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박양수,정찬기,Park, Yang-Soo,Jung, Chan-Ki 한국군사과학기술학회 2010 한국군사과학기술학회지 Vol.13 No.4
ROK Joint Chiefs of Staff in developing an WMA-EA(Warfighting Mission Area-Enterprise Architecture) tries to create the practical buildup requirements of military power through precise requirements and operational capabilities based on the architectures. However, it is difficult to verify the effectiveness of target architectures and do efficient requirement planning because we cannot know the gap of quantitative combat effectiveness between current and target WMA-EAs. This study presents an evaluation method of combat effectiveness and focuses on combat's positive effects in WMA-EAs. The method proposed is based on C2 model which is appropriate for the evaluation of combat effectiveness in architectures. We verify the effectiveness of the proposed method through a case study of an anti-ship warfare architecture.
로봇 매니플레이터를 위한 신경회로망을 이용한 슬라이딩 모드 제어
박양수,박윤명,최부귀 한국융합신호처리학회 2001 융합신호처리학회 논문지 (JISPS) Vol.2 No.2
본 논문에서는 로봇 매니플레이터의 고속 동작시 위치 제어의 정확성을 감소시키는 다중 모드 오차 진동을 제거 할 수 있는 단순한 슬라이딩 모드 제어를 소개한다. 또한 시스템의 파라메터 변화와 외란으로 인해 슬라이딩 평면 조건의 깨짐을 방지하기 위해 신경망 학습 기능이 사용되어 진다. 그러므로 본 논문에서는 신경망을 이용한 슬라이딩 모드 제어시스템이 설계되고, 제안된 제어 시스템의 성능은 시뮬레이션 을 통해 증명된다. The position control accuracy of a robot manipulator is significantly deteriorated when a long arm robot is operated at a high speed. This paper presents a very simple sliding mode control which eliminates multiple mode residual vibration in a robot manipulator. The neural network is used to avoid that sliding mode condition is deviated due to the change of system parameter and disturbance. This paper is suggested control system which designed by sliding mode controller using neural network. The effectiveness of proposed scheme is demonstrated through computer simulation.
병렬퍼지 제어기와 기준궤적신호를 이용한 유연한 매니퓰레이터의 진동제어
박양수,박윤명 한국융합신호처리학회 2002 융합신호처리학회 논문지 (JISPS) Vol.3 No.1
A fuzzy control strategy is described which is utilized to control the joint angle and tip deflection in single flexible manipulator. In this paper, an existing model for a single flexible manipulator is used for the initial development of an FLC. One FLC is designed to govern the joint angle of the manipulator as it is rotated from one position to another, and the second FLC is designed to attenuate the tip deflection which result from joint angle body motion. Reference Trajectory Command is an important method to reduce vibration in flexible beam. This paper presents a very simple command control shaping which eliminates multiple mode residual vibration in a flexible beam combined parallel fuzzy controller. The effectiveness of proposed scheme is demonstrated through computer simulation.