정밀위치추적장비 기반의 무인항공기 자동착륙모드 개발

문정호,최승기,조신제 한국항공우주학회 2014 한국항공우주학회 학술발표회 논문집 Vol.2014 No.4

전술급 무인항공기의 핵심 기능인 야지 이착륙이 가능한 자동착륙모드를 개발하였다. 자동착륙 유도를 위한 항법 시스템으로 지상 레이더로 비행체를 추적한 다음 데이터링크를 통해 비행체 위치를 전송해주는 정밀위치추적장비를 활용하였다. 본 논문에서는 자동착륙 모드 시작시점부터 착지까지의 순차적 운용 로직, GPS/INS 와 PLT 를 처리하는 센서 처리부, 착륙 경로 생성부, 착지점 유도를 위한 헤딩 및 선회방향 판단로직, 착륙 경로 추종 제어기 등의 자동착륙 모드 및 관련 제어기를 다룬다. 개발된 자동착륙모드는 HILS 환경에서 검증하였으며 비행시험을 통해 전체 시스템을 최종 검증하였다. Automatic Landing Mode was developed for field operation of a tactical UAV. For accurate navigation system, Precision Location Tracking System was implemented, which tracks position of the UAV via radar tracking method and transfer position information to the UAV through data link. In this paper, a sequential operation logic which covers whole phases from entry to touch down phase, sensor information processing unit to offer precise sensor data, landing trajectory generation unit, heading and orbit direction determination logic to guide the UAV to the touch down point, and automatic trajectory following controller were described. All of developed automatic landing mode & controller was tested in HILS environment and also verified by flight test with the fully integrated system.

고정익 무인항공기의 자동착륙 비행시험 결과

문정호,조신제,최윤한,김홍대 한국항공우주학회 2014 한국항공우주학회 학술발표회 논문집 Vol.2014 No.11

지상 정밀위치추적장비를 기반으로 한 고정익 무인항공기의 자동착륙 비행시험 결과를 분석하였다. 본 논문에서는 자동착륙에 필요한 플랩특성시험, 자동착륙 제어기 성능을 검증하기 위한 오프셋 통과 시험, 지상 정밀위치추적장비 정확도 검증 시험, 자동착륙 수동회항시험, 자동착륙시험 데이터 분석 결과 등을 다룬다. 계절별 수 차례의 비행시험을 통해 설계된 자동착륙 운용로직 및 제어기의 성능을 확인하고 자동착륙 시스템의 신뢰성을 검증하였다. Flight test results of a fixed-wing UAV based on a ground precise location tracking system. In this paper, flight test for flap performance verification, validation of the ground precise location tracking system, off-set bypass flight test for pre-validation of the automatic landing control performance, results of automatic landing flight test data analysis were described. Finally performance and system reliability of the designed automatic landing operational logics and controller were verified through variety of flight tests seasonally.

선박자동항로 추적을 위한 회두각 명령의 생성과 적응 퍼지제어

이병결,김종화 한국마린엔지니어링학회 2001 한국마린엔지니어링학회지 Vol.25 No.1

In this paper, an automatic route tracking algorithm using the position variables and the yaw angle of a ship is suggested, Since most autopilot systems paly only a role of course-keeping by integrating the gyrocompass output, they cannot cope with position errors between the desired route and real route of the ship resulted from a drifting and disturbances such as wave, wind and currents during navigation. In order for autopilot systems to track the desired route, a method which can reduce such position errors is required and some algorithms have been proposed[1,2]While such were turned out effective methods, they have a shortage that the rudder control actions for reducing the position errors are occurred very frequently. In order to improve this problem it is necessary to convert that error into the corresponding yaw angle and necessary to treat only yaw angle control problem. To do this a command generation algorithm which converts the rudder angle command reducing the current position error into they yaw angle command is suggested. To control the ship under disturbances and nonlinearities of the ship dynamics, the adaptive fuzzy controller is developed. Finally, through computer simulations for two ship models, the effectiveness of the suggested method and the possibility of the automatic route tracking are assured.

원격 로봇용 카메라 자동추적시스템 개발에 관한 연구

윤지섭 대한기계학회 1993 대한기계학회논문집 Vol.17 No.9

This paper addresses the design procedure and testing result of a servo driven pan/tilt device which is capable of tracking arbitrary movement of a specified target object. In order to achieve real-time acquisition of feedback signal, a 2 degree-of freedom non-contact type displacement follower has been employed in stead of vision camera. The performance of the designed system is tested for different target velocities and control gains. The test result shows the satisfactory performance to be adopted as an effective tool for visual transfer in the context of teleoperation.

