• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.1339-1342
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• 2005

The development of an accurate and energy saving pneumatic regulator that may be applied to a variety of practical pressure control applications is described in this paper. A novel modified pulse width modulation(MPWM) valve pulsing algorithm allows the pneumatic regulator to become energy saving system. A comparison between the system response of conventional PWM algorithm and that of the modified PWM(MPWM) algorithm shows that the control performance is almost the same, but energy saving is greatly improved by adopting this new MPWM algorithm. The effectiveness of the proposed control algorithm is demonstrated through experiments with various reference trajectories.

• 대한기계학회논문집A
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• 제24권12호
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• pp.2926-2934
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• 2000

This study presents a direct adaptive controller which is derived by using Lyapunovs direct methods for trajectory tracking control of a pneumatic cylinder. The structure of the controller is very simple and computationally efficient because it does not use either the dynamic model or the parameter values of the pneumatic system. The bounded stability of the system is shown in the presence of the bounded unmodeled dynamics. The bounded size of tracking errors can be made arbitrarily small without giving andy influences on either input or output variables. The trajectory tracking performance and the stability of the control system is verified experimentally. The results of the experiments show that the proposed controller tracks the given trajectories, sine function and cycloidal function trajectories, more accurately than PD controller does, and it stabilizes the system and adaptive variables.

• 대한기계학회논문집A
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• 제30권2호
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• pp.105-111
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• 2006

This paper describes a Neural Network based PID control scheme for pneumatic NC axes. Pneumatic systems have inherent nonlinearities such as compressibility of air and nonlinear frictions present in cylinder. The conventional PID controller is limited in some applications where the affection of nonlinear factor is dominant. A self-excited oscillation method is applied to derive the dynamic design parameters of linear model. The gains of PID controller are determined using a self tuning scheme. The experiments of a trajectory tracking control using the proposed control scheme are performed and a significant reduction in tracking error is achieved by comparing with those of a PID control.

• 동력기계공학회지
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• 제4권1호
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• pp.20-25
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• 2000

In this study, methods for the characteristics measurement of pneumatic elements using isothermal chamber, the methods for the flow rate and dynamic characteristic measurement of pneumatic control valve, are proposed. An isothermal chamber is a chamber in which the steel wool is stuffed and isothermal condition can almost be realized. Therefore, the instantaneous flow rate could be measured only from the pressure response using the state equation of gas. Effectiveness and simplicity of the proposed method are confirmed by comparing the measured results obtained by proposed methods with the methods defined JIS and the ISO standards.

• 한국기계연구소 소보
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• 통권20호
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• pp.41-48
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• 1990

Electro-pneumatic valves are an electro-mechanical device which convert electric signal into pneumatic flow rate or pressure signal. Recently, the development tendency of electro-pneumatic valve is to make the valve with more compact and less electric power consumption style. To make the valve such as a style, the role of solenoid part is very important. This paper is used in the finite-element method for the purpose of evaluating the magnetic property of solenoid and analyze flux distribution of solenoid theoretically. From flux contour line which is obtained by numerical analysis, it verified that the plunger shape and physical property of solenoid part have influence on saturation phenomenon and leakage of magnetic fluxs. This paper made an experiment on the measurement of dynamic response time and force in order to confirm the propety of analytic result, and confirmed a good agreement between analysis results and experiment results.

• 한국정밀공학회지
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• 제14권5호
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• pp.100-107
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• 1997

A pneumatic artificial muscle type of actuator, which acts similar to human muscle, is developed recently. In this paper, an adaptive controller is presented for the trajectory tracking problem of a two-degree- of-freedom manipulator using two pairs of pneumatic artificial muscle actuators. Due to the nonlinearity and the uncertainty on the dynamics of the actuator, it is difficult to make the effective control schemes of this system. By the adaptive control law which inclueds a nonlinear "feedforward" term compensating paramet- ric uncertainties in addition to P.I.D. scheme, both golbal stability of the system and convergence of the tracking error are guaranted. The effectiveness of the proposed control method for the manipulator using this actuator is illustrated through experiments.periments.

