• 제어로봇시스템학회논문지
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• 제21권11호
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• pp.1027-1033
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• 2015

For the attitude control of spacecraft, two variable-speed control moment gyros are proposed as main actuators in the article. Since a variable-speed control moment gyro (VSCMG) makes two control torques (gyroscopic torque and reaction torque), two VSCMGs are sufficient for controlling 3-axes attitude. Additionally, there are no singular conditions for two non-parallel VSCMGs. Since gyroscopic torque is usually much greater than reaction torque, the control performances of approximately 3 axes may not be the same. However, several missions can be accomplished by controlling two axes. For such missions, a selective axes control method is proposed. The method selects two axes for a certain task and controls the attitude of the selected axes. For the remaining axis, angular speed is controlled for stabilization. A hardware-in-the-loop simulation has been used to test VSCMG modules and to verify the proposed method. Two VSCMGs can be alternative actuators for small satellites.

• 한국운동역학회지
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• 제17권3호
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• pp.69-80
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• 2007

The purpose of this study was to investigate the difference of ground reaction forces of swimming athletes during their starting motion and to find out the most effective starting motions which were used in swimming athletes. The subjects were 9 male and 8 female high school swimming athletes who were athletic career over 7 years and used three starting motions in competition. The ground reaction forces were measured from each athletes performing three starting motion each of the open grap starting motion, closed grap starting motion and track starting motion. For the measurement, the force platform of AMTI company was utilized, and the analysis on measured ground reaction forces were used of Biosoft(Ver. 1.0). The items measured were stance time, Fz max deceleration force and Fz max deceleration force time, Fz mid stance force and Fz mid stance force time, Fz max acceleration force and Fz max acceleration force time, Torque maximum and Torque maximum time, Torque average, Excursion along Y axis of center of pressure of foot, Excursion along X axis of center of pressure of foot, Length of center of pressure of foot, Average velocity of center of pressure of foot. The data measured by the closed grap starting motion, open grap starting motion and track starting motion were analyzed by one-way repeated ANOVA. The results were as follows ; 1. The Fz max deceleration force time, Fz mid stance force, Fz max acceleration force, Torque maximum and Torque maximum time, Excursion along Y axis of center of pressure of foot, Average velocity of center of pressure of foot were significantly fast and large in the closed grap starting motion then open grap starting motion and track starting motion. 2. The Excursion along Y axis of center of pressure of foot was significantly long in the closed grap starting motion then open grap starting motion and track starting motion.

• 대한기계학회논문집
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• 제19권3호
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• pp.605-614
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• 1995

In the automatic transmission using planetary gear there exists nonlinearities due to the finite difference between gear ratios, which yield torque hole during shift and influence on the ride quality and life of clutch. Based on the reaction carrier and converter turbine speed sliding functions are defined. Nonlinear closed-loop control laws are derived using them. Computer simulation shows that the closed loop design is better than the open loop design and semi-closed loop design.

• 한국항공우주학회지
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• 제39권10호
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• pp.935-945
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• 2011

네 개의 반작용휠과 두 개의 제어모멘트자이로를 이용하여 X축 또는 Y축으로 위성을 고기동 시키는 자세제어방법에 대해서 연구해보았다. 일반적인 위성은 동일한 구동기들을 사용하므로 위성자세제어기를 먼저 설계하고 여기에서 나온 토크를 각 구동기에 할당하면 된다. 하지만 우리 위성은 출력토크 차이가 큰 반작용휠과 제어모멘트자이로로 이루어져 있기에 이러한 방법을 적용하는데 어려움이 있다. 이에 본 논문에서는 구동기 출력토크명령설계에 위성자세제어기를 포함시키는 방법을 사용하였다. 시뮬레이션을 통하여, 설계된 제어기법이 위성을 고기동 시키는 것을 확인하였다.

