• 한국전산유체공학회지
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• 제20권2호
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• pp.81-87
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• 2015

For Underwater vehicles, Unwanted roll excursions are inevitable as they are caused by induced propeller torque, disturbances, and banking motion during turns. To estimate the manoeuvring performance of underwater vehicle, it is necessary to obtain the roll coefficient of body. This paper was covered estimation of roll coefficient of underwater vehicle using STAR-CCM+, commercial CFD(Computational Fluid Dynamics) code. The RANS equations for incompressible fluid flows was solved numerically by using a finite volume method. An MRF(Moving Reference Frame) Method was Also adopted for rotations of body. For the validation, the flow around a DARPA SUBOFF bare hull model was simulated and good agreement with experiments was obtained. And Pure roll coefficients were calculated and campared with the experimental data which were presented by Seoul National University. Finally, an underwater vehicle model with propeller was simulated and analyzed for estimation of roll coefficient variation caused by induced propeller torque.

• 한국정밀공학회지
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• 제10권3호
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• pp.69-80
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• 1993

It is important to prevent roll failure in hot rolling process for reducing maintenance coat and production loss. Roll material and rolling conditions such as the roll force and torque have been intensively investigated to overcome the roll failures. In this study, a computer roll life prediction system under working condition is developed and evaluated on IBM-PC level. The system is composed and fatigue estimation models which are stress analysis, crack propagation, wear and fatigue estimation. Roll damage can be predicted by calculating the stress anplification, crack depth propagation and fatigue level in the roll using this computer model. The developed system is applied to a work roll in actual hot rolling process for reliability evaluation. Roll failures can be diagnosed and the propriety of current working condition can be determined through roll life prediction simulation.

• 한국정밀공학회지
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• 제2권3호
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• pp.47-58
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• 1985

The study is concerned with the analysis of the required loads and torque in the Three-Roll Power Spinning Process by using the Method of Force Polygon Diagram. Experiments are carried out using pure lead billets at room temperature. The radial force, the axial force and the torque occurring during the process are calculated theoretically and are compared with the experimental data. An approximate load distribution is known by the Force Polygon Diagram.

• 제어로봇시스템학회논문지
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• 제16권7호
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• pp.688-694
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• 2010

This paper presents a gravity compensator for the manipulator of a service robot. The manipulator of a service robot is operated with low velocity for the safety reason in most cases. In this situation gravitational torques generated by the mass of links are often much greater than dynamic torques for motion. A gravity compensator can counterbalance the gravitational torques, thereby enabling to utilize relatively low power motors. In this paper the gravity compensation for the roll-pitch rotation is considered which is often used for the shoulder joints of the manipulator of a service robot or humanoid robot. A gimbals is implemented and two 1-dof gravity compensators are equipped at the base. One compensates the gravitational torque at the roll joint and another provides the compensational torque for the gimbals. Various analyses showed that the proposed compensator can counterbalance the gravitational torques of 87% at the pitch joint and 50% at the roll joint. It is verified from dynamic simulations that the proposed compensator effectively counterbalances the gravitational torques.

• 소음진동
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• 제7권4호
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• pp.681-688
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• 1997

The purpose of engine mount system is to reduce the noise and vibration caused by engine vibration, and to decouple the roll and bounce mode at idle. To reduce the noise and vibration level in a vehicle, it is important to make the design optimization of engine mount system that consider the moment of inertia and inclination of mount rubber. As a result, according to the definition of Torque Roll Axis (TRA), the vibration axis at idle must be on the TRA or very close to it. In this paper, we studied the effect of the design optimization of engine mount system. And we have achieved good improvements in noise and vibration quality of F.R. vehicle.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1993년도 한국자동제어학술회의논문집(국내학술편); Seoul National University, Seoul; 20-22 Oct. 1993
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• pp.793-798
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• 1993

In this study the attitude control of the KOREASAT is investigated. The KOREASAT is a geostationary satellite and its 3 attitude angles, namely, roll, pitch and yaw angles, are stabilized by using the 3-axis stabilization technique. In the pitch control loop, the pitch attitude angle received from the earth sensor is processed in the attitude processing electronics by using PI type control logic, and the control command is sent to the momentum wheel assembly to generate the control torque by varying the wheel rate. The roll/yaw attitude control is performed by activating a magnetic torquer or by firing appropriate thrusters. The magnetic torquer interacts with the earth magnetic field to produce the control torque, and the thrusters are used to control the larger roll attitude errors. In this study dynamic modelling of the satellite is performed. And the earth sensor, the momentum wheel, and the magnetic torquer are mathematically modelled. The 3-axis attitude control logic is implemented to make the closed-loop system and simulations are carried out to verify the implemented control laws.

