Earticle

초록

영어

The continuous track system with the hull disturbances has 6 degrees of freedom (dof) motion in the pitching, yawing and rolling directions of two independent axes. The controller in such a system must satisfy the requirements in disturbance rejection ratio, position accuracy, speed and acceleration magnitude. The paper presents PID controller with disturbance rejection function, low sensitivity and notch filter against the bending frequency by the disturbances. The dynamic analysis of mechanical load and servo-valve flow has been performed by considering the kinetic, potential and dissipation energies. The control scheme has been certified by the MATLAB simulation using practical disturbances. The performance of a designed system has been certified by the simulation and experiment and experiment results, which indicates the improvement of the system performance in case of the existence of external disturbances.

목차

Abstract
 1. Introduction
 2. Design of Dynamic Attitude Control System
  2.1. Mechanical Load and Servo valve Flow Dynamics
  2.2. Dynamics of Hull
  2.3. Dynamics of Robot Arm
  2.4. Servo-valve Flow Dynamics [11]
 3. Controller Design
  3.1 Design Theory of Controller
  3.2 Azimuth Axis Controller of Hull Vehicle
  3.3 Disturbance Rejection and Stabilization Capability
 4. Simulation and Experiment Result
 5. Conclusions
 6. Acknowledgements
 7. References

키워드

저자

• Kyoojae Shin [ Department of Digital Media Eng., Busan University of Foreign Studies, Korea ]
• Uyeol Jeon [ Department of Digital Media Eng., Busan University of Foreign Studies, Korea ]

참고문헌

발행기관

간행물

표지보기 관심저널 등록

• 간행물명

  International Journal of Control and Automation

• 간기

  월간

• pISSN

  2005-4297

• 수록기간

  2008~2016

• 십진분류

  KDC 505 DDC 605