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6축 병렬형 메니플레이터를 위한 견실 예측 제어기 설계
고동우(Dongwoo Ko),한명철(Myungchul Han) 한국자동차공학회 2002 한국자동차공학회 Symposium Vol.2002 No.11
This Paper proposes a new class of robust predictive control law to represent a high speed vehicle motion for the uncertain 6-DOF Parallel motion platform. The uncertainty is nonlinear. Therefore, the uncertain factors such as imperfect modeling, payload change, etc are all addressed. So it is important to design the robust control law that will guarantee the desired performance of the uncertain 6-DOF Parallel motion platform. To show that the proposed control law is indeed applicable, the stability study based on Lyapunov function is presented. <br/> The proposed robust predictive control law is applied to the motion platform of 6-DOF Parallel manipulator. The dynamic model is necessary to design the control parameters. Therefore, the simple model of 6-DOF Parallel motion platform including hydraulic actuators is driven virtual work principle. kinematic transform, and linearization technique. The control simulation is carried out for evaluating control performance and robustness of the proposed approach.
김창결(Changgyul King),정의진(Euijin Jung),한명철(Myungchul Han) 한국자동차공학회 2002 한국자동차공학회 Symposium Vol.2002 No.11
To main mission of a infantry fighting vehicle(IFV) is to transport soldiers and to engage and destroy enemy targets on the battlefield. To achieve this aim a modern IFV needs an effective Weapon Control System. The prime objective of the WCS is to maximize the chance of hitting a stationary or moving target with the first round, in the shortest possible time, from a stationary or moving vehicle. A model and controller of the elevation mechanics for a WCS is developed.<br/> The paper also includes a off-line programming system which can simulate a track vehicle model in 3D graphics space. The developing language is Microsoft Visual C++, Graphic libraries. OpenGL were utilized for 3D Graphics.
김주영(Jooyoung Kim),김준홍(Joonhong Kim),한명철(Myungchul Han),박원규(WarnGyu Park),장기룡(Kilyong Jang) 한국자동차공학회 2004 한국자동차공학회 춘 추계 학술대회 논문집 Vol.- No.-
Since the mist of the automobile windshield interferes the driver's sight and safety, it is needed to develop an automatic de-mist equipment with coupling of the Automatic Temperature Control (ATC) unit of an automobile. To be able to coupling between units, we have used RS232C and made the interface board which can communicate between them despite of the difference of communication speed. The Mist possibility (MP) was as the difference of temperature between the dew point and the surface temperature of windshield glass. The automatic de-mist control system begins to operate before the mist covers the inner windshield glass. It was observed that the automatic de-mist control system operates well and removes quickly the mist as long as possible.