• 한국정밀공학회지
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• 제19권4호
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• pp.202-208
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• 2002

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 report, we applied a compliance control which is based on the position control by a disturbance observer for our manipulator system. And a reference trajectory modification method is proposed in order to achieve accurate force control even though the stiffness and position of environment change. Experimental results show that highly robust force tracking by a 6-link electro-hydraulic manipulator could be achieved under various environment conditions.

• 유공압시스템학회논문집
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• 제4권3호
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• pp.7-12
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• 2007

This paper presents an energy saving hydrostatic pressure exchanger for sea water desalination equipment. In a reverse osmosis(RO) system for desalinating sea water, more than 70 percent of the supplied sea water, brines which were impassable through RO membrane are bypassed, resulting in high energy losses. In this paper, a hydrostatic pressure exchanger consisting of an embedded water hydraulic piston motor and a water hydraulic piston pump was proposed and investigated in order to recover the energy of the bypassed brines. The pressurized brines are supplied to the embedded water hydraulic piston motor as power sources and the water hydraulic piston pump is driven by the output torque of the embedded water hydraulic piston motor as well as electric motor. Consequently, the energy of the bypassed brines can be recovered. To examine the electric energy saving characteristics of the hydrostatic pressure exchanger, a simulation model was constructed using commercial software and experiments were conducted. Through the results of simulation and experiment, the feasibility of the electric energy saving effect of the proposed hydrostatic pressure exchanger was investigated.

• 드라이브 ㆍ 컨트롤
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• 제18권3호
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• pp.8-15
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• 2021

A rear axle steering (RAS) system is attached to the rear of medium and large commercial vehicles that transport large cargo. The existing RAS systems are driven by electro-hydraulic actuator (EHA), and most commercialized EHAs consist of electric motors, hydraulic pumps, relief valves, prefill valves and cylinders. The prefill valve required for such EHAs is a type of check valve with extremely low cracking pressure that should not allow RAS to have noise or vibration, and the prefill valve prevents system negative pressure as well as unstable operation. Most papers on this topic rely on experiments to predict valve performance, and theoretically detailed modeling of valves or pipelines is performed, but it is very rare to evaluate hydraulic vibration characteristics by analysing everything from hydraulic pumps to valves comprehensively. In this study, we proposed an experimental circuit that can predict the performance of the prefill valve. The study also analysed the pressure-flow pulsation that is transmitted to the valve through the pipeline, and how the transmitted pressure-flow pulsation affects the valve vibration.

• 한국수자원학회논문집
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• 제52권10호
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• pp.719-728
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• 2019

상수도 관망 밸브는 평상시 관로의 유향을 변경하는 역할을 하지만, 관로 파손, 수질 문제 등 사고 발생 시 해당 구역을 격리하는데에도 이용된다. 밸브조작에 의한 구역 단수는 주변 지역의 압력 및 물 공급 성능 저하를 유발한다. 최근 안정적인 상수도 관망 물 공급을 위협하는 사고가 다양하고 빈번하게 발생하고 있으며, 이에 따라 다양한 시나리오를 고려하여 밸브 위치 결정을 하는 것이 필요하다고 할 수 있다. 따라서 본 연구에서는 밸브의 개수, 구역격리 시 물 부족량, 수리학적 거리 인자(Hydraulic Geodesic Index, HGI)를 통합한 목적함수를 개발하고, 다양한 물 부족 시나리오에 기반한 밸브 최적 위치 결정 방법론을 제안한다. 제안한 방법론은 페스카라 관망에 적용되었으며, 시나리오별로 도출된 최적 밸브 설계안의 차이점을 분석하였다. 최적 밸브 위치 탐색 과정 중 수행된 관망 수리해석은 압력 기반(Pressure Driven Analysis, PDA)으로 수행하였다. 개발된 방법론으로 도출한 최적 밸브 설계안은 기존 설계안 대비 밸브 개수가 최대 19개나 적었고, 세그먼트 격리 시 물 공급 부족량 또한 상대적으로 작았다. 수원 수두가 낮은 시나리오를 고려할수록 더 많은 밸브가 설치되었는데, 밸브 추가 설치에 따른 비용증가는 다양한 시나리오에서 물 공급 성능 향상으로 이어짐을 확인하였다. 또한, 세그먼트 격리 상황 모의를 압력 및 유량 기반 해석으로 수행한 결과를 비교하여, 밸브 최적 위치 설계 수행 시 압력 기반 해석이 필요함을 확인하였다.