• 대한기계학회논문집A
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• 제21권2호
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• pp.252-260
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• 1997

In this paper, a friction compensation method using a disturbance observer is proposed for an impedance control of pneumatic manipulator. It is assumed that the generated torque by a pneumatic actuator can be estimated based on the pressure signals and the discharge volume. In order to improve the dynamic characteristics of the pneumatic actuator driven by meter out method, we construct the inner torque control system by feeding back the generated torque. In order to reduce the influence of disturbances comprising friction torque and parameter variations of plant, the impedance control system is constructed with a disturbance observer which estimates the disturbances based on the generated torque of pneumatic actuator, the angular velocity and the reaction torque. From some experiments, it is confirmed that the proposed control system is effective to improve the robustness for the friction torque in the impedance control of a pneumatic manipulator.

• 한국정밀공학회지
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• 제28권10호
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• pp.1181-1188
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• 2011

A control system for stabilizing a small robot or inverted pendulum using twisted gyro wheel is proposed. Conventional stabilizer using inertial wheel employs action-reaction force/torque to control a pendulum, which can generate relatively small torque and short period of output. In this paper, a novel actuation method using twisted gyro torque in 3-dimentional space was proposed to stabilizing a pendulum by twisting the assembly including a rotating gyro wheel. In addition, two special control functions for this type of twisted gyro wheel were designed. One is the function of self-adjusting the mass center of the robot and the other is the torque reloading configuration for continuous torque generation. The proposed system was verified by experimental result and simulation. The designed twisted gyro wheel control system can be easily packed in a small size module and installed in a humanoid robot or inverted pendulum type mechanism.

• Journal of Astronomy and Space Sciences
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• 제28권4호
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• pp.311-317
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• 2011

Momentum changing actuators like reaction wheels and control moment gyros are generally used for spacecraft attitude control. This type of actuators produces force and torque disturbances. These disturbances must be reduced since they degrade the quality of spacecraft attitude control. Major disturbances are mainly due to static and dynamic imbalances. This paper gives attention to the reduction of the static and dynamic imbalance. Force/torque measurement system is used to measure the disturbance of the test reaction wheel. An identification method for the location and magnitude of the imbalance is suggested, and the corrections of the imbalance are performed using balancing method. Through balancing, the static and dynamic imbalance is remarkably reduced.

• 폴리머
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• 제25권6호
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• pp.848-854
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• 2001

무정형 고분자인 ethylene-methyl acrlate-glycidyl methacrylate 공중합체 (E-MeA-GMA)와 결정성 고분자인 poly(ethylene terephthalate) (PET)와의 블렌드에서 그라프트 반응에 따른 PET의 결정화 거동을 조사하였다. PET와 E-MeA-GMA간의 그라프트 반응 수준을 torque-rheometer, FT-IR, SEM을 이용하여 확인하였으며, 반응시간에 따른 결정화 거동 변화를 DSC와 광산란 방법을 이용하여 관찰하였다. 또한 라멜라 수준의 결정구조를 소각 X선 산란법을 이용하여 조사하였다.

• 동력기계공학회지
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• 제12권2호
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• pp.55-61
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• 2008

This paper discusses the advantages of using Fourier-based periodic excitation and of combining internal and external models in dynamic robot parameter identification. Internal models relate the joint torques or forces with the motion of the robot; external models relate the reaction forces and torques on the bedplate with the motion data. This combined model allows to combine joint torque/force and reaction torque/force measurements in one parameter estimation scheme. This combined model estimation will yield more accurate parameter estimates, and consequently better predictions of actuator torque, which is shown by means of a simulated experiment on a CRS A465 industrial robot.

• Journal of Electrical Engineering and Technology
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• 제11권6호
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• pp.1628-1633
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• 2016

This paper derives an effective shape of the ferromagnetic pole pieces (low-speed rotor) for the reduction of transmission torque ripple in a magnetic-geared machine based on a Box-Behnken design (BBD). In particular, using a non-linear finite element method (FEM) based on 2-D numerical analysis, we conduct a numerical investigation and analysis between independent variables (selected by the BBD) and reaction variables. In addition, we derive a regression equation for reaction variables according to the independent variables by using multiple regression analysis and analysis of variance (ANOVA). We assess the validity of the optimized design by comparing characteristics of the optimized model derived from a response surface analysis and an initial model.