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매칭 컨디션(matching Conditidon)을 만족하지 않는 비선형 시스템의 이산화 적응 슬라이딩 제어
원문철 忠南大學校 産業技術硏究所 1996 산업기술연구논문집 Vol.11 No.2
본 논문은 파라메터로 전개될 수 없고 시스템의 입력에 의하여 직접적으로 상쇄될 수 없는 불확실한 항(mismatched non-parametric uncertainty)들을 갖는 SISO 비선형 시스템에 대한 이산화 적응 슬라이딩 모드 제어기를 설계한다. 이 제어기는 추종제어 문제에도 적용될 수 있으며 기존의 슬라이딩 모드 제어 방법과 달리 다수의 슬라이딩 면을 제어기 설계에 이용한다. 제어 알고리즘에 동반되는 불확실한 항에 대한 적응 알고리즘은 통상적인 적응 슬라이딩 모드 제어기의 적응 알고리즘과 달리 외란등과 같이 빠르게 변하는 파라메터들에 대한 적응 알고리즘이다. 본 제어 알고리즘을 통하여 적응 알고리즘의 오차를 이산화 폐루프극점(discrete time closed loop pole)을 적절히 배치함으로써 지수감쇠(exponential decay)시킬 수 있다.
트로틀 앵글 제어에 의한 내연기관의 토오크 및 속도의 비선형 제어
원문철(M.C.Won),강병배(B.B.Kang),박문수(M.S.Park),김태영(T.Y.Kim) 한국자동차공학회 1998 한국자동차공학회 춘 추계 학술대회 논문집 Vol.1998 No.11_2
A nonlinear engine torque and speed control algorithm using throttle angle control is developed with an engine load torque estimation algorithm. Three 3-dimensional nonlinear engine maps as a part of the nonlinear control algorithm are obtained from steady state engine dynamometer tests. An electric throttle actuator is developed using a stepper motor and a 8 bit micro-processor. The speed control and external load estimation algorithm are tested via engine speed control experiments, and show good performance enough for using various engine torque and speed control applications.<br/>
해저 집광차량의 위치 추정을 위한 확장 칼만 필터 알고리즘
원문철(MOON-CHEOL WON),차혁상(HYUK-SANG CHA),홍섭(SUP HONG) 한국해양공학회 2005 韓國海洋工學會誌 Vol.19 No.2
This study deals with the development of the extended Kalman filter(EKF) algorithm for the localization of underwater mining vehicles. Both simulation and experimental studies in a test bed are carried out. For the experiments, a scale down tracked vehicle is run in a soil bin containing cohesive soil of bentonite-water mixture. To develop the EKF algorithm, we use a kinematic model including the inner/outer track slips and the slip angle for the vehicle. The measurements include the inner and outer wheel speeds from encoders, the heading angle from a compass sensor and a fiber optic rate gyro, and x and y coordinate position values from a vision system. The vision sensor replaces the LBL(Long Base Line) sonar system used in the real underwater positioning situations. Artificial noise signals mimicking the real LBL noise signal are added to the vision sensor information. To know the mean slip values of the tracks in both straight and cornering maneuver, several trial running experiments are executed before applying the EKF algorithm. Experimental results show the effectiveness of the EKF algorithm in rejecting the sensor measurements noise. Also, the simulation and experimental results show close correlations.
지능형 차량 도로 스시템에서 종적 차량 군집제어에 관한 연구
원문철(M.C.Won) 한국자동차공학회 1997 한국자동차공학회 춘 추계 학술대회 논문집 Vol.1997 No.11_1
A real time control algorithm for the longitudinal spacing control of vehicle platoone in IVHS is simulated. The longitudinal vehicle dynamics including engine. brake. torque converter. wheels. and tire slip are modeled as linear and non-linear elements. The engine and brake control algorithms based on multiple surface sliding control include adaptive observers and filters that condition measurement signals. The control law used for the real time experiment of four car platoon is simulated for four car and ten car platoon systems. The car to car communication time delays of vehicle velocities and accelerations ars included in the simulation. The simulation results of the four car platoon in general agree with the experimental results.<br/>
원문철(MOON-CHEOL WON),홍성국(SEONG-KUK HONG),정윤하(YUN-HA JUNG),김선영(SUN-YOUNG KIM),손남선(NAM-SUN SON),윤현규(HYUN-GYU YOON) 한국해양공학회 2008 韓國海洋工學會誌 Vol.22 No.3
his study discusses the design of an automatic berthing control algorithm for ships with a bow thruster and a stern thruster, as well as a rudder. A nonlinear mathematical model for the law speed maneuvering of ships was used to design a MlMO (multi-input multi-output) nonlinear control algorithm. The algorithm consists of two parts, the forward velocity control and heading angle control. The control algorithm was designed based on the longitudinal and yaw dynamic models of ships. The desired heading angle was obtained by the so-called "Line of Sight" method. An optimal control force allocation method for the rudder and the thrusters is suggested. The nonlinear control algorithm was tested by numerical simulations using MATLAB, and showedgood tracking performance.