http://chineseinput.net/에서 pinyin(병음)방식으로 중국어를 변환할 수 있습니다.
변환된 중국어를 복사하여 사용하시면 됩니다.
Octorotor PMSM 의 상호 다중 모델 필터 기반 고장 검출과 진단
정철민(Cheolmin Jeong),박채훈(Chaehun Park),강창묵(Chang Mook Kang) 제어로봇시스템학회 2022 제어·로봇·시스템학회 논문지 Vol.28 No.2
Fault detection and diagnosis (FDD) is an essential algorithm applied to unmanned aerial vehicles (UAVs) performing low-level to high-level missions. A UAV consists of many mechanical and electrical components, and the failure of one component may affect others, potentially leading to fatal accidents. Herein, we propose a multiple filter-based FDD method that can classify component faults. An interacting multiple model (IMM) filter is combined with several filter algorithms, such as Kalman filter and extended Kalman filter to form a single multiple-filter structure. The suitability of the model can then be evaluated using the likelihood function and mode probability. The highest mode probability in the fault model suggests the existence of a fault. Thus, it is possible to identify the fault type. Because the IMM-based FDD method stochastically estimates the state of the system, it can flexibly cope with different fault situations. The proposed FDD method was applied to the permanent magnet synchronous motor (PMSM) of a UAV and validated via MATLAB/Simulink.
정철민(Cheolmin Jeong),박채훈(Chaehun Park),안대용(Dae-Young An),강창묵(Chang Mook Kang) 한국자동차공학회 2021 한국자동차공학회 부문종합 학술대회 Vol.2021 No.6
Electric power steering (EPS) system is used to reduce driver burden and increase convenience. In the case of an EPS system of autonomous vehicles, more efficient driving is possible by controlling the system to obtain the desired steering wheel angle. However, for reliable control, there must be a fail-safety function for the failure. To ensure control reliability and stability, the Interacting Multiple Model (IMM) is applied as an algorithm that can diagnose mechanical and electrical faults. IMM consists of several Kalman filter models consisting of parallel structures, each of which updates the probability values according to the Markov chain rule via interaction. The Kalman filter of each model not only allows the state to be estimated, but also finds the best model for the current state, and the failure condition can be diagnosed quickly because it is estimated according to mode probability. Therefore, stable failure factor blocking and control performance improvement can also be expected when diagnosing failures with IMM.
박채훈(Chaehun Park),정철민(Cheolmin Jeong),이화수(Hwa Su Lee),안대용(Dae-Young An),배문규(Mun Kyu Bae),강창묵(Chang Mook Kang) 대한전기학회 2021 대한전기학회 학술대회 논문집 Vol.2021 No.10
이 논문은 드론 고장 중 프로펠러 파손을 연구했으며, 프로펠러 파손 시 발생하는 관성 모멘트 변화를 DC 모터 동역학과 연관 지어 고장을 모사하였다. 추가적으로 다중 필터 모델기반 상태 추정 알고리즘인 Interacting Multiple Model(IMM)로 시스템의 정상 모드와 고장 모드 분류를 수행하였다.