• 제목/요약/키워드: Hydraulic force

검색결과 674건 처리시간 0.024초

유압 브레이커의 타격 에너지 측정을 위한 유압 변환장치 개발 (Development of the Hydraulic Pressure Transducer System for Testing the Impact Energy of Hydraulic Breaker)

  • 이근호;이용범;정동수
    • 한국정밀공학회지
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    • 제21권4호
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    • pp.154-160
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    • 2004
  • Hydraulic breaker of excavator has been used for the destruction and disassembling of buildings, crashing road pavement, breaking rocks at quaky and etc. The performance of breakers is evaluated their own destructive force and the number of impact by input hydraulic flow rate and pressure on the operating conditions. Because hydraulic breakers generate high impact energy, the accurate measurement of the impact force has been facing a technical challenge. In this study, the hydraulic pressure transducer system was developed based on the characteristics of pressure variation in closed vessel fur testing the impact energy. The hydraulic pressure transducer system is consisted with a hydraulic cylinder, main base, pressure & temperature sensors, LVDT, data acquisition system and etc. The developed hydraulic pressure transducer system was applied to measure the impact energy for hydraulic breaker. The measured impact force was 438.8 kgf.m within the designed impact force bounds. The developed hydraulic pressure transducer system as a simple tester could be applied to measure the impact force and the number of impact.

유압식 로봇의 힘 제어를 위한 유압 서보 시스템의 특성에 관한 연구 (Study on Characteristics of Hydraulic Servo System for Force Control of Hydraulic Robots)

  • 김효곤;이종원;박상덕;한창수
    • 대한기계학회논문집A
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    • 제39권2호
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    • pp.219-225
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    • 2015
  • 유압 서보 시스템은 구동기 단에서 부피 대비 큰 힘을 출력할 수 있으므로 로봇에 적용 시, 로봇의 팔 또는 다리를 경량화할 수 있다. 이것은 로봇의 동적 특성과 에너지 효율을 향상 시키므로 고출력이 필요한 몇몇의 근력지원용 착용형 로봇과 사족 보행 로봇들은 유압 서보 시스템을 사용한다. 이 로봇들은 사용자나 외부 환경에 순응하기 위해 힘제어를 하는 것이 유리하지만 유압식 로봇은 유압서보 시스템이 갖는 비선형성으로 인해 정교한 힘제어가 쉽지 않다. 본 논문에서는 서보 밸브, 배관 그리고 유압 실린더로 구성되는 유압 서보 시스템의 시뮬레이션 모델을 개발하여 유압 서보 시스템의 힘제어 시 고려해야 할 사항에 대해 분석하였다. 그리고 비선형 모델을 이용한 힘제어 기법을 제안하고 시뮬레이션을 통해 효과를 검증하였다.

한 쌍의 6축 전기유압 매니퓰레이터의 힘제어 (Force Control of one pair of 6-Link Electro-Hydraulic Manipulators)

  • 안경관;조용래;양순용;이병룡
    • 한국정밀공학회:학술대회논문집
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    • 한국정밀공학회 1997년도 추계학술대회 논문집
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    • pp.353-356
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    • 1997
  • Hydraulically driven manipulators are superior to electrically driven ones in the power density and electrical insulation. But an electro-hydraulic manipulator using hydraulic actuators has many nonlinear elements, and this parameter fluctuations are greater than those of electrically driven manipulator. So this is relatively difficult to realize not only stable contact work but also accurate force control for the autonomous field task such as the maintenance task of high voltage active electric line or the automatic excavation task by hydraulic excavator. In this report, we propose robust force control algorithm, which can be applied to there real field task such as the construction field, nuclear plant and so on. Proposed force controller has the same structure as that of disturbance observe for position control. The difference between force and position disturbance observer is that the input and output of disturbance observer are forces in the case force disturbance observer and the plant varies much compared to the case of position control. In the design of force disturbance observer, generalized plant is derived and the stabilized filter is designed by H infinity control theory to ensure the robuts t stability even though the stiffness of environment changes from sponge to steel, and the contact surface also changes from flat to round shape. Experimental results show that highly robust force tracking by a 6-link electro-hydraulic manipulator could be achieved under various environment conditions.

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Design and Experimental Evaluation of a Robust Force Controller for a 6-Link Electro-Hydraulic Manipulator via H$_{\infty}$ Control Theory

  • Ahn, Kyoung-Kwan;Lee, Byung-Ryong;Yang, Soon-Yong
    • 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.

