• Transactions of the Korean Society of Automotive Engineers
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• v.19 no.1
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• pp.17-24
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• 2011

TMED(Transmission Mounted Electric Device) parallel hybrid configuration can realize EV(Electric Vehicle) mode by disengaging the clutch between an engine and a transmission-mounted motor to improve efficiencies of low load driving and regenerative braking. In the EV mode, however, jerk can be induced since there are insufficient damping elements in the drive-train. Though the jerk gives demoralizing influence upon driving comport, adding a physical damper is not applicable due to constraints of the layout. This study suggests the jerk reduction control, composed of active damping method and torque profiling method, to suppress the jerk without hardware modification. The former method creates a virtual damper by generating absorbing torque in the opposite direction of the oscillation. The latter method reduces impulse on the mated gear teeth of the drive-train by limiting the gradient of traction torque when the direction of the torque is reversed. To validate the effectiveness of the suggested strategy, a series of vehicle tests are carried out and it is observed that the amplitude of the oscillation can be reduced by up to 83%.

• Transactions of the Korean Society of Automotive Engineers
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• v.24 no.3
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• pp.372-378
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• 2016

Clutch torque control is the key to the ride comfort improvement of a vehicle equipped with AMT (automated manual transmission). For such control, the torque transfer starting point, known as the "kiss point," should be indicated or at least estimated to compensate for the clutch torque. The kiss point changes due to wear, high temperature, and fatigue; as such, it should be estimated while the vehicle is being driven. In this study, the method of kiss point active estimation for an AMT vehicle with a dry-type clutch was devised. The kiss point is learned while the engine is in an idle state and while the transmission is at a neutral gear position. It is determined when the input shaft of the transmission starts to rotate by slowly engaging the clutch. The noise of the shaft speed signal during the slow engagement process is filtered for accurate control. The kiss point estimation at various clutch engagement speeds was analyzed via a vehicle test.

• Journal of Institute of Control, Robotics and Systems
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• v.6 no.2
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• pp.181-189
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• 2000

This paper presents the optimal redundant actuation of parallel manipulators for complicated robotic applications such as cutting grinding drilling and digging that require a high degree of operational stiffness as well as the balance between force applicability and dexterity. First by taking into account the distribution(number and location) of active joints the statics and the operational stiffness of a redundant parallel manipulator are formulated and the effects of actuation redundancy are analyzed, Second for given task requirements including joint torque limit task force maximum allowable disturbance and maximum allowable deflection the task execution conditions of a redundant parallel manipulator are derived and the efficient testing formulas are provided. Third to achieve high operational stiffness while maintaining moderate dexterity the redundant actuation of a parallel manipulator is optimized which determines the optimal distribution of active joints and the optimal internal joint torque, Finally the simulation results for the optimal redundant actuation of a planar parallel manipulator are given.

• Proceedings of the KIPE Conference
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• 2010.07a
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• pp.194-195
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• 2010

This paper investigates control algorithms for a doubly fed induction generator (DFIG) with back-to-back converter in medium-voltage wind power system under unbalanced grid conditions. Operation of DFIG under unbalanced grid conditions causes several problems such as overcurrent, unbalanced currents, active power pulsation and torque pulsation. Three different control algorithms to compensate for the unbalanced conditions have been investigated with respect to four performance factors; fault ride-through capability, efficiency, harmonic distortions and torque pulsation. The control algorithm having zero amplitude of negative sequence current shows the most cost-effective performance concerning fault ride-through capability and efficiency. The control algorithm for nullifying the oscillating component of the instantaneous active power generates least harmonic distortions. Combination of these two control algorithms depending on the operating requirements presents most optimized performance factors under the generalized unbalanced operating conditions.

• Proceedings of the KSME Conference
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• 2000.04a
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• pp.433-439
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• 2000

Lots of semi-active control devices have been developed in recent years because they have the best features of passive and active system. Especially, controllable magneto-rheological(MR) fluid devices have received significant attention in these area of research. The MR fluid is the material that reversibly changes from a free-flowing, linear viscous fluid to a semisolid with a controllable yield strength in milliseconds when exposed to a magnetic field. If the magnetic field is induced by moving a permanent magnet instead of applying current to a solenoid, it is possible to design a MR damper consuming low power because the power consumption is reduced at steady state. This paper proposes valve mode MR damper using permanent magnetic circuit that has wide range of operation with low power consumption and small size. To design a MR damper that has a large maximum dissipating torque and a low damping coefficient, a design parameter is adopted. The magnetic circuit, material of choke and choke type are selected experimentally with the design parameter. The behaviors of the damper are examined and torque tracking control using PID feedback controller is performed for step, ramp and sinusoidal trajectories.

