Title Page
요약
Abstract
Contents
ACRONMY 15
Chapter One. Introduction 16
1.1. Background 16
1.2. Statement of Problem 18
1.3. Goals 19
1.3.1. General purpose 19
1.3.2. Specific Goal 19
1.4. Methodology 19
1.5. Scope 20
1.6. Paper outline 20
Chapter Two. Literature Review 21
Chapter Three. 2-DOF TRMS System Model and Designing the Control Algorithm 23
3.1. TRMS Physical Description 23
3.2. Modelling of TRMS 24
3.2.1. Non-Linear Mathematical Modelling 24
3.2.2. Representation of TRMS model in state space 26
3.2.3. Linearized Mathematical modelling 28
3.3. Designing a Control Algorithm for the Proposed System 29
3.3.1. Input Output Feedback Linearization Method 29
3.3.2. Sliding Mode Control Method 34
3.3.3. Switching Control Algorithm 35
Chapter Four. Result and Discussion 38
4. Simulation and Result 38
4.1. Feedback Linearization based response of Pitch and Yaw angle 38
4.2. Sliding Mode-based Response of Pitch and Yaw angle 39
4.3. Switching Method based Response of Pitch and Yaw angle 41
4.4. Comparison of the Different Controllers 42
Chapter Five. Conclusion and Future Work 45
5.1. 결론 45
5.2. Conclusion 45
5.3. Future Work 46
Reference 47
Table 1. TRMS Model Parameters 26
Table 2. Pitch angle Response Comparison 44
Table 3. Yaw angle Response Comparison 44
Figure 1. Research Method 19
Figure 2. Feedback Instruments TRMS 33-220 Mechanical Unit 23
Figure 3. TRMS Phenomenological Model 24
Figure 4. TRMS Control System 24
Figure 5. feedback Linearization Block Diagram 29
Figure 6. SMC General Block Diagram 34
Figure 7. (a) Vertical subsystem Proposed Final Control algorithm; (b) Horizontal subsystem Proposed Final Control algorithm 37
Figure 8. Pitch Angle Response based on Feedback Linearization Method 38
Figure 9. Yaw Angle Response based on Feedback Linearization 39
Figure 10. Error due to Feedback Linearization 39
Figure 11. SMC based Position of Pitch Response 40
Figure 12. SMC based Position of Yaw Response 40
Figure 13. Error due to SMC 40
Figure 14. Switching Method based Pitch Response 41
Figure 15. Switching based Yaw Angle Response 41
Figure 16. Error due to Switching Method 42
Figure 17. Position of Pitch with Different Controllers 42
Figure 18. Position of Yaw with Different controllers 43
Figure 19. Error due to Different Controllers for Pitch Response 43
Figure 20. Error due to Different Controllers for yaw Response 44