비젼 제어시스템을 이용한 이동타겟 위치 추적에 관한 연구

손재경(Jae-Kyeong Son),장완식(Wan-Shik Jang) 한국생산제조학회 2010 한국공작기계학회 추계학술대회논문집 Vol.2010 No.-

This paper is the experimental study for tracking of the moving-target positions in rectangle trajectory based on the vision control system. The experiments are performed in the two directions of moving-target trajectory; clockwise and counter clockwise. The used vision control scheme involved parameter estimation model and target position estimation model. Finally this study is to show the availability of the vision control scheme by tracking the moving-target positions experimentally.

비젼 제어시스템을 이용한 이동타겟 위치 추적에 관한 연구

손재경(Jae-Kyeong Son),장완식(Wan-Shik Jang) 한국생산제조학회 2010 한국생산제조시스템학회 학술발표대회 논문집 Vol.2010 No.10

This paper is the experimental study for tracking of the moving-target positions in rectangle trajectory based on the vision control system. The experiments are performed in the two directions of moving-target trajectory; clockwise and counter clockwise. The used vision control scheme involved parameter estimation model and target position estimation model. Finally this study is to show the availability of the vision control scheme by tracking the moving-target positions experimentally.

상대거리 지문 정보를 이용한 무인이송차량의 주행 경로 제어

홍윤식 ( Hong Youn Sik ),김다정 ( Kim Da Jung ),홍상현 ( Hong Sang Hyun ) 한국정보처리학회 2013 정보처리학회논문지. 컴퓨터 및 통신시스템 Vol.2 No.10

본 논문에서는 실내에서 비전센서를 이용한 마커 영상 인식을 통해 무인이송차량(AGV)의 주행 경로를 제어하는 방안을 제안한다. 적외선센서와 랜드마크를 이용한 AGV 주행 제어 시스템의 경우 실내로 투과되어 들어 온 햇빛으로 인해 적외선 센싱 결과를 제대로 인식하지 못하는 공간이 발생하는 점과 작업 공간이 협소할 경우 랜드마크를 이용한 주행 경로 제어가 어려운 상황이 발생하였다. 이처럼 WSN 환경에서 센싱 정보를 획득하지 못하는 상황을 보완할 수 있는 방안으로 마커와 AGV 간 상대 거리 정보를 지문 정보로 활용하는 방안을 제안한다. 무선신호 수신세기(RSS)를 지문으로 사용하는 방식에 비해 마커 영상 이미지 크기를 지문으로 사용하면 상대적으로 신뢰도가 높은 위치 정보를 획득할 수 있다. 모형 AGV를 이용한 다양한 실험을 통해 상대 거리 정보를 지문으로 사용하는 방안의 타당성을 입증하였다. 본 논문의 연구 결과는 화장장에서 시신을 운구하는 무인이송차량 시스템에 적용될 것이다. In this paper, a method of moving path control of an automatic guided vehicle in an indoor environment through recognition of marker images using vision sensors is presented. The existing AGV moving control system using infrared-ray sensors and landmarks have faced at two critical problems. Since there are many windows in a crematorium, they are going to let in too much sunlight in the main hall which is the moving area of AGVs. Sunlight affects the correct recognition of landmarks due to refraction and/or reflection of sunlight. The second one is that a crematorium has a narrow indoor environment compared to typical industrial fields. Particularly when an AVG changes its direction to enter the designated furnace the information provided by guided sensors cannot be utilized to estimate its location because the rotating space is too narrow to get them. To resolve the occurrences of such circumstances that cannot access sensing data in a WSN environment, a relative distance from marker to an AGV will be used as fingerprinting used for location estimation. Compared to the existing fingerprinting method which uses RSS, our proposed method may result in a higher reliable estimation of location. Our experimental results show that the proposed method proves the correctness and applicability. In addition, our proposed approach will be applied to the AGV system in the crematorium so that it can transport a dead body safely from the loading place to its rightful destination.

