2005.11.3.207
This paper deals with an autonomous flight guidance and control algorithm design for TR301 tilt-rotor airplane under development by Korea Aerospace Research Institute for simulation purpose. The objective of this study is to design autonomous flight algorithm in which the tilt-rotor airplane should follow the given waypoints precisely. The approach to this objective in this study is that, first of all, model-based inversion is applied to the highly nonlinear tilt-rotor dynamics, where the tilt-rotor airplane is assumed to fly at helicopter flight mode(nacelle angle=0 deg), and then the control algorithm, based on classical control, is designed to satisfy overall system stabilization and precise waypoint following performance. Especially, model uncertainties due to the tiltrotor model itself and inversion process are adaptively compensated in a simple neural network(Sigma-Phi NN) for performance robustness. The designed algorithm is evaluated in the tilt-rotor nonlinear airplane in helicopter flight mode to analyze the following performance for given waypoints. The simulation results show that the waypoint following responses for this algorithm are satisfactory, and control input responses are within control limits without saturation.
The Analyses of Dynamic Characteristics and Flight Test Results of Airship Throughout the Flight Test
Woo, Gui-Aee ; Kim, Jong-Kwon ; Cho, Kyeum-Rae ; Lee, Dae-Woo ;
Journal of Institute of Control, Robotics and Systems, volume 11, issue 3, 2005, Pages 214~221
DOI : 10.5302/J.ICROS.2005.11.3.214
For decades, airships have being developed in Europe (especially German) and America. Airships are planning to be used for advertisements and airliners as well. In Korea, KARI (Korea Aerospace Research Institute) is developing stratospheric communication airship and the similar research is carried out in Japan. Among them, Zeppelin of German has the cutting-edge airship technology with Zeppelin NT. In this paper, the flight performance and stability were evaluated by comparing mathematical theory and the real test. The stability was examined through dynamic modeling and assured by designing controllers at each flight mode. Elevator angle, rudder angle, magnitude of thrust and tilting angle of thrust vector were used as control inputs. Moreover, after measuring the airship velocity, flight direction, magnitude and direction of the wind, attitude angles and trajectories of the airship at each flight mode, the results were compared with the simulation. To get the reasonable data, low-pass filter and band-stop filter were designed to get rid of the sensor noise and engine vibration. The test was accomplished at cruise mode, turning mode, and deceleration. To conclude, with comparing the simulation data and flight test data, it could be known that the dynamic model used in this paper was reasonable.
Success Rate Analysis in GPS Attitude Determination Using a Unscented Kalman Filter
Kwon, Chul-Bum ; Chun, Se-Bum ; Lee, Eun-Sung ; Kang, Tae-Sam ; Jee, Gyu-In ; Lee, Young-Jae ;
Journal of Institute of Control, Robotics and Systems, volume 11, issue 3, 2005, Pages 222~227
DOI : 10.5302/J.ICROS.2005.11.3.222
Resolving the integer ambiguity of GPS carrier phase measurements is the most important routine in precise positioning. In this paper, success rate is analyzed when using baseline information in the process of determining attitude. The result is verified through the simulation. Determining the initial position for the ambiguity resolution is estimated by using code measurement and baseline constraint. Success rate is estimated using covariance of the formed initial position. UKF has been used to overcome the nonlinear baseline condition during the process so that the higher success rate has been obtained compared with the general attitude determination.
The Vertical Wind Tunnel Test for Spin Mode Improvement of KTX-1
Ko, Joon-Soo ; Chung, In-Jae ;
Journal of Institute of Control, Robotics and Systems, volume 11, issue 3, 2005, Pages 228~232
DOI : 10.5302/J.ICROS.2005.11.3.228
This paper presents the efforts of the studies for improvement of spin characteristics of KTX-1 #02 through rotary balance test, forced oscillation test and spin mode analysis. During the full scale development design stage, we had fullfilled a lot of spin flight test, spin mode analysis. Based on all of the efforts, KTX-1 had been developed as a successful trainer with excellent spin characteristics.
