• 드라이브 ㆍ 컨트롤
• /
• 제12권1호
• /
• pp.9-14
• /
• 2015

In the early of 1950, the high response magnetic torque motor was developed for driving electro-hydraulic servo valves. Since then it has been broadly used for industrial application and the research of development or improvement of the torque motor is still being conducted. The purpose of this study is to present useful design criteria for the torque motor design. For this, torque motor is modelled and linearized. The static characteristics of the torque motor are investigated by direct computation of the derived linearlized equations. The dynamic characteristics of the torque motor are investigated with the derived transfer function by using Matlab and compared with the results of the linearlized analysis by using AMESim simulation with actual values of the physical parameters. Finally, the design criteria obtained from the analysis are reviewed.

• 한국인터넷방송통신학회논문지
• /
• 제23권4호
• /
• pp.143-148
• /
• 2023

SRM의 특성 중 비선형성으로 인해 최대토크 및 최소 토크 맥동 형성을 위한 적정 운전이 어렵다. 또한 고정 스위칭각 제어 때 속도 가변에 따른 토크 형성이 불안정하여 효율을 저하시키는 문제점을 가지고 있다. 따라서 속도 가변에 따른 능동적인 스위칭각 제어가 필요하다. 본 논문에서는 SRM의 비선형성으로 인한 문제점으로부터 선행각 (Advance angle)의 자동제어에 의한 토크 리플 저감과 이에 따른 출력 토크 향상에 의한 구동 성능개선을 위한 방법에 대해 모색하였다. 또한 히스테리시스 전류제어기 성능에 따른 스위칭 가변으로 인한 SRM의 최적 운전에 대해 살펴보았다.

• 대한기계학회논문집
• /
• 제19권1호
• /
• pp.132-141
• /
• 1995

The torque converter, an important component of automatic transmissions, is a hydrodynamic device which has a great influence on transient characteristics of vehicle during shift. To predict the accurate driving performance in extremely transient state such as shifting process, a detailed analysis of the torque converter is required. In this study, one dimensional performance model of the torque converter based on the concept of mean flow path, was used to analyze the shifting transients and the exact values of equivalent parameters were determined from the experimental results by using BOX program. The dynamic modelings of the components of power transmission systems such as engines, planetary gear systems, clutches and one-way clutches, were carried out. To analyze the shifting transients of tracked vehicle, a simulation program was developed. In the modeling of power transmission systems, the stiffness of shafts was neglected and shifting control logic(TCU) was included. Using the developed simulation program, the driving conditions were simulated and the results of simulation were verified through the experiments on the dynamometer.

• Journal of Biosystems Engineering
• /
• 제43권1호
• /
• pp.1-13
• /
• 2018

Purpose: The development of compact tractors that can be used in dry fields, greenhouses, and orchards for pest control, weeding, transportation, and harvesting is necessary. The development and performance evaluation of power transmission units are very important when it comes to tractor development. This study evaluates the performance of a driving power transmission unit of a 50 kW multi-purpose narrow tractor. Methods: The performance of the transmission and forward-reverse clutch, which are the main components of the driving power transmission unit of multi-purpose narrow tractors, was evaluated herein. The transmission performance was evaluated in terms of power transmission efficiency, noise, and axle load, while the forward-reverse clutch performance was evaluated in terms of durability. The transmission's power transmission efficiency accounts for the measurement of transmission losses, which occur in the transmission's gear, bearing, and oil seal. The motor's power was input in the transmission's input shaft. The rotational speed and torque were measured in the final output shaft. The noise was measured at each speed level after installing a microphone on the left, right, and upper sides. The axle load test was performed through a continuous equilibrium load test, in which a constant load was continuously applied. The forward-reverse clutch performance was calculated using the engine torque to axle torque ratio with the assembled engine and transmission. Results: The loss of power in the transmission efficiency test of the driving power unit was 6.0-9.7 kW based on all gear steps. This loss of horsepower was equal to 11-18% of the input power (52 kW). The transmission efficiency of the driving power unit was 81.5-89.0%. The noise of the driving power unit was 50-57 dB at 800 rpm, 70-77 dB at 1600 rpm, and 76-83 dB at 2400 rpm. The axle load test verified that the input torque and axle revolutions were constant. The results of the forward-reverse clutch performance test revealed that hydraulic pressure and torque changes were stably maintained when moving forward or backward, and its operation met the hydraulic design standards. Conclusions: When comprehensively examined, these research results were similar to the main driving power transmission systems from USA and Japan in terms of performance. Based on these results, tractor prototypes are expected to be created and supplied to farmhouses after going through sufficient in-situ adaptability tests.

• 대한전기학회:학술대회논문집
• /
• 대한전기학회 1995년도 하계학술대회 논문집 A
• /
• pp.227-230
• /
• 1995

This paper presents continuous control concept of unsymmetrical 2 phase induction machine(I.M.). For 2 phase driving of the unsymmetrical I.M., variable voltage and variable frequency inverter is needed. In this paper, a new 12 step PWM 2 phase inverter was proposed. And then, proposed inverter fed 2 phase driving of unsymmetrical I.M. was studied, expecially on average torque and pulsation torque. This system has merits like higher fundamental component and better harmonic characteristics. The simulation was done on this issue and experimental research is on the way.

