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이판묵,이상무,홍사영,홍도천,Lee, Pan-Muk,Lee, Sang-Mu,Hong, Sa-Yeong,Hong, Do-Cheon 한국기계연구원 1987 기계연구원소보 Vol.17 No.-
The SWATH concept hull form which is capable of high speed navigation with small oscillatory motions in waves, was developed from the catamaran type hull forms. This paper describes how the motion of a SWATH ship in irregular waves can be reduced by regulating the stabilizing fins. The optimal regulator and LQG (Linear Quadratic Gaussian) controller for vertical plane motion have been applied for both platforming mode and contouring mode controls. The calculations of hydrodynamic coefficients and external forces are possible for defining the system equation for the design purpose of motion control. Performances of the controlled system are compared with those of original system.
장주기 샘풀링을 갖는 자율무인잠수정의 의사 슬라이딩모드 제어
이판묵,전봉환,홍석원,Lee, Pan-Muk,Jeon, Bong-Hwan,Hong, Seok-Won Korean Society of Ocean Engineers 1998 韓國海洋工學會誌 Vol.12 No.2
본 논문은 AUV의 수직면 운동제어를 수행하기 위하여 의사 슬라이딩 모드 제어기를 이용한 모델링 기법과 제어기 설계법에 관한 것으로서, 샘플링 간격이 길어지는 경우에도 시스템의 강인성이 확보되며 심도 제어가 안정적으로 수행되는 실용성을 실험과 수치 해석을 통하여 검증하였다. 제어기는 참고문헌에서 제안한 방법을 이용하였으며, 한국기계연구원 선박해양공학연구센터(KRISO)에서 개발한 VORAM호를 제어 대상 AUV로 선정하였다. PMM 시험으로 얻어진 운동 계수를 이용하여 수치 해석을 수행하였으며, KRISO의 장수조에서 실험을 수행하였다. 수치 해석과 실험 결과로부터 샘플링이 길어짐에 따라 의사 슬라이딩 모드 제어기는 연속계에 대한 슬라이딩 모드 제어기에서 발생하는 과도한 채터링 및 불안정성을 보이지 않았으며, 시스템의 안정성이 확보되고 불확실성에 대하여 강인한 제어 성능을 보였다. 또한, 본 논문에서는 수치 해석과 실험 결과를 근거로 의사 슬라이딩 모드 제어기의 설계를 위한 제어 변수의 선정 기준을 제시하였다.
자율 무인 잠수정(AUV)의 모의 실험을 위한 테스트베드의 개발-하드웨어와 소프트웨어
이판묵(P.M. Lee),전봉환(B.H. Jeon),정성욱(S.W. Jeong) 한국해양공학회 1997 韓國海洋工學會誌 Vol.11 No.1
This paper describes the development of a test-bed vehicle named TAUV which can be a tool to evaluate the performance of a new control algorithm, operating softwares and the characteristics of sensors for an AUV. The test-bed AUV is designed to operate at depth of ten meters. It is 19.5㎏ in air and neutral buoyancy in water and the dimension is 535×400×102㎜. TAUV is equipped with a magnetic compass, a biaxial inclinometer, a rate gyro, a pressure sensor and an altitude sonar for measuring the motion of the vehicle. Two horizontal thrusters and two elevators are installed in order to propel and control the AUV. This paper presents the control system of TAUV which is based on a 16 bit single-chip microprocessor, 80c196kc, and the software architecture for the operating system. Experimental results are included to verify the performance of the TAUV.
이판묵(Pan-Mook Lee),이종식(Jong-Sik Lee) 한국해양공학회 1994 韓國海洋工學會誌 Vol.8 No.2
Dynamics of AUV has heavy nonlinearities and many unknown parameters due to its bluff shape and low cruising speed. Intelligent algorithms, therefore, are required to overcome these nonlinearities and unkown system dynamics. Several identification techniques have been suggested for the application of control of underwater vehicles during last decade. This paper applies the neural network to identification and motion control problem of AUVs. Nonlinear dynamic systems of an AUV are identified using feedforward neural network. Simulation results show that the learned neural network can generate the motion of AUV. This paper, also, suggest an adaptive control scheme up-dates the controller weights with reference model and feedforward neural network using error back propagation.
이판묵(Pan-Mook Lee),홍석원(Seok-Won Hong),전봉환(Bong-Hwan Jeon) 한국해양공학회 1997 韓國海洋工學會誌 Vol.11 No.4
This paper presents a discrete-time sliding mode control of an autonomous underwater vehicle with parameter uncertainties and long sample interval based on discrete variable structure system. Although conventional sliding mode control techniques are robust to system uncertainties, in the case of the system with long sample interval, the sliding control system reveals chattering phenomenon and even makes the system unstable. This paper considers the AUV which acquires position informations from a surface ship through an acoustic telemetry system with a certain discrete interval. The control system is designed on the basis of a Lyapunov function and a sufficient condition of the switching gain to make the system stable is given. Each component of the switching gain can be determined separately one another. The controller is robust to the uncertainties, and reaching condition of the control system is satisfied for any initial condition. This control law is a generalized form of the discrete sliding mode control and reduce the chattering problem considerably. Motion control of the AUV in the vertical plane shows the effectiveness of the proposed technique.