• 한국정밀공학회지
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• 제21권1호
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• pp.101-108
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• 2004

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 obtain stable control performance. In this report, we applied disturbance estimation and compensation type robust control to all axes in a 3-link electro-hydraulic manipulator. From the results of experiment, it was confirmed that the performance of trajectory tracking and attitude regulating is greatly improved by the disturbance observer, which model is the same for each axis. On the other hand, for the autonomous assembly tasks, it is said that compliance control is one of the most available methods. Therefore we proposed compliance control which is based on the position control by disturbance observer for our manipulator system. To realize more stable contact work, the states in the compliance loop are feedback, where not only displacement but also velocity and acceleration are considered. And we applied this compliance control to Peg-in-Hole insertion task and analyzed mechanical relation between peg and hole. Also we proposed new method of shifting the position of end-effector periodically for the purpose of smooth insertion. As a result of using this method, it is experimentally confirmed that Peg-in-Hole insertion task with a clearance of 0.05［mm］can be achieved.

• 제어로봇시스템학회논문지
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• 제8권1호
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• pp.15-20
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• 2002

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 automatic assembly tasks using hydraulic manipulators. In this manuscript, we applied a compliance control, which is based on the position control by a disturbance observer for our manipulator system. A reference trajectory modification method is proposed in order to achieve accurate force control even though the stiffness and the position of the environment change. Experimental results show that highly robust force tracking by a 6-link electro-hydraulic manipulator could be achieved under various environment conditions. The proposed force control algorithm is applied to the approaching of bolt and the wrenching of nut tasks as one typical task in the maintenance work of live power electric line and is experimentally confirmed very effective for the task.

• 제어로봇시스템학회논문지
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• 제10권1호
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• pp.47-53
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• 2004

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 quite difficult to obtain stable control performance. We have applied a disturbance estimation and compensation type robust control to all the axes in a 6-link electro-hydraulic manipulator. It was confirmed that the performance of trajectory tracking and attitude regulating was greatly improved by the disturbance observer. For autonomous assembly tasks, it is said that compliance control is one of the most popular methods in contact task. We have proposed a compliance control based on the position control by a disturbance observer for our manipulator system. To realize more stable contact work, the states in the compliance loop are feedbacked, where not only displacement but also the velocity and acceleration are considered. We have also applied this compliance control to the Peg-in-Hole insertion task and proposed new methods of (1)rotating of the end-effector periodically in order to reduce the friction force, (2)random searching for the center of a hole and (3)trajectory modification to reduce the impact force. As a result of these new methods, it could be experimentally confirmed that the Peg-in-Hole insertion task with a clearance of 0.007 [mm] could be achieved.

• 유공압시스템학회논문집
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• 제7권4호
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• pp.9-14
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• 2010

Most power steering systems work by using a hydraulic system to turn the vehicle's wheels. The pressure is usually provided by a hydraulic pump driven by the vehicle's engine. A double-acting hydraulic cylinder applies a force to the steering gear, which in turn applies a torque to the steering axis of the road wheels. The flow to the cylinder is controlled by valves operated by the steering wheel ; the more torque the driver applies to the steering wheel and the shaft it is attached to, the more fluid the valves allow through to the cylinder, and so the more force is applied to steer the wheels in the appropriate direction. Since the pumps employed are of the positive displacement type, the flow rate they deliver is directly proportional to the speed of the engine. And for a long time, the type of hydraulic pump pulley was boss welding type. But recently, monolith type driving pulley is widely used. Therefore in this paper we studied the safety of monolith type driving pulley to the extracting force and endurance by FEM analysis and experiments.

• 드라이브 ㆍ 컨트롤
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• 제15권2호
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• pp.22-31
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• 2018

This study deals with verifying the design feasibility, of an independently driving hydraulic system for disaster response purposes, through an analytical approach. The development target is a system in which four traveling motors are driven independently, and must be easy to operate even under conditions in which different loads are applied to the traveling motors. In order to be suitable for complex work, the hydraulic system was designed using the main control valve with a pressure compensation function. If we can develop an analytical model that reflects the specifications and functions of the parts through the analysis program, we can verify the validity of the design before we make the prototype. The purpose of this study therefore, is to verify the feasibility of designing an independent drive hydraulic system through the development of an analysis model from the viewpoint of complex work. The analysis program uses Simulation X.

• 한국정밀공학회지
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• 제18권4호
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• pp.190-196
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• 2001

The naval vessel must moves rolling, pitching, yawing by wave when it runs in ocean. Some narrow beam antenna needed position compensation by stabilizer or gimbal for best performance. This paper presents the precision position control for heavy weight(130kg) in roll and pitch direction. Generally it's called for gimbal. This gimbal uses P-I controller, and it's driven by linear actuator and servo motor. This gimbal gets ship's gyro signal and synchro, which have the absolute angle value. Some other similar equipments are driven by huge hydraulic power, but this gimbal is driven by small servo motor. This control loop gets the following procedure repeatedly; reading ship gyro and gimbal synchro, calculating compensated error and control output, driving motor and actuator The performance of gimbal system was satisfied.