• Journal of Advanced Navigation Technology
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• v.20 no.3
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• pp.175-181
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• 2016

This paper introduces a heave compensation system for offshore crane when it gets unexpected disturbances and external force. The dynamic model consists of crane assumed to be the rigid body, hydraulic driven winch, elastic rope and payload. To keep the payload from moving up and down, PD control algorithm is applied. By using the control, the oscillating amplitude of the payload is reduced. Also by using the estimated values involved with time-delay, the relative motion of payload in heave direction is dramatically shortened. This paper shows using the control algorithm with estimated value having time-delay 0.1 second is enough to heave compensation system.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.41 no.11
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• pp.1077-1084
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• 2017

Camshaft engines designed for constant engine loads have been applied to existing marine diesel engines. However, due to environmental regulations, electro-hydraulic servo mechanisms, which have a loaddependent cylinder liner jacket water cooling system (LDCL-JWCS), have been recently developed to individually control the temperature of the cylinders depending on the engine load. In this system, the 3-way valve, which prevents low temperature corrosion by reducing the temperature difference between the upper and lower parts of the cylinder, has been employed, but the outlet mass flow of the existing valve is low. In this study, the design of the internal shape of the 3-way valve was performed by analyzing the effects of the design parameters of the valve shape on the performance (i.e., the outlet mass flow rate and temperature). The proposed model was verified by comparing its performance to that of existing marine diesel engine valves.

• Journal of the Society of Naval Architects of Korea
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• v.36 no.2
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• pp.61-71
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• 1999

This paper resents a novel cargo system adapted for a sea port subjected to severe time-varying tide. The proposed system can perform loading or unloading by using a sort of hydraulic elevator associated with real-tim position control. As a preliminary phase, a small-sized model of the cargo system is designed and constructed. The model consists of three principal components ; container palette transfer(CPT) car, platform with lifting columns and cargo ship. The platform activated by the electro-rheological(ER) valve-cylinder is actively controlled to track the position of the cargo ship subjected to be varied due to the time-varying tide and wave motion. Following the derivation of the dynamic model for the platform and cargo ship motions, an appropriate control scheme incorporating time sequence and PID(proportional-integral-derivative) controller is formulated and implemented. Both the simulated and the measured control results are presented to demonstrate the effectiveness of the proposed cargo system.

• Journal of Institute of Control, Robotics and Systems
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• v.18 no.10
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• pp.921-927
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• 2012

In this paper we deal with a hydraulic tilting actuator to make a diagnosis of load characteristic acting on the tilting actuator of the tilting train. Tilting actuator in the tilting train plays a role of making tilt of the train when the train runs a curve section to make the train run without deceleration. However in the process of tilt the tilting actuator is affected by the load acting on the actuator, which has a possibility to make bogie vibration. In order to figure out the effect of the load on the tilting actuator a hydraulic tilting devices that are capable of tilting the train is proposed. The proposed devices are installed in the front bogie and in the rear bogie to make tilting of the train. The devices are consist of sensors that measure the load capacity of the actuator and displacement of the hydraulic cylinder stroke, control blocks to make synchronization of the two actuators, user interface block to monitor the status of the actuators. The effectiveness of the proposed hydraulic tilting actuators is presented by the experimental evaluation using actual tilting train.

• Journal of Aerospace System Engineering
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• v.12 no.2
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• pp.30-36
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• 2018

In this study, a small-scaled test system for a tip jet rotor was developed to contribute to the research on unmanned compound rotorcraft. The performance and dynamic characteristics of the tip jet rotor were investigated using the test system. The diameter of the tip jet rotor was set to 2m in consideration of the size of the test site and the pneumatic supply capacity of the. The rotating speed of the rotor was controlled by the pressure of the compressed air. The thrust and forces during the rotor rotation were measured using a load measuring device. A hydraulic actuator was installed for the dynamic test and full-bridge strain gages were attached to the root of each blade to measure the flap, lag, and torsion-wise responses generated when the rotor is excited by the actuator. The performance and dynamic characteristic tests were conducted at various rotor speeds and blade pitches. In order to check the validity of the test results, the results were also compared with the CAMRAD II analysis.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.21 no.1
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• pp.387-392
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• 2020

This paper proposes a flow-rate control system for industrial valves. Industrial valves are used in piping systems to control the flow rate and pressure. In general, valves used in pipelines are classified into globe valves, butterfly valves, and ball valves according to the shape. Motor, hydraulic, and pneumatic systems are used for operating valves. The flow meter should measure the flow rate when configuring the flow-rate control system. On the other hand, because the flow rate of the valve can be expressed by flow coefficient, a control scheme is proposed using the pressure deviation, which measures at the front and rear of the valve. The transfer function for the valve, according to the control input, was estimated using the signal compression method. Based on the induced transfer function, the disturbance observer was designed to improve the command following the performance of the valve stem. The performance of the proposed control method is compared with the flow-rate control result using the flow meter used.

• The Journal of Korea Robotics Society
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• v.14 no.3
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• pp.179-185
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• 2019

This paper presents cable-hydraulic driven 3DoF (Degree-of-Freedom) manipulator for cooperative robot with high output/low inertia and enhancing lager workspace of hydraulic manipulator. Hydraulic actuation could be solution to design more higher output manipulator than the one of electric motor actuation due to install actuation source and robot joint separated. In spite of this advantage, the conventional hydraulic driven manipulator using cylinder or vane actuator is not suitable for the candidate of cooperative robot because smaller workspace owing to small RoM (Range of Motion) hydraulic actuator. In this paper, we propose 3DoF manipulator with cable-hydraulic actuation which is more larger ratio of payload-to-weight than the one of conventional cooperative manipulator and larger workspace than the one of existing hydraulic driven manipulator. The performance of proposed manipulator was demonstrated by the experiments for confirming overall workspace task, high payload operation task under worst situation and comparing repeatability between developed manipulator and existed cooperative robots. The results of experiments showed that the appropriate performance of proposed manipulator for cooperative robot.

