• 한국결정성장학회지
• /
• 제33권6호
• /
• pp.216-225
• /
• 2023

본 연구에서는 냉간 헤딩 공정에서 성형하중과 펀치 금형의 마모 감소를 통한 펀치 수명 증대를 위해 헤딩용 펀치 형상 최적설계를 수행하였다. 기존 생산에 사용되는 냉간 헤딩 펀치와 성형공정에 대한 유한요소해석 시뮬레이션을 통해 성형하중과 유동 특성 분석, 펀치금형에 집중되는 유효응력 및 마모량에 대하여 분석하였으며, 이를 통해 금형 마모와 밀접한 주요 설계인자를 확인하였다. 펀치금형의 최적설계 변수로서는 펀치 금형 포인트각(Point angle), 에지 반경값(Corner radius), 펀치소재재종(die material type), 마찰계수(friction coefficient) 등의 4가지 변수를 대상으로 4인자 3수준 인자 및 변수 수준을 설정하고, 성형해석 시뮬레이션과 다구찌법을 활용하여 설계인자별 영향도를 분석하여 최적의 최적설계 인자를 결정하였다. 본 연구를 통해 얻어진 최적설계변수를 적용하여 냉간 헤딩용 펀치 최적설계 시뮬레이션 결과, 각 펀치에 발생하는 최대유효응력은 최대 8.9 % 감소 효과를, 최대 펀치 마모 깊이는 37 % 감소 효과를, 성형하중은 평균 20% 수준 의 감소효과를 얻을 수 있었다. 현재, 소성 성형제품군이 적용되는 자동차, 건설 플랜트사에서 요구되는 고품질에 대응하면서도 적정 제조원가 절감을 위한 성형성 개선을 위한 성형공정개발 및 금형설계의 최적화가 지속적으로 필요하며, 향후 연구 결과를 현업에 적용하여 제품 성형성 개선 및 금형수명 증대 관리를 위한 기술자료로 활용하고자 한다.

• International Journal of Ocean System Engineering
• /
• 제1권4호
• /
• pp.192-197
• /
• 2011

This paper describes the mathematical modeling, control algorithm, system design, hardware implementation and experimental test of a Manta-type Unmanned Underwater Vehicle (MUUV). The vehicle has one thruster for longitudinal propulsion, one rudder for heading angle control and two elevators for depth control. It is equipped with a pressure sensor for measuring water depth and Doppler Velocity Log for measuring position and angle. The vehicle is controlled by an on-board PC, which runs with the Windows XP operating system. The dynamic model of 6DOF is derived including the hydrodynamic forces and moments acting on the vehicle, while the hydrodynamic coefficients related to the forces and moments are obtained from experiments or estimated numerically. We also utilized the values obtained from PMM (Planar Motion Mechanism) tests found in the previous publications for numerical simulations. Various controllers such as PID, Sliding mode, Fuzzy and $H{\infty}$ are designed for depth and heading angle control in order to compare the performance of each controller based on simulation. In addition, experimental tests are carried out in a towing tank for depth keeping and heading angle tracking.

• 한국음향학회:학술대회논문집
• /
• 한국음향학회 1984년도 추계학술발표회 논문집
• /
• pp.100-106
• /
• 1984

Traditional methods for estimating the location of underwater target, i.e. the triangulation method and the wavefront curvature method, have been utilized. The location of a target is defined by the range and the bearing, which estimates can be obtained by evaluating the time delay between neighboring sensors. Many components of error occur in estimating the target range, among which the error due to the fluctuation of heading angle is outstanding. In this paper, the wavefront curvature method was used. We considered the error due to the heading fluctuation as the $\beta$-density process, from which we analized the range estimates with $\beta$-density function exist in some finite limits, and its mean value and variation are depicted as a function of true range and heading fluctuation. Given heading angles and sensor separation, maximum estimated heading errors are presented as a function of true range.

• 한국항해학회지
• /
• 제21권2호
• /
• pp.59-67
• /
• 1997

This paper describe the method and the result of making a fiber optic gyrocompass measuring the heading angles of a ship with a fiber optic sensor. As the method seeking for the heading angles, it is possible to get the heading angles by measuring the output signals from a stationary fiber optic sensor in at least three directions such as a heading direction and other two directions having phase difference ${\phi}1$ and ${\phi}2$ to the heading. We made the static fiber optic gyrocompass by a high performance fiber optic sensor having scale factor of 210mV/deg/s and resolution of 0.5deg/hr using this principle. The accuracy of this system was $0.29^{\circ}$ from 20 numbers of data measuring the arbitrary heading angle.

