• 로봇학회논문지
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• 제15권1호
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• pp.77-89
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• 2020

This paper proposes a simple and intuitive model-free torque-tracking control for rotary electro-hydraulic actuators. The undesirable natural-velocity-feedback effect is discussed by introducing mechanical impedance into the electro-hydraulic actuation system. The proposed model-free torque control comprises inner- and outer-loop control to achieve two control objectives. Inner-loop control reduces the mechanical impedance passively and optimally. To improve the tracking accuracy, a certain form of proportional-integral-derivative control is applied to the outer loop. The robustness of the proposed closed-loop system against external disturbances is demonstrated by transforming the two-loop control structure into a disturbance observer form. The proposed method is validated on a single joint electro-hydraulic actuator.

• 전력전자학회:학술대회논문집
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• 전력전자학회 2001년도 전력전자학술대회 논문집
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• pp.467-470
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• 2001

Power electronic converters generate the harmonic voltage and current, and these harmonics have the harmful effects on the various components. For example, passive components such as capacitor and inductor, transformer, motor and other components are mainly affected in the power electronic system. Thus, the design and manufacturing of the power converters, which have the harmonic-free or mitigation strategies, are required. In particular, the lifetime and durability of these components are main requirement for enhancing the overall stability of the system. So, in this paper, the harmonics-related problems to the neighbouring components and mitigation research trends are presented.

• 전력전자학회:학술대회논문집
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• 전력전자학회 2003년도 춘계전력전자학술대회 논문집(1)
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• pp.15-18
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• 2003

The electric power, regenerated while railway vehicles braking or running downhill, makes U line voltage rise and the feeding system may not be secure. In order to keep away from these kind of insecurity, the regenerative energy should be consumed by loads or transmitted to the AC side via certain devices such as DC/AC converters. This paper introduces the developed regenerative inverter for electric railway.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2001년도 하계학술대회 논문집 B
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• pp.962-964
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• 2001

In this paper, the RC filter for mitigating the output overvoltage of the 3-level 3300V 4MW inverter is described. The descriptions on power circuit and overvoltage phenomena are presented. The output transformer which may be used to obtain the higher output voltage, makes the filter design difficult because the parameter measurements are not easy and the accuracy may be poor. So, this paper presents several preliminary results on the output overvoltage with or without transformer to investigate the overall system characteristics. Some experimental results are also provided when the designed filter is applied.

• 대한기계학회논문집A
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• 제36권1호
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• pp.103-108
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• 2012

본 논문에서는 수직다관절 로봇에 걸리는 중력 토크를 보상하는데 주로 사용되는 스프링 중력보상장치의 최적설계에 대하여 기술하였다. 스트레스, 좌굴, 피로 조건과 같은 스프링 설계에 대한 다수의 비선형 제약 조건을 반영하면서, 동시에 계산 시간을 줄이기 위하여, SQP(Sequential Quadratic Programming)를 적용하였다. 또한 정수해를 가져야 하는 설계 변수를 반영하기 위하여, Continuous Relaxation 방법을 사용하였다. 시뮬레이션을 통하여 설계된 중력보상 장치가 주요 작업 영역에서 추가의 무게 증가 없이 중력 보상 성능이 효과적으로 높아짐을 입증하였다.

• 동력기계공학회지
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• 제15권6호
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• pp.86-94
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• 2011

In this paper, an electro hydraulic power steering system based on electro hydrostatic actuator (EHA) is proposed. A detailed steering model for the proposed electro hydraulic power steering system including mechanical and hydraulic subsystems is established. A conventional electro hydraulic power steering system is also modeled to evaluate the performance of the proposed power steering system such as responsiveness, assist force, command tracking and steering feel by computer simulation. From the computer simulation results, it is found that the proposed power steering system based on EHA has desirable performance.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2005년도 제36회 하계학술대회 논문집 A
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• pp.510-512
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• 2005

This paper introduces the development of automatic system for estimation of digital relay performance. We have developed an automatic estimation system "HRV2004(Himap Relay function Verifier 2004)" for digital relay in 2004 and it has been verified in the field for one years. This paper describes the development details and field experience of HRV2004. HRV2004 can perform a series of jobs required for the relay testing in one environment and could handle most of all models of protective relay currently produced by Hyundai Heavy Industries. The functionality of this program consists of GUI of relay setting for beginner, fault record analysis and relay performance estimation. The core of this system is an automatic reporting of estimation test. If user is only click a button for relay estimation and one will received testing report to deliver customer. Additional benefit is fast response than the manual estimation. For example, the manual estimation takes spending 6 hours but this system is about 15 minutes.

• 드라이브 ㆍ 컨트롤
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• 제14권4호
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• pp.37-44
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• 2017

This paper introduces a control algorithm for trajectory control of an electro-hydrostatic rotary actuator. A key feature of this paper is that an adaptive PID based on sliding mode is used to control the nonlinearity and uncertainty factor of single input/output system. Accurate knowledge of rotary actuator angle can result in high-performance and efficiency of electro hydraulic system. First, the position control is formulated using the adaptive PID with sliding mode technique and uncertainties in the hydraulic system. Second, the controller can update the PID gains on-line based on error caused by external disturbance and uncertain factors in the system. Finally, three experimental cases were studied to evaluate the proposed control method.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2007년도 제38회 하계학술대회
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• pp.515-516
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• 2007

The marine power system is whole one system including power generation and distribution system. This systems have several power generators which are operated according to voyage situation in the vessel. Therefore, IEDs have to re-setting for changed marine power system. This paper is shown application of multi-setting protective IED in the marine power system.

• Journal of Mechanical Science and Technology
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• 제17권7호
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• pp.999-1010
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• 2003

Uninterrupted power supply has become indispensable during the maintenance task of active electric power lines as a result of today's highly information-oriented society and increasing demand of electric utilities. This maintenance task has the risk of electric shock and the danger of falling from high place. Therefore it is necessary to realize an autonomous robot system using electro-hydraulic manipulators because hydraulic manipulators have the advantage of electric insulation and power/mass density. Meanwhile an electro-hydraulic manipulator using hydraulic actuators has many nonlinear elements, and its parameter fluctuations are greater than those of an electrically driven manipulator. So it is relatively difficult to realize not only stable contact work but also accurate force control for the autonomous assembly tasks using hydraulic manipulators. In this paper, the robust force control of a 6-link electro-hydraulic manipulator system used in the real maintenance task of active electric lines is examined in detail. A nominal model for the system is obtained from experimental frequency responses of the system, and the deviation of the manipulator system from the nominal model is derived by a multiplicative uncertainty. Robust disturbance observers for force control are designed using this information in an H$\_$$\infty$/ framework, and implemented on the two different setups. Experimental results show that highly robust force tracking by a 6-link electro-hydraulic manipulator could be achieved even if the stiffness of environment and the shape of wall change.