• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.1445-1449
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• 2005

The ram assembly is important equipment in fueling machine of PHWR(Pressurized Heavy Water Reactor) plant where fuel replacement is possible while the plant is in service. Troubles in the ram assembly can cause lots of difficulties in power plant operation. The ram assembly is typically composed of the B-ram, the L-Ram and the C-Ram. The B-ram is focused in this paper because it plays the most important role in the ram assembly. Among the ram fault phenomena, ram stuck phenomena are the most frequent cases in the B-ram, which has a ball screw mechanism driven by a hydraulic motor. Ram stuck phenomena are due to ball wear and damage in ball nut that increase in proportion to the number of fuel replacement. It is required to predict ram stuck phenomena before they occur. In this paper, a method is proposed for predicting ram stuck phenomena using a discrete wavelet transform. The discrete wavelet transform provides information on both the time and frequency characteristics of the input signals. The proposed method uses the frequency bandwidths of coefficients of discrete wavelet decompositions and detail coefficients of discrete wavelet transform to predict ram stuck phenomena. The signal used in this paper is a torque-related signal such as a hydraulic service outlet pressure signal in a hydraulic driving system or a current signal in a DC motor driving system. Finally, the validity of the proposed method is shown via experiment using ball nut characteristic test equipment that simulates ram stuck phenomena due to increased ball friction in ball nut.

• Journal of the Korean Institute of Gas
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• v.24 no.6
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• pp.55-60
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• 2020

As research and development of eco-friendly vehicles are expanding worldwide, additional devices of vehicles are reduced or deleted to increase the mileage, or research is being conducted to reduce weight. Among them, the multi-stage transmission that was applied to the internal combustion engine vehicle was deleted and replaced with a reducer, and the initial driving power is secured by increasing the torque through the control of the motor output value. However, since frequent motor speed change can result in a load increase, this study attempts to develop a compact and lightweight manual two-stage reducer with a general reducer structure. Therefore, a two-speed transmission with two gear ratio was designed by inserting a large gear and a small gear in a structure with a parallel shaft to connect the gears with a V-belt in the form of a parallel shaft reducer, and setting the gear ratio of the low and high gears respectively. In addition, power performance according to the rotational speed and load of the transmission was checked through a test, and the heat generation characteristics generated during driving were checked to verify the validity of the transmission.

• Journal of the Semiconductor & Display Technology
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• v.22 no.4
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• pp.113-118
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• 2023

Maintenance of semiconductor equipment processes is crucial for the continuous growth of the semiconductor market. The process must always be upheld in optimal condition to ensure a smooth supply of numerous parts. Additionally, it is imperative to monitor the status of the robots that play a central role in the process. Just as many senses of organs judge a person's body condition, robots also have numerous sensors that play a role, and like human joints, they can detect the condition first in the joints, which are the driving parts of the robot. Therefore, a normal state test bed and an abnormal state test bed using an aging reducer were constructed by simulating the joint, which is the driving part of the robot. Various sensors such as vibration, torque, encoder, and temperature were attached to accurately diagnose the robot's failure, and the test bed was built with an integrated system to collect and control data simultaneously in real-time. After configuring the user screen and building a database based on the collected data, the characteristic values of normal and abnormal data were analyzed, and machine learning was performed using the KNN (K-Nearest Neighbors) machine learning algorithm. This approach yielded an impressive 94% accuracy in failure diagnosis, underscoring the reliability of both the test bed and the data it produced.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.16 no.5
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• pp.3044-3050
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• 2015

The purpose of this study is to analyze the performance of the flow control oil pump for automatic transmission. The numerical model for analysis the performance of the flow control oil pump was develop and the characteristics of the internal flow, discharge flow rate, displacement of outer ring, driving torque, generation of cavitation was investigated according to rotating speed. As a result, the cavitation generation increased as the rotating speed increased. The volumetric efficiency was 90% for 2200 rpm and it decreased rapidly, then it decreased about 81% for 5000 rpm. Besides, the cavitation generation was 20%~30% for inlet of suction part, but it reduced below 13% owing to the compression. However, it shows higher cavitation generation for high rotating speed like 5000 rpm.

• Journal of Drive and Control
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• v.12 no.1
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• pp.15-20
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• 2015

For testing a newly designed ship's steering gear, a steering gear test bench with a steering gear to be tested and a load generation part should be prepared. The load given to the steering gear has to be pertinent to the load generated in a targeted ship. In this study, the authors suggest a process of estimating the load given to steering gears in ships. At first, a test for measuring the load in the steering gear of a real ship was conducted. Then, a process was developed to compute rudder driving torque and force by using basic equations including some empirical equations on ship's steering. The test results and the computation results on the load in the steering gear were compared, As a result, the process suggested in this study for estimating load in ship's steering gears was verified.

