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모델 예측 제어를 이용한 쿼드로터 협동 비행 및 침입기 포획 알고리즘 연구
장도현(Dohyun Jang),김태완(Taewan Kim),김현진(H. Jin Kim) 제어로봇시스템학회 2017 제어·로봇·시스템학회 논문지 Vol.23 No.12
In this research, we address the problem of cooperative flight to capture an intruder using a net. Previous work has used PID controllers to study this problem. However, these approaches are severely limited because they cannot reflect the quadrotor’s current attitude. Thus, we develop an improved approach to capture an intruding aircraft using a quadrotor formation based on Model Predictive Control (MPC). We derive a dynamics model of quadrotor for use in MPC that uses simplified equations with small angular approximations and linearization techniques to reduce the computational burden of MPC. It is essential that a specific control theory is used to make quadrotor formations, a control theory for flying with a net in the direction to capture an intruder. For this, we separated the formation into leader and follower. Using the above models and control theories to obtain the state variables in MPC, MPC iteratively calculates the state variables and control inputs of the leader for a certain time horizon in the direction that minimizes the preset cost function. The leader sends predictive states to the follower and the follower generates state variables and control inputs using MPC based on the leader’s predictive states. The final obtained values become optimal paths to approach the intruder and create the formation. Computer simulation is performed for various scenarios that demonstrate that the intruder was effectively traced and captured by the quadrotor formation.
위상학 연산을 적용한 경사지 집합주거 계획안 개발에 관한 연구
장도현 ( Jang Dohyun ),김진호 ( Kim Jinho ) 한국공간디자인학회 2023 한국공간디자인학회논문집 Vol.18 No.8
(Background and Purpose) Presently, approximately 42% of Seoul’s residential area is composed of densely populated low-rise residential zones containing numerous multi-family homes. These areas face challenges, such as inadequate parking and green space, which contribute to a subpar living environment. In response, the Seoul Metropolitan Government unveiled the Moa Town and Moa Housing Promotion Plan in January 2022 to enhance aging low-rise housing. This study proposed a collective housing plan for slopes in Samyang-dong, Gangbuk-gu, Seoul. The aim is to improve the residential environment and breathe new life into the streets by utilizing the concepts and operation types found in the topology. (Method) The correlation between cities and architecture is explored through a topological lens to formulate a design concept through topological operations. At the outset, an examination of the urban context involved scrutinizing the regional and social attributes of the designated site. The introduction of topological operations served as a method for tackling the various challenges arising at the intersection of modern cities and architectural domains. In the next step, a site plan and internal program were formulated using topological operations. Finally, the execution of elevation and unit plans aimed to activate the streets. (Results) In this study, transformation, penetration, and folding operations were introduced as topological operations. Initially, the urban infrastructure was incorporated into the complex through transformation calculations, proposing a fixed building for a horizontal program arrangement based on the context of the target site. Subsequently, the long horizontal central mass was elevated by pilot through penetration calculations, creating a void space in the middle using various programs and copper lines. This facilitates the flow of the city as it passes through the copper line in the middle. Finally, artificial land and lamps created through folding operations presented a three-dimensional copper line as an element capable of overcoming slopes. This enhanced communication and allows the entrance, which conforms to the slope, to maintain a continuous flow from the inside to the outside of the complex. (Conclusion) Focusing on the problems of the target site, the program in the complex was reorganized, the city was introduced into the building, and the spaces inside and outside the target site were continuously connected. This created a space with ambiguous boundaries and complexities, rather than an independent and single-space composition. If a plan was derived from the above concept, it would be possible to create collective housing that interacts with and operates in a complex urban situation.
자석각도에 따른 고토크 매입형 영구자석 동기 전동기의 운전특성 해석
장도현(DoHyun Jang),양혜원(Hye-Won Yang),김형우(Hyung-Woo Kim),김용재(Yong-Jae Kim),정상용(Sang-Yong Jung) 대한전기학회 2021 대한전기학회 학술대회 논문집 Vol.2021 No.5
본 논문에서는 차량 구동을 위한 고토크 매입형 영구자석 동기 전동기(Interior Permanent Magnet Synchronous Motor, IPMSM)의 회전자 형상에 따른 전류, 전압 제한 조건하에서의 운전 특성을 비교한다. 동일 전류, 전압 제한내에서 목표 토크 조건을 만족하면서 넓은 운전 영역을 갖는 모델을 도출하기 위해 V type과 Delta type 두 종류의 IPMSM의 자석매입각도를 변경하였다. 정격운전과 약계자 영역의 운전에 대한 유한요소해석을 통해 상기의 제한 조건을 만족하는지를 확인하여 각 형상 별 성능과 운전영역을 비교 및 검토하였다.