• 제어로봇시스템학회논문지
• /
• 제17권4호
• /
• pp.313-320
• /
• 2011

Multi-axle driving vehicles that are used in special environments require high driving performance, steering performance, and stability. Among these vehicles, 6WS/6WD vehicles with middle wheels have structural safety by distributing the load and reducing the pitch angle during rapid acceleration and braking. 6WS/6WD vehicles are favored for military use in off road operations because of their high maneuverability and mobility on extreme terrains and obstacles. 6WD vehicles that using in-wheel motor can generate the independent wheel torque without other mechanical parts. Conventional vehicles, however, cannot generate an opposite driving force at each side wheel. Using an independent steering and driving system, six-wheel vehicles can show better performance than conventional vehicles. Using of independent steering and driving system, the 6 wheel vehicle can improve a performance better than conventional vehicle. This vehicle enhances the maneuverability under low speed and the stability at high speed. This paper describes an independent 6WS/6WD vehicle, consists of three parts; Vehicle Model, Control Algorithm for 6WS/6WD and Simulation. First, vehicle model is application of TruckSim software for 6WS and 6WD. Second, control algorithm describes the optimum tire force distribution method in view of energy saving. Last is simulation and verification.

• 한국산학기술학회논문지
• /
• 제7권6호
• /
• pp.1064-1071
• /
• 2006

본 논문에서는 최대 견인력 제어를 위해서 부하토크외란관측기와 속도센서리스 벡터제어를 이용하여 점착력 계수를 추정하고 추정한 점착력 계수의 미분치를 PI 토크 제어하는 Anti-slip제어를 제안한다. 점착력 계수를 추정하기 위해서는 전압, 전류값 뿐만 아니라 자속이나 속도정보가 필요하다. 따라서 전동기의 회전속도를 정확하게 검출할 수 있는 속도센서가 필요하게 된다. 그러나 속도검출을 위해 속도센서를 부착하는 것은 여러 가지 면에서 단점을 가지고 있다. 이러한 문제점을 해결하기 위하여 속도센서 없는 센서리스 구동방식에 의한 부하토크외란관측기를 설계하여, 점착력 계수를 추정한다. 이와 같은 제어 알고리즘을 구현하기 위하여 1C1M 철도모의장치를 이용하여 제안된 알고리즘을 실험을 통하여 확인하였다.

• 한국정보통신학회논문지
• /
• 제3권2호
• /
• pp.465-470
• /
• 1999

This paper presents a design method of driving system for EV(Electric Vehicle). EV driving system consist of batteries, battery interface system and inverter. The power control circuit of the driving system is simple, since only one PWM(Pulse Width Modulation) inverter is used. These test spectrums and waveforms can be used to determine the filter component ratings as well as to compute the harmonics injected into the source. The hybrid control strategy which can reduced harmonic components. The analysis results indicate that the required capacity of the condenser can be reduced with LC filter. In this paper, the design and implementation of the proposed systems are described and some experimental results are given to show the performance of this driving system. The control strategy of the system to available inverter's power and motor's power and torque is discussed.

• 대한전기학회논문지
• /
• 제45권1호
• /
• pp.74-80
• /
• 1996

This paper describes current controlled PWM technique of PM synchronous motors for a wide variety of speed control applications. They are however limited in their ability to operate in the power limited regime where the available torque is reduced as the speed is increased above its base value. This paper reviews the operation of the PMSM drives when they are constrained to be within the permissible envelope of maximum inverter voltage and current to produce the rated power and to provide this with the highest attainable rotor speed. The optimal field-weakening control algorithm is the use of phase current and d-axis current feedback to reduce of error between the d-axis current command and real current and to improve the torque characteristics. The improved torque characteristics of speed control strategy with optimal field weakening control algorithm is analyzed and the performance is investigated by the computer simulation and experimental results. (author). refs., figs.

• 제어로봇시스템학회논문지
• /
• 제15권1호
• /
• pp.99-104
• /
• 2009

This article describes the analysis of stable grasping for multi-fingered robot. An analysis method of stable grasping, which is based on the three-dimensional acceleration convex polytope, is proposed. This method is derived from combining dynamic equations governing object motion and robot motion, force relationship and acceleration relationship between robot fingers and object's gravity center through contact condition, and constraint equations for satisfying no-slip conditions at every contact points. After mapping no-slip condition to torque space, we derived intersected region of given torque bounds and the mapped region in torque space so that the intersected region in torque space guarantees no excessive torque as well as no-slip at the contact points. The intersected region in torque space is mapped to an acceleration convex polytope corresponding to the maximum acceleration boundaries which can be exerted by the robot fingers under the given individual bounds of each joints torque and without causing slip at the contacts. As will be shown through the analysis and examples, the stable grasping depends on the joint driving torque limits, the posture and the mass of robot fingers, the configuration and the mass of an object, the grasp position, the friction coefficients between the object surface and finger end-effectors.