• Transactions of the Korean Society of Automotive Engineers
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• v.22 no.7
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• pp.1-7
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• 2014

A variable displacement vane pump is possible to improve the fuel economy by varying the pump capacity with a vane mechanism according to the engine operating speed range and reducing its driving torque. In general the experimental evaluation of the vane pump for the transmission has been performed mainly not with the vehicle or dynamometer test rig but with component test rig due to the implementation and safety problems. In this paper, in order to evaluate the performance of the developed vane pump as well as the compatibility with other rotary and hydraulic components of the target transmission, the transmission dynamometer based test rig is implemented where the developed pump is built into it and then the variable pump capacity and effect of power reduction are investigated experimentally.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.39 no.2
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• pp.211-217
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• 2015

Emission gas regulations and constantly increasing fuel costs call for the worldwide use of environmentally friendly and energy-efficient machines in industry. To meet these requirements, a hybrid excavator prototype has been developed that incorporates an electric swing motor, engine assist motor, and ultra-capacitor module into a conventional hydraulic excavator of the 22-ton class. This paper mainly describes a few techniques to optimize its energy efficiency. These include 1) controlling the engine speed in proportion to the load torque, 2) controlling the pump displacement when driving the electric swing system, 3) managing the ultra-capacitor voltage to minimize the electrical energy loss, and 4) reducing the cooling fan speed to improve the energy efficiency of the system.

• The Transactions of the Korean Institute of Power Electronics
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• v.4 no.5
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• pp.462-473
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• 1999

This paper addresses the current measurement issue of all digital field oriented control of ac motors. The p paper focuses on the effect of low-pass filter and also on the sampling of the fundamental component of the m motor current. The low-pass filter, which suppresses the switching noise of the motor current, introduces v variable phase delay according to the current ripple frequency. It is shown that the current sampling error c consists of the fundamental component and high frL'quency ripple components. In this paper, the dependency of t this current sampling e$\pi$or on the reference voltage vector is investigated analytically and a sampling technique i is proposed to minimize the error. The work is based on the three phase symmetry pulse width modulation l inverter driving an induction machine. With this technique, the bandwidth of current regulator can be extended t to the limit given by the switching frequency of the inverter and more precise torque regulation is possible.

• Journal of Institute of Control, Robotics and Systems
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• v.21 no.5
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• pp.393-400
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• 2015

This paper describes the development of a chest-wearable robot that can efficiently perform self walking rehabilitation without a helper. The features of the developed robot are divided into three parts. First, as a mechanical characteristic, the conventional elbow crutch is attached at the forearm. However, the proposed robot is attached to the patient's chest, enabling them to feel free to use their hands and eliminate the burden of the arms. Second, as a characteristic of the driving algorithm, pressure sensors attached to the chest automatically perceive the patient's walking intention and move the robot-leg thereafter. Also, for safety, it stops operating when an obstacle is found in front of the patient by using ultrasonic sensors and generates a beeping sound. Finally, by using the scotch yoke mechanism, supporting legs are moved up and down using a rotary servo motor without excessive torque that is generated by large ground reaction forces. We showed that the developed robot can effectively perform self walking rehabilitation through walking experiments, and its performance was verified using Electromyograph (EMG) sensors.

• Journal of the Korean Society of Industry Convergence
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• v.25 no.4_2
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• pp.655-662
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• 2022

Recently, with the increase in the use of UAV(unmanned aerial vehicles), research on horizontal maintenance stations that can take off and land in various environments has been actively conducted. These stations can safely land UAV through multiple DOF(degrees of freedom) or at least 2-DOF-based actuator actuation. Among them, many researchers are dealing with the multi-DOF stewart platform due to its high safety. However, the stewart platform requires high-precision control technology because it requires a lot of torque to actuate according to the load action. Therefore, in this paper, to solve the mentioned problem, a bevel gear-based 2-DOF horizontal maintenance station system is proposed. The proposed system is configured to prevent damage due to air resistance when maintaining ships and to install it in a small space. Also, in terms of system configuration, the bevel gear-based horizontal maintenance system has the main advantage of being able to take off and land UAVs of various sizes through the replacement of station pads. The driving of the system consists of a simple form that can control the motor by adjusting the rotation speed of the motor according to the sea waveform.