전기 유압 매니플레이터의 강건 힘 제어 (Robust Force Control of a 6-Link Electro-Hydraulic Manipulator)

  • 안경관;조용래;양순용;이병룡
    • 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.

복동링크유압식 다이세트를 이용한 폐쇄단조의 폐쇄단조조건 (Criterion on Enclosed Die Forging with a Double-Action Link-Type Hydraulic Die Set)

  • 전병윤;박래훈;엄재근;전만수
    • 한국소성가공학회:학술대회논문집
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    • 한국소성가공학회 2006년도 춘계학술대회 논문집
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    • pp.391-394
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    • 2006
  • In this paper, a criterion on enclosed die forging with a double action link type hydraulic die set is presented. Operational principle of the die set in enclosed die forging is introduced with emphasis on force transfer from the press and the hydraulic system to the material through links, die components and punches. Force transfer mechanism is examined and three different modes are introduced. Requirements on force equilibrium are applied to the three force transfer modes and a criterion on enclosed die forging with a double action link type hydraulic die set is drawn. The criterion is discussed to minimize forming load.

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한쌍의 6축 전기유압 매니퓰레이터를 이용한 힘 제어 (너트의 장착 및 체결 작업에의 응용) (Force Control of One Pair of 6-Link Electro-Hydraulic Manipulators (Application to the Approaching of a Bolt and the Wrenching of a Nut Tasks))

  • 안경관;양순용
    • 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.

Robust Force Control of Electro-hydraulic Manipulator in the Field Task

  • Cho, Yong-Rae;Ahn, Kyoung-Kwan;Yang, Soon-Yong;Lee, Byung-Ryong
    • 제어로봇시스템학회:학술대회논문집
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    • 제어로봇시스템학회 2001년도 ICCAS
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    • pp.134.4-134
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    • 2001
  • Hydraulically driven manipulators are superior to electrically driven ones in the power density and electrical insulation. But an electro-hydraulic manipulator using hydraulic actuators has many nonlinear elements, and its parameter fluctuations are greater than those of electrically driven manipulator. So it is relatively difficult to realize not only stable contact work but also accurate force control for the autonomous field tasks such as the maintenance task of high voltage active electric line or the automatic excavation task by hydraulic excavator. In this report, we propose robust force control algorithm, which can be applied to the real field task such as the construction field, nuclear plant and so on. Proposed force controller has the same structure as that of disturbance observer for position control. The difference between force and position disturbance ...

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ER 댐퍼의 이력현상을 고려한 댐핑력 특성 고찰 (Damping Force Characteristics of ER Damper Considering Hysteresis)

  • 홍성룡;송현정;한상수;최승복
    • 한국소음진동공학회:학술대회논문집
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    • 한국소음진동공학회 2002년도 춘계학술대회논문집
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    • pp.489-494
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    • 2002
  • This paper presents hydraulic model which can capture the hysteric damping force behavior of ER damper. A flow mode rue ER damper is manufactured, and its field-dependent damping forces are measured. Newly proposed hydraulic model which derived from physical hydro-mechanical parameters of ER damper are conventional Bingham model are investigated to represent the field-dependent damping force characteristics of ER damper. After principal parameters of two models are estimated from the measured damping forces data, the force vs velocity hysteresis cycles are then reconstructed. The results show that the proposed hydraulic model can capture the hysteresis behavior of ER damper accurately.

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QFT 를 이용한 유압 로드 시뮬레이터에 관한 힘 제어계 설계 (Design of Force Control System for a Hydraulic Road Simulator using QFT)

  • 김진완;현동길;남양해;김영배
    • 대한기계학회:학술대회논문집
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    • 대한기계학회 2007년도 춘계학술대회A
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    • pp.1109-1114
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    • 2007
  • This paper presents the road simulator control technology for reproducing the road input signal to implement the real road data. The simulator consists of the hydraulic pump, servo valve, hydraulic actuator and its control equipment. The QFT is utilized to control the simulator effectively. The control system illustrates a tracking performance of the closed-loop controller with low order transfer function G(s) and pre-filter F(s) for a parametric uncertain model. A force controller is designed to communicate the control signal between simulator and digital controller. The efficacy of the QFT force controller is verified through the numerical simulation, in which combined dynamics and actuation of the hydraulic servo system are tested. The simulation results show that the proposed control technique works well under uncertain hydraulic plant system. The conventional software (Labview) is used to make up for the real controller in the real-time basis, and the experimental works show that the proposed algorithm works well for a single road simulator.

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