Tiltrotor Aircraft SCAS Design Using Neural Networks
Han, Kwang-Ho ; Kim, Boo-Min ; Kim, Byoung-Soo ;
Journal of Institute of Control, Robotics and Systems, volume 11, issue 3, 2005, Pages 233~239
DOI : 10.5302/J.ICROS.2005.11.3.233
This paper presents the design and evaluation of a tiltrotor attitude controller. The implemented response type of the command augumentation system is Attitude Command Attitude Hold. The controller architecture can alleviate the need for extensive gain scheduling and thus has the potential to reduce development time. The control algorithm is constructed using the feedback linearization technique. And an on-line adaptive architecture that employs a neural network compensating the model inversion error caused by the deficiency of full knowledge tiltrotor aircraft dynamics is applied to augment the attitude control system. The use of Lyapunov stability analysis guarantees boundedness of the tracking error and network parameters. The performance of the controller is evaluated against ADS-33E criteria, using the nonlinear tiltrotor simulation code for Bell TR301 developed by KARI. (Korea Aerospace Research Institute)
Optimal Waypoint Guidance for Unmanned Aerial Vehicles (UAVs)
Ryoo, Chang-Kyung ; Shin, Hyo-Sang ; Tahk, Min-Jea ;
Journal of Institute of Control, Robotics and Systems, volume 11, issue 3, 2005, Pages 240~245
DOI : 10.5302/J.ICROS.2005.11.3.240
In this paper, planar waypoint guidance synthesis for UAVs using the LQ optimal impact-angle-control guidance law is proposed. We prove that the energy-optimal control problem with the constraint of passing through the waypoints is equivalent to the problem of finding the optimal pass angles on each waypoint of the optimal impact-angle-control law. The optimal pass angles can be obtained as a numerical solution of the simple pass angle optimization problem that requires neither input parameterization nor constraints. The trajectory obtained by applying the optimal impact-angle-control law with these optimal pass angles becomes energy optimal.
Flight Control Experiment of High-Speed Aero-Levitation Electric Vehicle Scale-Model in Wind-Tunnel
Park, Young-Geun ; Choi, Seung-Kie ; Cho, Jin-Soo ; Song, Yong-Kyu ;
Journal of Institute of Control, Robotics and Systems, volume 11, issue 3, 2005, Pages 246~253
DOI : 10.5302/J.ICROS.2005.11.3.246
An experimenal study on flight control of high-speed AEV(Aero-levitation Electric Vehicle) scale model in wind-tunnel is conducted. The AEV is to fly at very low altitude in predesigned track so that it is always under the wing-in-ground effect. The experiment is intended to fly the scale model to follow the predesigned altitude schedule while holding its attitude (pitch, roll, and yaw). Especially, the altitude changes for climb, cruise, and descent with constant pitch angle are most important maneuvers. The experiment shows that the required mission flights can be performed with appropriate sensors, processors, and actuators.
Time Optimal Performance of a Varying-Time Sharing Sequential Paired Thrusting Logic
Oh, Hwa-Suk ; Lee, Byung-Hoon ; Lee, Bong-Un ;
Journal of Institute of Control, Robotics and Systems, volume 11, issue 3, 2005, Pages 254~261
DOI : 10.5302/J.ICROS.2005.11.3.254
Time-optimal performances are analyzed in the sense of inner loop. A varying-time sharing thrusting logic is suggested as a new sequential paired thrusting logic for fast maneuvers of satellites with coupled thruster configuration. Its time-optimal maneuvering performance is compared with two conventional thrusting logics: separate thrusting logic and constant-time sharing sequential paired thrusting logic. It is found that the newly suggested varying-time sharing thrusting logic can be easily implemented by adjusting the conventional constant-time logic with its thrust on-time, while it can reduce the maneuvering time enormously as much as the separate thrusting logic. The performance of the logic is simulated on the agile maneuvering spacecraft model KOMPSAT-II.
A Performance Analysis of a Glidepath Tracking Algorithm for Autolanding of a UAV
Choi, Young-Hyun ; Koo, Hueon-Joon ; Kim, Jong-Sung ; Suk, Jin-Young ;
Journal of Institute of Control, Robotics and Systems, volume 11, issue 3, 2005, Pages 262~269
DOI : 10.5302/J.ICROS.2005.11.3.262
Automatic landing of UAVs receives increasing interest these days, with increasing number of the developed UAV systems. In this paper, a glidepath tracking algorithm of the subscale UAV was proposed and the performance was analyzed. Flight data analysis shows that the existing autolanding flight control algorithm has a classical type glidepath control. This paper presents an alternative glidepath tracking strategy based on embedded flight control law. The performance of the proposed strategy was investigated through the TDP(Touch Down Point) error analysis with regard to various flight environment: steady headwind, atmospheric disturbance, communication transfer delay. It was verified that the proposed glidepath tracking strategy can be successfully applied to the practical autolanding of UAV systems.