• 대한기계학회논문집A
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• 제39권1호
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• pp.45-53
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• 2015

세탁기의 용량이 커지면서 세탁 및 탈수 시의 세탁물에 의한 질량 불균형 문제가 심해지고 있으며, 이러한 문제를 해결하기 위하여 세탁기에서도 다양한 형태의 서스펜션이 장착되고 있다. 본 연구에서는 마찰 서스펜션에서 발생하는 힘을 측정한 뒤, 물리적인 수식으로 마찰 서스펜션의 비선형 특성을 모델링 하였다. 최소 자승 해(least squares solution)를 구해 파라미터들을 추정하고, 시험과 동일한 조건의 시뮬레이션을 실시하여 개발된 마찰 서스펜션 모델링의 타당성을 검증하였다.

• 한국정밀공학회지
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• 제15권12호
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• pp.128-141
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• 1998

We propose the robust nonlinear controller design methodology for the multivariable system which has hard nonlinearities (Coulomb friction, dead-zone, etc) and the structured real parameter uncertainty. The hard nonlinearity can be linearized by the RIDF technique and structured real parameter uncertainty can be modelled as the sense of Peterson-Hollot's quadratic Lyapunov bound. For this system, we apply the robust QLQG/H$_{\infty}$ control and then can obtain four Riccati equations. Because of the system's nonlinearity, however, one Riccati equation contains the nonlinear correction term that is very difficult to solve numerically, In order to treat this problem, using some transformations to Riccati equations, the nonlinear correction term can be eliminated. Then, only two Riccati equations need to design a controller. Finally, the robust nonlinear controller is synthesized via IRIDF techniques. To test this proposed control method, we consider the direct-drive robot manipulator system that has Coulomb frictions and varying inertia.

• 한국항공운항학회지
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• 제19권4호
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• pp.51-57
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• 2011

The spin-up and the spring-back are most severe load cases in the aircraft landing gear design. These load cases are caused by reciprocal action of complex physical phenomenon such as the friction between a tire and ground, inertia of the rotation of a tire and the flexibility of a landing gear structure. Generally, the empirical formula or the theoretical formula is used to calculate the spin-up and spring-back load in the early stage of the development program of the aircraft landing gear. After the materialization of the design of a landing gear, spin-up and spring-back load are acquired by the free drop test. In this study, the spin-up and the spring-back load of the rubber shock absorber type KC-100 nose landing gear are calculated by the explicit finite element analysis. Through this analysis, more accurate and realistic spin-up and spring back loads could be applied to the early phase of the development of the aircraft landing gear.

• 한국해양공학회:학술대회논문집
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• 한국해양공학회 2003년도 춘계학술대회 논문집
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• pp.37-42
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• 2003

Fundamental Study for optimizing ship hull form using SQP(sequential quadratic programming) method in a resistance point of view is presented. The Wigley hull is used as an initial hull and numerical calculations are carried out according to various froude numbers. To obtain the ship resistance the wave resistance is evaluated by a Rankine source panel method with nonlinear free surface conditions and the ITTC 1957 friction line is used to predict the frictional resistance coefficient. The geometry of a hull surface is represented and modified by B-spline surface patch. The displacement and the waterplane transverse 2nd moment of inertia of the hull is fixed during the optimization process. And the shp design program called EzHULL is used to draw the lines of the optimized hull form to perform the model test.

• 한국정밀공학회지
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• 제33권9호
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• pp.723-730
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• 2016

This paper presents a cable-driven hydraulic actuator named Cable Rod Hydraulic Actuator (CRHA). The cable actuating system is attractive for designing a compact joint in robotic applications since it can be installed remotely from the joint. Recently, cable rods have been used in pneumatic area for inertia reduction. However, designing cable rods in hydraulics is challenging because it is difficult to achieve flexibility and endurance simultaneously under high pressure conditions. In this paper, the cable rod, which consists of a cable and jacket, is proposed to meet both requirements. To design the CRHA, we determined the design parameters, such as cylinder size, and selected the cable rod's material by friction and leakage test. Finally, comparisons experiments about step and frequency responses with conventional hydraulic actuators were performed to assess feasibility for robotic joints, and the results show that the proposed system has good bandwidth and fast response as robotic joints.