• Journal of Advanced Marine Engineering and Technology
• /
• 제32권7호
• /
• pp.1068-1079
• /
• 2008

Tilt and heading angles information of a remotely operated vehicle (ROV) are very important in underwater navigation. This paper presents a low.cost tilt and heading estimation system. Three single.axis rate gyros, a tri-axis accelerometer, and a tri-axis magnetometer are used. Output signals coming from these sensors are fused by two Kalman filters. The first Kalman filter is used to estimate roll and pitch angles and the other is for heading angle estimation. By using this method, we have obtained tilt (roll and pitch angles) and heading information which are reliable over long period of time. Results from experiments have shown the performance of the presented system.

• 한국해양공학회지
• /
• 제20권6호
• /
• pp.7-17
• /
• 2006

Depth and heading control of an AUV are considered to follow the predetermined depth and heading angle. The proposed control algorithm is designed. based on a sliding mode control using estimated hydrodynamic coefficients. The hydrodynamic coefficients are estimated with conventional nonlinear observer techniques, such as sliding mode observer and extended Kalman filter. By using the estimated coefficients, a sliding mode controller is constructed for the combined diving and steering maneuver. The simulation results of the proposed control system are compared with those of control system with true coefficients. This paper demonstrates the proposed control system, discusses the mechanisms that make the system stable and follows the desired depth and heading angle, accurately, in the presence of parameter uncertainty.

• 제어로봇시스템학회논문지
• /
• 제14권9호
• /
• pp.893-897
• /
• 2008

To achieve the challenges of low-cost MEMS gyros for the precise self-localization of mobile robots, this paper examines an effective method of minimizing the drift on the heading angle that relies solely on integration of rate signals from a gyro. The main idea of the proposed approach is to use wavelet de-noising filter in order to reduce random noise which affects short-term performances. The proposed method was applied to Epson XV3500 gyro and the performances are verified by the comparisons with an existing commercial gyro module of vacuum cleaning robots.

• Journal of Biosystems Engineering
• /
• 제25권1호
• /
• pp.55-62
• /
• 2000

Autonomous farm operation needs to be developed for safety, labor shortage problem, health etc. In this research, an autonomous tractor for tillage was investigated using machine vision and a fuzzy logic controller(FLC). Tractor heading and offset were determined by image processing and a geomagnetic sensor. The FLC took the tractor heading and offset as inputs and generated the steering angle for tractor guidance as output. A color CCD camera was used fro the image processing . The heading and offset were obtained using Hough transform of the G-value color images. 15 fuzzy rules were used for inferencing the tractor steering angle. The tractor was tested in the file and it was proved that the tillage operation could be done autonomously within 20 cm deviation with the machine vision and the FLC.

• International Journal of Ocean System Engineering
• /
• 제1권1호
• /
• pp.16-27
• /
• 2011

The depth and heading control of an autonomous underwater vehicle (AUV) are considered to follow the predetermined depth and heading angle. The proposed control algorithm was based on a sliding mode control, using estimated hydrodynamic coefficients. The hydrodynamic coefficients were estimated employing conventional nonlinear observer techniques, such as sliding mode observer and extended Kalman filter. Using the estimated coefficients, a sliding mode controller was constructed for a combined diving and steering maneuver. The simulated results of the proposed control system were compared with those of a control system that employed true coefficients. This paper demonstrated the proposed control system, and discusses the mechanisms that make the system stable and accurately follow the desired depth and heading angle in the presence of parameter uncertainty.

• 한국해양공학회지
• /
• 제32권1호
• /
• pp.68-75
• /
• 2018

This study deals with the heading angle and depth keeping control technique for an ROV with multiple horizontal and vertical thrusters by thrust allocation. The light work class ROV URI-L, which is under development at KRISO, is a redundant actuating system with multiple thrusters that are larger than the ROV's degree of freedom. In the redundant actuating system, there are several solutions for a specific ROV motion to be performed. Therefore, a thrust allocation algorithm that considers the entire propulsion system should be regarded as important. First, this paper describes the propulsion system of the ROV and introduces the thrust allocation method of each motion controller. In addition, the performance of the controller is examined using a heading angle and depth keeping control test in a stationary state.