This study reports on the direct drive volume control flange-type rotary vane
steering gear (DDVC-FRVSG), a promising component with superior advantages of
compact structure, powerful vibration absorption, and simple control for application
in the controlling course and posture of a vessel. The ability of the DDVC-FRVSG
to satisfy the accuracy requirement of the vessel is limited by nonlinear friction.
This study proposes two compensation methods to compensate for the nonlinear
friction. We establish the mathematical model and the transfer function of the
steering gear system and the mathematical model of nonlinear friction on the
DDVC-FRVSG system based on the principle of the DDVC-FRVSG. A high-gain
proportional?integral?derivative control strategy and another method using the
self-adaption robust control strategy is proposed and studied both theoretically and
experimentally to suppress the nonlinear friction. With the “no-compensation
state” as a benchmark, our measured results by prototype testing has proved that
both methods can compensate for the nonlinear friction, with the second method
showing a better performance of up to 78.85% increase compared to that of the
41.65% shown by the first one. The outcome of this research will contribute to the
rapidity and stability of the DDVC-FRVSG.

제 1편 : SIMULINK 기본편
1.1 SIMULINK의 시작 1
블록의 연결 5
블록 파라미터의 설정 7
시뮬레이션 파라미터 (Configuration Parameters)의 설정 8
시뮬레이션의 수행 9
블록 파라미터의 표시 9
복수 데이터의 표시 11
2.2 동적 시뮬레이션 13
이차 미분방정식 17
선형 상태변수 모델 23
DC 모터의 시뮬레이션 24
함수 블록의 사용 29
차분방정식(difference equation)의 모델링 34
Subsystem(부시스템)의 구성 37

제 2편 : 연구논문
The compensation for nonlinear friction of DDVC flange-type rotary
vane steering gear

1. Materials and methods 43
2. System modeling 44
3. Friction and its effect on the system 45
4. Compensation methods 46
5. Results 54
6. Experimental results 55
7. Conclusion 58
8. References 59