압전필름 작동기로 구성된 스마트 유연 구조물의 강건추적제어

이철희,최승복,Lee, Chul-Hee,Choei-Seung-Bok 대한기계학회 1996 大韓機械學會論文集A Vol.20 No.5

This paper presents a robust control of a smart flexible structure featured by a piezofilm actuator characterizing its light weght and quick response time. A mathematical governing equation for the proposed structure is derived by employing Hamilton's principle and a state space control model is subsequentrly obtained through modal analysis. Uncertain system parameters such as frequency variation are included in the control model. A sliding mode control theroy thich has inherent robustness to systme uncertainties is adopted to design a tracking controller for the peizofilm actuator. Using the output informaiton from the tip deflection sensor, a full-order observer is constructed ot estimate state variables for the system. Tracking performances for desired trajectories of sinusoidal amd step functions are evaluated by undertaking both simulation and experimental works.

센서융합을 이용한 AGV의 라인 트레킹 방법

정경훈(Kyunghoon Jung),김정민(Jungmin Kim),박정제(Jungje Park),김성신(Sungshin Kim),배선일(Sunil Bae) 한국지능시스템학회 2010 한국지능시스템학회논문지 Vol.20 No.1

본 논문은 AGV(autonomous guided vehicle)의 센서융합을 통한 위치측정(localization)과 라인 트레킹(line tracking) 방법인 AGV의 유도 시스템(guidance system)에 관한 연구이다. 기존에 AGV는 유도 되어진 선만을 주행 가능한 시스템이었고, 그러한 유도 시스템에 대표적인 방법으로는 자기-자이로 유도(magnet-gyro guidance) 방식과 유선 유도(wire guidance) 방식이 있었다. 하지만 이들은 설치 및 유지보수에 대한 비용이 높고, 작업 환경의 변화에 따른 시스템의 변경이 어렵다는 단점이 있다. 이러한 문제점을 해결하기 위해, 본 논문에서는 레이저 내비게이션과 자이로, 엔코더를 함께 이용하여 외란에 강인하고 작업 환경 및 작업의 내용에 따른 주행 경로 변경이 유연한 위치측정 시스템을 구현하였다. 또한 유도선이 없는 레이저 내비게이션의 라인 트레킹을 위해서 프로그램 상에 가상의 유도선을 설정하고, 경유 노드를 생성하여 AGV와 노드 사이의 각도 차를 바탕으로 주행 제어기(driving controller)를 설계하였다. 실험은 직접 제작한 AGV를 이용하였으며, 동일한 작업공간에서 반복적으로 라인 트래킹 실험을 하였다. 실험 결과, 설정된 주행선의 경로와 실제 AGV 사이의 최대 오차가 49.93㎜ 이내였으며, 제안한 시스템이 AGV의 라인 트레킹에 효율적임을 확인할 수 있었다. This paper present to study the guidance system as localization technique using sensor fusion and line tracking technique using virtual line for AGV(autonomous guided vehicle). An existing AGV could drive on decided line only. And representative guidance systems of such guidance system are magnet-gyro guidance and wired guidance. However, those have had the high cost of installation and maintenance, and the difficulty of system change according to variation of working environment. To solve such problems, we make the localization system which is fused with a laser navigation and gyro, encoder. The system is robust against noise, and flexible according to working environment through sensor fusion. For line tracking of laser navigation without wire guidance, we set the virtual line in program, and design the driving controller based on difference of angle and distance between AGV's position and decided virtual line. To experiment, we use the AGV which is made by ourselves, and experiment the line tracking repeatedly on same experimental environment. In result, maximum distance error between decided virtual line and AGV's position was less than 49.93㎜, and we verified that the proposed system is efficient for line tracking of actual AGV.

전기-정유압 구동식 사출성형 실린더의 운동제어

조승호(S. H. Cho) 유공압건설기계학회 2008 드라이브·컨트롤 Vol.5 No.4

This paper deals with the issue of position tracking control of a clamp-cylinder for injection moulding machine with electric-hydrostatic drives. A fixed displacement pump is utilized in combination with AC motor in order to directly control a clamp-cylinder. A clamp-cylinder may be required to operate under a variety of operating conditions. Therefore, robust control performance is important in position tracking control applications. In order to accommodate mismatches between the real plant and the model used for controller design, discrete-time sliding mode control is developed by combining a velocity feedforward loop. From tracking control experiments, it is shown that significant reduction in position tracking en-or is achieved through the use of sliding mode control.