• Journal of Power Electronics
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• v.18 no.3
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• pp.923-930
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• 2018

Based on the application of an integrated dynamic brake (IDB) system that uses a PWM inverter fed-AC motor drive to operate the piston, a new active zero state PWM (AZSPWM) is proposed to improve the stability and reliability of the IDB system by suppressing the conducted electro-magnetic interference (EMI) noise under a wide range of load torque. The new AZSPWM reduces common-mode voltage (CMV) by one-third when compared to that of the conventional space vector PWM (CSVPWM). Although this method slightly increases the output current ripple by reducing the CMV, like the CSVPWM, it can be used within the full range of the load torque. Further, unlike other reduced common-mode voltage (RCMV) PWMs, it does not increase the switching power loss. A theoretical analysis is presented and experiments are performed to demonstrate the effectiveness of this method.

• Journal of Power Electronics
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• v.17 no.1
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• pp.161-171
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• 2017

To enhance the reliability of two-motor drive systems, this paper proposes an improved direct torque control (DTC) scheme (P-DTC) for five-leg dual-PMSM drive systems. First, the topology of a five-leg dual-PMSM drive system is illustrated. To clarify the analysis of the P-DTC, the standard DTC scheme for three-phase drive systems is presented. The operation of a five-leg dual-PMSM drive system is classified into three situations according to the definitions of the switching-vector unions. Compared with the existing DTC scheme (R-DTC), the P-DTC can minimize the replacement of active switching-vectors to zero switching-vectors. When this replacement cannot be avoided, the P-DTC uses a proposed master-slave selection principle to minimize the system error. Comparing with the R-DTC, the P-DTC has lower torque ripples, a wider speed range and a faster torque increasing response. Experiments have been carried out in the coupling and independent modes, and the effectiveness of the P-DTC is verified by the obtained results.

• Transactions of the Korean Society of Automotive Engineers
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• v.6 no.6
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• pp.226-233
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• 1998

In this paper, an experimental study was performed to investigate the speed ratio-torque-thrust characteristics for metal belt CVT. It is observed from the experimental results that nondimensional secondary thrust force follows with the existing theoretical formula with ${\mu}$=0.09~0.12 depending on the torque and the speed ratio. In order to represent these characteristics, an effective friction coefficient was introduced. Also, the slip characteristics between the belt and the pulley were investigated experimentally and traction coefficients at gross slip were obtained for various speed ratios. Using the traction coefficients and the effective friction coefficients, an improved formula for the secondary thrust force was suggested assuming that thrust force is the summation of the thrust of pseudo inactive arc and the thrust of pseudo active arc. The effective friction coefficient and the improved formula for the speed ratio-torque-thrust relationship suggested in this work can be used to obtain the appropriate secondary thrust.

• Journal of The Korean Society of Integrative Medicine
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• v.10 no.2
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• pp.115-123
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• 2022

Purpose : The hamstring is a group of three muscles, biceps femoris, semitendinosus, and semimembranosus, placed behind the thigh. The hamstring is one of the most commonly injured muscles and usually occurs during high-speed, high-intensity exercise. The purpose of this study was to investigate the effect of static stretching and eccentric exercise of hamstrings on flexibility, strength, and functional performance. Methods : This study was conducted on 28 healthy adults. Subjects were divided into a static stretching group (n=15) and an eccentric exercise group (n=13). Subjects measured hamstring flexibility (active knee extension test), hamstring strength (concentric and eccentric peak torque), and functional performance (triple hop for distance and modified 20 m sprint). The intervention was conducted three times a week for six weeks. To compare the difference between values before and after the intervention, paired t-test was used, and an independent t-test was used to compare between groups. Results : In both groups, the active knee extension test, concentric peak torque, triple hop test, and 20 m sprint significantly increased after the intervention compared to before the intervention (p<.05). However, no significant difference was found in eccentric peak torque after intervention in both groups (p>.05). No significant difference was found between the two groups in the effect on the variables (p>.05). Conclusion : Both interventions were found to be effective for flexibility, concentric strength, and functional performance. Eccentric exercise and static stretching are recommended to improve the flexibility and functional performance of the hamstring. This study's results will be considered essential data on the effectiveness of static stretching and eccentric exercise.

• Journal of Industrial Technology
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• v.24 no.B
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• pp.207-214
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• 2004

An active stick which supplies force feedback to the operator is developed in this study. A mathematical model of the active stick is derived, and compared with the experimental result. It turns out that the frictional torque due to the mechanical contacts of several parts of the stick is one of the major barriers to achieve high precision operation of the stick. The frictional effect of the stick is cancelled out by using a friction observer. The efficacy of the friction observer is verified through the numerical simulation. Because of the observer dynamics, there are some limitations in exact recovering the static friction and Stribeck effect. However, the friction observer follows the real friction on the average. It's anticipated that the application of the friction observer to the closed loop control of the active stick improves the performance of the displacement versus force characteristics, which will be proved experimentally in the further study.