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전차륜 독립휠 구동 및 조향 제어 기반 특수목적용 6WD/6WS 차량의 주행제어 알고리즘 연구
이대옥,여승태,Lee, Daeok,Yeo, Seungtai 한국군사과학기술학회 2013 한국군사과학기술학회지 Vol.16 No.3
This paper discusses the maneuvering control algorithm based on all-wheel independent driving and steering control techniques for special purpose 6WD/WS vehicles. The maneuvering control algorithms considering superior dynamic characteristics of high power in-wheel motors and independent steering system are designed to perform driving, steering, vehicle stability, and fault tolerant control. The maneuvering controller applies sliding and optimal control theories considering optimal torque distribution and friction circle related to the vertical tire force. The fault tolerant control algorithm is applied to obtain the similar maneuverability to that of the non-faulty vehicle. The simulations using the Matlab/Simulink dynamics model and experiments using HIL simulator mounting the real controllers with the designed control algorithms prove the improved performances in terms of vehicle stability and maneuverability.
대부하 정밀 표적지향 안정화 시스템의 비선형 제어기법 연구
이대옥,강태하,김학성,박광웅 한국군사과학기술학회 2001 한국군사과학기술학회지 Vol.4 No.2
In this paper, the nonlinear control of high precision pointing stabilization system using feedback-linearization design methodology based on system parameter identification is discussed. Modern nonlinear servomechanism theory is adapted to cope with the hard nonlinearities inherent in the turret system. The mathematical models of electrical turret driving system to develop a high performance control algorithm are derived, and the parameter estimation algorithm identifying the unknown system parameters such as vicious and coulomb frictions, stiffness and inertia is developed. Through computer simulation and experiments, it is shown that pointing and tracking accuracy and stabilization against the wideband stochastic disturbance induced by vehicle running on the bump course are improved. Therefore, it is considered the proposed nonlinear control technique is effective in counteracting the nonlinearities and disturbances.
이대옥,김학성,안태영 한국군사과학기술학회 1998 한국군사과학기술학회지 Vol.1 No.1
Objective technology development has been carried out aiming performance improvement of the stabilized gun-pointing system for Type-4 tank. The full nonlinear simulation programs with gun bending modes and nonlinearities were developed to estimate, analyze and design the driving and stabilization system, and validated through the comparisons between simulations and test results of the existing Type-1 tank. The prototype is designed, fabricated, tested and evaluated on the test range as well as in the laboratory and followed by development and operational tests. The performance test results on stationary and on-the-move conditions are turned out to be superior to those of the advanced tanks developed in foreign countries.
난류충돌유동의 질량유량비에 따른 혼합유동구조에 관한 실험적 연구
이대옥,노병준 대한기계학회 1992 대한기계학회논문집 Vol.16 No.11
본 연구에서는 복잡한 유동형태를 지닌 충돌분사류에 대한 유동특성을 연구하 기 위하여 단순화된 실험모델로써 형상이 동일한 두 원형분류의 충돌에 의한 충돌분류 의 혼합현상 및 유동구조 등을 질량유량비의 변화에 따라 유체역학적으로 구명하고자 하였으며, 본 연구 결과는 연소기관에서의 연소효율 증대 및 구조개선등의 공학적 응 용을 위한 기본자료로 활용하고, 이론적 연구에 의한 난류의 유동구조 및 유동특성 에 대한 타당성 입증과 이론적 모델의 보완을 위한 실험자료로 이용하고자 한다. 충돌유동에 영향을 미치는 주요인자는 노즐직경, 충돌각, 충돌질량유량비, 온도, 밀도 등이며, 이 인자들 중에서 충돌질량유량비와 출돌각이 충돌후 형성되는 난류혼합유동 에 지배적인 영향을 미치므로, 본 연구에서는 두 원형분류의 충돌질량유량비를 가변할 수 있는 장치를 고안하였으며, 두 분류의 충돌각을 45˚로 고정하고, 고속측과 저속측 노즐의 질량유량비를 1.0, 0.8, 0.6, 0.4로 설정하여 질량유량비에 따른 혼합 유동구 조의 구명을 위한 실험적인 연구를 수행하였다. 충돌후의 혼합유동의 특성을 연구하 기 위하여 유동중심궤적, 유동반폭, 유동단면, 2차원 및 3차원 유동장, 평균속도분포 등을 온라인 컴퓨터시스템을 이용하여 측정분석하였다. This study was carried out to investigate the flow structure and mixing process of a cross mixing flow formed by two round jets with respect to the ratio of mass flow rate. This flow configuration is of great practical relevance in a variety of combustion systems, and the flow behaviour of a cross jet defends critically on the ratio of mass flow rate and the cross angle. The mass flow rate ratios of two different jets were controlled as 1.0, 0.8, 0.6, and 0.4, and the crossing angle of two round jets was fixed at 45 degree. The velocities issuing from jet nozzle with an exit diameter of 20mm were adjusted to 40m/s, 32m/s, 24m/s, and 16m/s, and the measurements have been conducted in the streamwise range of $1.1X_0$to $2.5X_0$ by an on-line measurement system consisted of a constant temperature type two channel hot-wire anemometry connected to a computer analyzing system. The original air flow was generated by a subsonic wind tunnel with reliable stabilities and uniform flows in the test section. For the analysis of the cross mixing flow structure in the downstream region after the cross point, the mean velocity profiles, the resultant velocity contours, and the three-dimensional profiles depending upon the mass flow rate ratio have been concentrately studied.
최진철,이대옥,강신재,노병준 전북대학교 공업기술연구소 1992 工學硏究 Vol.23 No.-
The purpose of the previous works were to systemize the contraction design process and relate the design method to requirements. Contraction design is basically a search for the optimum wall shape leading to the minimum contraction length required for a given purpose. The optimum design of a contraction results in (a) reduction of mean flow non-uniformities to produce an uniform velocity distribution in the test section, (b) reduction of turbulent level. The objective of the present investigation is not only to compare performance of five different contraction shapes which are drawn by fourth-polynominal equation with the same contraction ratio and analyze their influence on the exit velocity and turbulent characteristics of exit boundary layer, but also to formulate the optimum contraction shape.
전차 포신의 정밀 위치 제어를 위한 스위치드 리럭턴스 모터의 토크 제어
최창환,김용대,이대옥,박기환 한국군사과학기술학회 2000 한국군사과학기술학회지 Vol.3 No.2
A torque control method of a switched reluctance motor for the position control of a tank gun is presented. One of the widely used torque control scheme, torque sharing function method, is investigated and a new torque sharing function method is proposed that extends the definition region of the conventional TSF to both the positive and negative torque production regions. By using this definition, all kinds of the control inputs that consider switching on/off angle control as well as the current profiling can be described. A parametrized representation of the current profiles is proposed by using a series of B-spline functions, which reduces memory requirement and enables additional controllers. Optimal determination of the TSFs are also investigated for various control objectives. Moreover, the comparison study of each objective is presented. Since this method generalizes all of the possible control input, the current and torque profiles obtained from the optimization are the most suitable control input that satisfy the objectives.