• Proceedings of the Korean Society for Agricultural Machinery Conference
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• 2017.04a
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• pp.19-19
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• 2017

자율주행 트랙터를 위한 트랙터 조향제어는 일반적으로 전자모터를 이용한 EPS(Electric Power Steering) 시스템을 스티어링 휠에 연결하여 회전변위를 변경하고 그 결과 오비트롤(Orbitrol) 밸브의 토출유량을 바꾸고 호스로 연결된 조향실린더의 변위를 조절하여 최종적으로 전방 타이어의 방향각을 변경하면서 이루어진다. 이러한 조향방식은 시스템 구조상 조향실린더와 오비트롤 밸브가 상대적으로 멀리 떨어져 있으며, 밸브 특성상 약 ${\pm}5^{\circ}$의 오버랩이 포함되어 있다. 또한, EPS의 전자모터는 관성력, 마찰, 백래시 등의 영향을 가진다. 이와 같은 복합적인 영향은 조향 응답을 느리게 만들어 상대적으로 빠른 속도에서 주행에서 추종성능이 떨어지는 문제가 발생한다. 본 연구에서는 자율주행 트랙터의 조향성능 개선 연구의 일환으로 조향 HILS 시뮬레이터를 설계제작하여 조향 성능의 요인을 실험적으로 구명하고자 하였으며 이를 바탕으로 조향 시스템의 설계개선 방안을 수립하고자 하였다. 시뮬레이터는 동양물산 80 마력급 TX803 트랙터에 사용되는 오픈센터방식의 오비트롤 유압회로 시스템을 기어펌프가 장착된 AC모터로 구동되게 구성하였으며, 유량은 모터의 주파수를 조절 회전속도를 조절 변경하였다. 추가적으로 EPS와 오비트롤 조합의 조향성능을 비교 및 개선하기 위해 비례제어밸브(PVG 32, Danfoss)를 추가 장착하였다. 실제 트랙터 조향 시 나타나는 마찰저항을 모사하기 위해 부하 실린더를 구성하였으며, 조향 실린더의 부하의 크기는 부하 실린더를 폐회로를 구성하고 유량비례제어밸브를 이용한 유로의 개구량 조절을 통해 부하의 크기를 약 4000 N 까지 증가시킬 수 있도록 하였다. EPS와 비례제어밸브를 제어하기 위해 CANoe 8.0 소프트웨어를 이용하여 CAN통신 기반 가상 조향ECU를 구성하였으며 오비트롤의 기본 성능을 확인하기 위해 조향휠에 따른 실린더 동특성 및 계단 추종성능을 비례제어밸브와 비교하였다. 오비트롤 밸브는 약 ${\pm}5^{\circ}$이상 동작 시 실린더 압력이 상승하기 시작하였으며, 이후 약 ${\pm}10^{\circ}$이상 동작 시 조향실린더가 동작하기 시작하였다. 계단 추종성능실험에서는 비례제어밸브가 약 2배 이상의 응답개선을 나타냈다. 자율주행 경로추종 성능을 향상시키기 위해서는 순간적인 출력밀도가 높은 비례제어밸브를 통해 응답개선이 필요한 것으로 나타났다.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.43 no.10
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• pp.928-935
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• 2015

This paper presents low temperature structural tests of a UAV wing which has room temperature-curing adhesive bond. The wing structure is made of carbon fiber reinforced composites, and the skins are bonded to the inner structures (such as ribs and spars) using room temperature-curing adhesive bond. Also, to verify damage tolerance design of the wing structure, barely visible impact damages are intentionally created in the critical areas. The attachment fittings of the wing are fixed in a specially designed chamber which can simulate the low temperature environments of the operating altitudes. The test load is applied by hydraulic actuators which are placed outside the chamber. The structural tests consist of strain survey tests and a durability test for 1-life fatigue load spectrum. During the tests, strains of major parts are measured by strain gauges and FBG sensors. The change of the initial impact damages is also monitored using piezoelectric sensors. The 1-life damage tolerance of the composite structure is verified by the structural tests under the simulated environments.

• Journal of the Korean Magnetics Society
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• v.25 no.6
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• pp.189-197
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• 2015

As enforced the regulation of fuel efficiency, the electrification of automotive components in internal combustion vehicle has been applied instead of hydraulic pressure. A typical example of such parts is the EPS (electric power steering), and it is applied to most automotive at present. In electric power steering system, the core component is motor. The reduction of cogging torque and torque ripple is required to improve steering feeling and reduce NVH (Noise Vibration Harshness) in EPS. Generally the skewed design of stator or rotor is applied in order to reduce cogging torque and torque ripple. This paper propose the design and analysis methodology of Brusheless PMSM (Permanent Magnet Synchronous Motor) which is applied to skewed stator. The proposed methodology is as follows: First Intial Design PMSM with skewed stator for EPS, Second Optimal design using RSM (Response surface method), Third Performance Analysis such as Phase Back EMF, Inductance, Load torque using FEA (Finite Element Method). Finally, the reliability of proposed design methodology will be verified through the experiments of prototype sample.