• Proceedings of the KIEE Conference
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• 2002.06a
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• pp.187-190
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• 2002

In contrast to conventional electromagnetic motor, USM(Ultrasonic Motor), as piezoelectric ceramic applying ultrasonic mechanical vibration and as frictional-movement type motor, get rotational torque by elastic friction between stator and rotator, The USM, which is small motor without iron cores and coil as a simple structure, has little load weight, has character of high torque at low speed, and can apply a direct drive type without deceleration gear as low speed type. A response of USM from control input is satisfactory, and also generates much torque in low speed driving, and holding torque is much without supplying power. In this study, I designed and made Ultrasonic motor-digital multi controller(USM- DMC) using FPGA chip, A54SX72A made in Actel Corporation. By the minute, USM-DMC can control frequency, duty ratio, and phase difference of USM by llbit digital input from Pc. Therefore, when we use this controller, we can apply to typical parameter, frequency, phase difference, and voltage parameter, to control as well as we can do mixing control like phase-frequency, phase-voltage, frequency-voltage, frequency-phase-voltage, What is more, the strongest point is that it can trace frequency based on optimized frequency because we can input optimized resonant frequency while in motoring.

• Transactions of the Korean Society of Automotive Engineers
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• v.16 no.6
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• pp.109-114
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• 2008

An improvement of vehicle fuel economy is one of the most important topic in automotive engineering. Lots of engineers make efforts to achieve 1% of fuel economy improvement. Engine friction is an important factor influencing vehicle fuel economy. This paper focuses on effect of engine friction on vehicle fuel economy during warm-up. A computer simulation is one of the powerful tools in automotive engineering field. Recently Simulation is attempting to virtual experiment not using expensive instruments. It is possible to presuppose fuel economy by changing the characteristic of accessories using CRUISE(vehicle simulation software). In this paper, fuel consumption at each part of the vehicle is analyzed by both of experiment and simulation. The results of fuel economy analysis on experiment substitute for Cruise to calculate fuel economy. The simulation data such as engine speed, brake torque, shift pattern, vehicle speed, fuel consumption level is well correlated to experiment data. In this paper, the change of warm-up time, faster or slower, through simulation is performed. As a result of the fast warm-up, fuel economy is improved up to 1.7%.

• Journal of the Korean Society of Manufacturing Process Engineers
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• v.17 no.5
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• pp.30-36
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• 2018

Automotive fuel efficiency regulations and air pollution control are hot issues of recent years in the automotive industry. To solve these regulation problems, many studies are continuing to improve the transmission efficiency of transmissions. Tapered roller bearings are useful to improve the transmission efficiency in the recent automobile parts. The frictional losses in the tapered roller bearings are mainly composed of the rolling friction and the sliding friction, and are dependent upon the load, the lubrication, the rotation speed of bearings, and etc. In this paper, the operating conditions of the transmission are defined and then the power losses of each bearing are calculated. In addition, improvement options are suggested after identifying the design factors influenced much by the improvement effect of power loss under the operating conditions of each bearing. We compare the power losses of the entire transmission system due to bearing improvements by comparing the friction losses between the original design and the improved design. Lastly, it is shown that the calculated power losses are valid by comparing the test values and the theoretical values for the frictional torque characteristics of the original and improved bearings.

• International Journal of Fluid Machinery and Systems
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• v.8 no.3
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• pp.155-168
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• 2015

No-load speed is an important performance factor for the safe operation of hydropower systems. In turbine design, the manufacturers must conduct several model tests to calculate the accurate value of no-load speed for the complete range of operating conditions, which are expensive and time-consuming. The present study presents steady and unsteady methods for calculating no-load speed of a Francis turbine. The steady simulations are implemented using a commercial flow solver and an iterative algorithm that relies on a smooth relation between turbine torque and speed factor. The unsteady method uses unsteady RANS simulations that have been integrated with a user subroutine to compute and return the value of runner speed, time step and friction torque. The main goal of this research is to evaluate and compare the two methods by calculating turbine dynamic parameters for three test cases consisting of high and medium head Francis turbines. Overall, the numerical results agreed well with experimental data. The unsteady method provided more accurate results in the opening angle range from 20 to 26 degrees. Nevertheless, the steady results showed more consistency than unsteady results for the three different test cases at different operating conditions.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.948-951
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• 1996

High-speed/high-accuracy control of robot manipulator becomes more and more stringent because of the external disturbance and nonlinear characteristics. To meet this ends, lots of control strategies were proposed in the past such as the computed torque control, the nonlinear decoupled feedback control, and adaptive control. These control methods need computations of the inverse dynamics and require much computational effort. Recently, a disturbance observer with unmodeled robot dynamics and simple algorithms to motion control have been widely studied. This paper proposes a motor control strategy based on the disturbance observer which estimate the disturbance of each joint from input-output relationship of the actuator and eliminate the estimated disturbance including the torque due to modeling errors, coupling force, nonlinear friction, and so on. To apply the disturbance observer to closedloop system like velocity servo pack, the modified control structure was constructed and shown that it is equivalent to a disturbance observer in open-loop system. Finally, using the proposed approach, simulation and experiments were carried out for a two-degree-of-freedom SCARA type direct drive robot, and show some results to verify the effectiveness of the proposed algorithms.

