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SRFIMF를 이용한 멀티팬 부상기의 YAW제어에 관한 연구
박선국,최부귀 한국통신학회 1992 韓國通信學會論文誌 Vol.17 No.4
A controller of the hovering VTOL aircraft with four fan is constructed by SRFIMF(State Rate Feedback Implicit Model-Following)theory, in which feedback state are angle acceleration, angle velocity and angle position of the aircraft during hover With yaw control of the system, characteristics of the hovering aircraft can be analyzed by changing states feedback gain and sponse provides robust stable hovering system. 수직 이착륙기와 같은 비행체의 정지비행 도중 비행체의 위치각, 각속도, 각가속도와 같은 상태량을 궤환 시킨 SRFIMF(State Rate Feedback Implicit Model-Following)이론을 이용하여 4개의 팬을 갖는 부상제어시스템을 구성하였다. 이 부상제어시스템의 yaw제어를 행하여, 각 상태궤환이득 및 전향경로 이득을 변화시켜 부상제어시스템의 특정을 해석하였으며, 부상시스템과 같은 제어계에 SRFIMF방식을 적용시켜 그 타당성을 조사하였다.
박선국,이상관,최부귀 동아대학교 공과대학 부설 한국자원개발연구소 1990 硏究報告 Vol.14 No.2
A multi-fan hovering mechanism is investigated as a vehicle for field work at a mountainous resion. This paper presents its control characteristics in level ground proximity. The motion is formulated considering ground effect. A controller stable for the change of property with height is presented The experimental results obtained using a scale model are presented. It is shown that the controller works properly, problems are made clear to improve the hovering charactistics.
박선국,이상관,최부귀,하홍곤 동아대학교 공과대학 부설 한국자원개발연구소 1991 硏究報告 Vol.15 No.1
The dynamics of the Multi―degree of freedom manipulator is highly nonlinear and the compensation against this nonlinearity should be indispensable. This paper proposes the decentralized joint control method based on the distrubance observer where the dynamical equation is not directly solved. This system has excellent performance of disturbance supression, because the total acceleration including the load torque and various kinds of frictional torques can be controlled directly, come experiments show the effectiveness of the proposed system. This paper discuss the important relationships with the feedforward compensation type Servo system using distrubance torque observer.
박선국,신연승,손성경,남상륜,서광선,김삼용 대한부인종양 콜포스코피학회 1998 Journal of Gynecologic Oncology Vol.9 No.3
Granulosa cell tumor of the ovary accounts for 2∼3% of all ovarian malignancies and is the most common sex-cord tumor. It has a relatively low malignant potential and a propensity for late recurrences, and so is associated with long-term survival. The incidence of hepatic metastasis has not been reported frequently, but appears to be low. We present a case of early hepatic metastasis of granulosa cell tumor of the ovary with a brief review of literatures.