• 대한기계학회논문집A
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• 제37권12호
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• pp.1541-1546
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• 2013

공압피팅은 공압이 사용되는 시스템 및 기계에서 작동유체를 공급하기 위한 유연호스의 접속 및 탈착을 원활히 할 수 있게 하는 공압 시스템의 핵심 요소이다. 공압피팅의 구성요소인 원형 판스프링의 응력분포를 유한요소해석을 통하여 살펴본 결과 원형 판스프링은 공압피팅에 유연호스가 장착 될 때 국부적인 소성변형이 일어나는 것으로 나타났다. 원형 판스프링의 응력집중을 분산시키기 위해 다구찌 실험계획법을 이용하여 최적설계를 수행하였다. 원형 판스프링의 반경, 외측폭, 굽힘각을 주요 설계변수로 설정하였으며 다구찌 실험계획법을 통해 원형 판스프링에 작용하는 최대응력에 폭이 81.3%, 굽힘각이 10.9%, 반경이 1.5%의 기여율을 가짐을 확인하였으며, 최적설계시 초기 형상의 원형 판스프링에 비해 약 4% 정도 응력분산의 효과가 있음을 알 수 있었다.

• 터널과지하공간
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• 제24권6호
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• pp.449-463
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• 2014

국내의 경우 슬러리나 페이스트 형태로 수압식 충전에 대한 연구와 다양한 폐광산 현장에 적용한 사례는 많으나, 공압식 충전에 대한 연구는 진행되지 않고 있다. 기존의 공압식 충전법은 강관의 구부러진 곳에서 충전재 유동에 의한 마모에 의해 강관의 손상이 발생한다. 이와 같은 문제점을 개선하기 위하여 새로 고안한 개량형 노즐을 이용한 공압식 충전법을 개발하였다. 본 연구에서는 접근이 가능하거나 불가능한 채굴공동을 모사하여 실험실에서 모형실험을 수행하고 그 충전효율을 평가하였다. 갱내 충전법 실험에서는 토출각의 변화, 모래의 투입량 및 입자 크기에 따라 충전효율을 분석하였으며, 지상 충전법 실험에서는 중력식, 재래식 및 개량형 충전방법의 실험으로부터 충전효율을 분석하여 개량형 공압식 충전법의 우수성을 입증하였다.

• 한국추진공학회:학술대회논문집
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• 한국추진공학회 2009년도 제33회 추계학술대회논문집
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• pp.347-352
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• 2009

공압시스템은 지상설비 및 발사체 공급시스템에 광범위하게 활용되고 있다. 공압시스템의 목적은 수요처에서 요구되는 유량 및 압력을 요구조건에 맞게 공급하는 것이다. 발사체 관련 가스공급은 타 분야 가스공급과는 달리 대유량의 가스공급이 일반적으로 요구되며, 이때 공급압력이 감소되어 유량을 공급하는 동안 요구되는 압력을 만족시키지 못하는 현상이 흔히 발생한다. 공급시 압력감소는 레귤레이터의 특성과 직접적으로 연관되어 있다. 본 논문은 대유량 가스공급시 공급압력 감소와 관련된 레귤레이터의 특성을 제어이론의 측면에서 검토하였고 이를 개선시킬 수 있는 방법을 이론적으로 제시하였다.

• 한국전산구조공학회:학술대회논문집
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• 한국전산구조공학회 1994년도 봄 학술발표회 논문집
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• pp.57-64
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• 1994

The purpose of this paper is to find minimum surface shape of pneumatic structure using the finite element method. The pneumatic membrane structure is a kind of large deformation problem and very flexible composite material, which mean geomatric nonlinearity. It is not to resist for compression and resultant moment. As the displacement due to internal pressure is getting bigger, it should be considered the direction of forces. It becomes non-linear problem with the non-conservative force. The follower-force depends on the deformation and the direction of force is normal to each element. The solution process is obtained the new stiffness matrix (load correction matrix) depending on deformation through each iterated step. However, the stiffness matrix have not the symmetry and influence on the time of covergence. So in this paper Newton-Rhapson method for solving non-linear problem and for using symmetic matrix, the load direction is changed in each iterated step using the transformation matrix.