• Journal of Institute of Control, Robotics and Systems
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• v.11 no.7
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• pp.602-608
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• 2005

In the virtual environment, force feedback to the human operator makes virtual experiences more realistic. To ensure the safe operation and enhance the haptic feeling, stability should be guaranteed. Both motors and brakes are commonly used for haptic devices. Motors can generate a torque in any direction, but they can make the system active during operation, thus leading to instability. Brakes can generate a torque only against their rotation, but they dissipate energy during operation, which makes the system intrinsically stable. Consequently, motors and brakes are complementing each other. In this research, a two degree-of-freedom (DOF) haptic device equipped with motors and brakes has been developed to provide better haptic effects. Each DOF is actuated by a pair of motor and brake. Modeling of the environment and the control method are needed to utilize both actuators. Among various haptic effects, contact with the virtual wall, representation of friction and representation of plastic deformation have been investigated extensively in this paper. It is shown that the hybrid haptic device is more suited to some applications than the motor-based haptic device.

• Transactions of the Korean Society of Mechanical Engineers B
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• v.27 no.7
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• pp.938-947
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• 2003

In this paper, we derived the formula for estimating the power of the electric motors needed to operate the Decanter-type centrifuge. In the derivation of the formula the sludge-removal torque is to be supplied from the formula derived in the first paper. The intricate nature of the transmission mechanism in the planetary gear trains of the sludge-removal power and torque has been clarified in this second paper. In particular we considered two-motor system, where the main motor drives the machine while the differential-speed control motor plays the role of braking in adjusting the differential speed. Sample calculation for the specific design treated in the first paper showed that the selection criterion for the main motor depends on the lower limit of the differential speed; when the lower limit is set low, it should be selected based on the steadily operating power, while it should be selected based on the starting power when the lower limit is set high. The total power required by both the main motor and the differential-speed control motor increases as the differential speed is decreased. It is suggested that the power loss in the differential-speed control motor could be minimized by attaching an electric generator to it.

• Transactions of the Korean Society of Automotive Engineers
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• v.25 no.2
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• pp.167-178
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• 2017

The steering wheel of a vehicle has a typical characteristic of automatically returning to its neutral state when the driver releases it. Steering returnability originated from the tire forces and kingpin moments. It is proportional to the reaction torque that is generated through the rack and column, which are dependent on suspension and steering geometry. It is also important to accurately predict and design it because steering returnability is related to steering performance. In this study, a detailed multibody dynamics model of a vehicle was designed by using ADAMS/Car and simulated for steering returnability. In addition, a tolerance analysis of the chassis system in terms of part dimension and properties has been performed in order to minimize the design parameters. The sensitivity of the selected design parameters was then analyzed via Design of Experiments(DOE). As a result, we were able to obtain the main parameters through a contribution analysis. It can be used to predict steering returnability and improve its performance, which is represented by the angle of restoration and laterality.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.59 no.11
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• pp.2073-2082
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• 2010

The 4-th generation of mobile communication aims to realize global, fast and mobile communication service. The satellite communication charges a key role in this field. In this study, an OTM(On-The-Move) antenna which is mounted on ground vehicles and is used for mobile communication between vehicle and satellite was addressed. Since vehicles move during communication, active antenna line-of-sight stabilization is a core technology to guarantee high satellite communication quality. Stabilization of a satellite tracking antenna which consists of 2-DOF gimbals, an elevation gimbal over an azimuth gimbal, was considered in this study. Various disturbance torques such as static and dynamic mass imbalance torques, variation of moment of inertia according to elevation angle, friction torque related to vehicle motion, equivalent disturbance torque due to antenna roll motion, etc. were analyzed. As a robust stabilization control, rate feedback with sliding mode control and position feedback with proportional+integral control was suggested. To compensate antenna roll motion, a supplementary roll rate feed forward control was included beside of the feedback control loop. The feasibility of the analysis and the proposed control design were verified along with some simulation results.

• Journal of the Korean Society for Precision Engineering
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• v.23 no.8 s.185
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• pp.64-71
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• 2006

In this paper, a uniform speed controller for an ultrasonic rotary motor is developed using the phase-difference method. The phase difference method uses traveling waves to drive the ultrasonic motor. The traveling waves are obtained by adding two standing waves that have a different phase to each other. A compact phase-difference driver system is designed and integrated by combining VCO(Voltage Controlled Oscillator) and phase shifter. Theoretically the relationship between the phase difference in time and the rotational speed of the ultrasonic motor is sine function, which is verified by experiments. Then a series of experiments under various loading conditions are conducted to characterize the motor's performance that is the relationship between the speed and torque. Proportional-integral control is adopted for the uniform speed control. The proportional control unit calculates the compensating phase-difference using the rotating speed which is measured by an encoder and fed back. Integral control is used to eliminate steady-state errors. Differential control for reducing overshoot is not used since the response of ultrasonic motor is prompt due to its low inertia and friction-driving characteristics. The developed controller demonstrates reasonable performance overcoming disturbing torque and the changes in material properties due to continuous usage.