• Transactions of the Korean Society of Automotive Engineers
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• v.4 no.6
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• pp.52-64
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• 1996

This paper presents an active position control of a single-rod cylinder system featuring an electrorheological(ER) fluid-based valve. The ER fluid consisting of silicone oil and chemically treated particles is firstly composed and its Bingham property is tested as a function of imposed electric field. A multi-channel plate type of ER valve is then designed and manufactured on the basis of the field-dependent Bingham model. Performance test of the ER valve is undertaken by evaluating pressure drop with respect to the number of electrode as well as the intensity of the electric field. Subsequently, the ER valve-cylinder system is constructed and its governing equation of motion is derived. A neural control scheme for position control of the cylinder is formulated by incorporating proportional-plus-derivative(PD) controller and implemented. Experimental results of both regulating and tracking control responses are presented in order to demonstrate the efficacy of the proposed ER valve-cylinder control system.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.1441-1444
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• 1996

This paper presents the position control of a double-rod cylinder system activated by an electrotheological(ER) valve unit. Following the composition of a silicone oil-based ER fluid, theological properties of the ER fluid are experimentally tested as a function of imposed electric fields to determine appropriate design parameters of the ER valve. The ER valves are then designed and manufactured. Subsequently, the pressure drop of the ER valve is evaluated with respect to the intensity of the electric field. Four ER valves bridge-cylinder system is formulated, and the governing equations for the system are derived. A neural network control scheme is then synthesized to perform the position control of the cylinder system. Tracking control responses are experimentally evaluated and presented in order to demonstrate the effectiveness of the proposed control system.

• Journal of the Korean Society for Precision Engineering
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• v.17 no.3
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• pp.165-173
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• 2000

This Paper presents the position tracking control of a closed-loop cylinder system using electro-rheological(ER) valve actuators. After manufacturing three sets of cylindrical ER valves on the basis of Bingham model of ER fluid, a 3 dof(degree-of-freedom) closed-loop cylinder system having the heave, roll and pitch motions is constructed. The governing equations of motion are derived using Lagrange's equation and a control model is formulated by considering nonlinear characteristics of the system. Sliding mode controllers are then designed fer these ER valve actuators in order to achieve position tracking control. The effectiveness of trajectory tracking control performance of the proposed cylinder system is demonstrated through computer simulation and experimental implementation of the sliding mode controller.

• International Journal of Precision Engineering and Manufacturing
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• v.2 no.2
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• pp.48-56
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• 2001

This paper presents the position tracking control of a closed-loop cylinder system using electro-rheological (ER) valve actuators. After manufacturing three sets of cylindrical ER valves on the basis of Bingham model of ER fluid, a 3 dof(degree-freedom) closed-loop cylinder system having the heave, roll and pitch motions is constructed. The governing equations of motion are derived using Lagrange's equation and a control model is formulated by considering nonlinear characteristics of the system, Sliding mode controllers are the designed for these ER valve actuators in order to achieve position tracking control. The effectiveness of trajectory tracking control performance of the proposed cylinder system is demonstrated through computer simulation and experimental implementation of the sliding mode controller.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1995.10a
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• pp.565-568
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• 1995

This paper presents the position control of a closed-loop cylinder system using ER(electro-rheological)valve actuators. Following the field-dependent pressure analysis of the ER valve actuators on the basis of Bingham model of ER fluids, a 3 d.o.f. close-loop sylinder system having the heave, roll and pitch motions is proposed. The governing equations of motion are derived using Lagrange's equation, and a control model is established by considering system uncertain parameters such as load conditions. A sliding mode controller which has inherent robustness to system uncertainties is adopted to achieve robust tracking control performance. Tracking control results for sinusoidal trajectory were presented in order to demonstrate the effectiveness of the proposed control system.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1993.10a
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• pp.402-405
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• 1993

This paper presents design.dynamic modeling and control issues of a novel type of an ER valve-cylinder system incorporating with an electro-rheological(ER) fluid. The yield stress of the ER fluid to be employed to the proposed system is evaluated as a function of applied electric fields. The design and manufacturing process of the ER valve which features fast system response and simple mechanism are undertaken on the basis of model parameters. The governing equation for the hydraulic and pneumatic model is constructed by incorporation with the field-dependent Bingham behavior of the ER fluid. An effective neuro controller is proposed to realize an accurate position control.

• Journal of the Korean Society for Precision Engineering
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• v.18 no.9
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• pp.45-52
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• 2001

This paper presents two different models of electrorheological(ER) valves which can be applicable to an automatic cargo handling system at the seaport. Four different ER fluids, which are commercially available, are adopted and their Bingham characteristics are experimentally evaluated with respect to the intensity of electric field. The field-dependent Bingham models are used in the design of two types of ER valves; single-type and divided-type. The governing equations of motion of the ER valves are derived and the principal design parameters are determined based on 200ton platform to be vertically controlled by the ER valves. Both pressure drops due to the applied field and current density required to operate the ER valves are analyzed. In addition, the pressure drops of the cylinder system are evaluated for both ER 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 Power System Engineering
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• v.10 no.3
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• pp.5-10
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• 2006

In a conventional and lean operating engine, the state of mixture is very important in the combustion and emission characteristics. Lean operation is known to decrease the formation while maintaining a good fuel economy, but the unstable operation due to misfire and erratic combustion prevents engines from being operated at very lean mixtures, so both combustion rates and exhaust emission formation need to be satisfied comparably. In this study, it is designed and experimented the modified engine, and analyzed the combustion and exhaust emission according to the change of engine speed and with adding ozone. The conclusions were drawn out and enumerated as follows. 1. At the experimental result of automobile diesel engine, it has been verified that the formation of particulate matter(PM) gas is able to be lower with the addition of optimum quantities of ozone. 2. Carbon monoxide(CO) was formed by the lack of oxygen and the thermal dissociation in the combustion process. Therefore, with the change of swirl valve's position and addition of oxygen and ozone, CO formation was decreased by the increasing of excessive O2, but it was increased by the temperature of combustion gas growing higher. As a result of the two effects, CO formation was decreased in this study. 3. Hydrocarbon(HC) was formed by the lack of O2, and the flow of mixture in cylinder. According to opening of the swirl valve and adding the oxygen and ozone, hydrocarbon gas was decreased by 20%, 9%, and 27.5%, respectively. 4. Nitric oxides($NO_x$) was strongly affected by the combustion gas temperature. As a result of respectively experimental conditions, $NO_x$ formation was increased about 20% due to (be the) high(er) combustion gas temperature.