• 제어로봇시스템학회논문지
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• 제21권4호
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• pp.301-308
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• 2015

In this paper, we propose an LTBC (Low Tension and Load Balance Control) scheme to improve a coiling shape control by reduction the tension fluctuation by the torque disturbance in the down coiler process of hot strip mills. The proposed controller is a combination of an LTC to control the overload at load-on in the mandrel and an LBC to regulate the load balance of the upper and bottom pinch roll. A tension calculation model is suggested with the concept of the tension deviation. The effectiveness of the proposed control scheme is verified from simulation under a disturbance of the pinch roll torque. Using a field test, we show that the performance of the shape and tension control is improved by the LTBC control.

• 한국추진공학회지
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• 제15권2호
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• pp.29-35
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• 2011

고체로켓모터 추진제 그레인의 핀-슬롯 표면에서의 연소로 인해 생성된 고온, 고압의 연소가스는 그레인 핀-슬롯 및 내삽노즐을 통해 외부로 방출되면서 형성되는 유동은 매우 복잡하고 다양한 형태를 가진다. 핀-슬롯형 그레인 및 내삽노즐을 가지는 고체로켓모터의 2D, 3D 스케일모델에 대한 공기유동 모사시험을 수행하였으며, 롤토크 발생 등과 같은 내부유동발생 메커니즘을 규명할 수 있는 효과적인 연기-유동장 가시화 기법의 적용방법에 대한 검토가 이루어 졌다. 다양한 광원조사기법 및 촬영장치 방향을 이용하여, 축류 실험모델 노즐 선단부에서의 비대칭 와류튜브에 의한 선회류를 가시화하였다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1997년도 한국자동제어학술회의논문집; 한국전력공사 서울연수원; 17-18 Oct. 1997
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• pp.325-328
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• 1997

In this paper the modeling and control of a twin roll strip caster is investigated. Mathematical models for the strip casting process are obtained by analyzing five critical areas such that the molten steel level in the pool, solidification process, roll separating force and torque, roll dynamics including hydraulic actuators, and roll drive system. A two-level control strategy is proposed. At lower level, three local subsystems are independently feedback-controlled by suitable local controllers which perform well to the behaviors of each subsystem. They are a variable structure control of the molten steel level in the pool, an adaptive predictive control of the roll gap which is directly related to the strip thickness, and an $H^{\infty}$ control of the roll drive system. At higher level, all reference signals to the lower level subsystems are generated by an optimal controller in the perspective of regulating the strip thickness and roll separating force. Simulations are provided..

• 한국산학기술학회논문지
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• 제18권2호
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• pp.71-76
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• 2017

선박 및 해양구조물 설계에 있어 롤댐핑에 관한 문제는 유체점성과 현상자체의 비선형성으로 인해 공학자들에게 있어 난제로 남아있다. 본 연구에서는 강제동요방법을 이용하여 원형실린더의 점성 롤감쇠에 관한 연구를 수행하였다. 토크 센서를 이용하여 강제동요 시 발생하는 롤모멘트(roll moment)를 강제동요 주기별로 계측하였고 이를 실험식(empirical formula)과 비교 검토 하였다. 점성에 의한 전단력으로부터 계측된 토크의 크기가 상대적으로 작은 값임에도 불구하고 실험식으로부터 얻어진 계산값들과 정성적으로 유사한 결과를 보였고, 일부 주기에서는 정량적으로도 잘 일치하는 결과를 보였다. 또한, PIV 계측기법을 통해 원형실린더 벽면주위의 유동을 면밀히 관찰하였으며, 유체점성으로 인해 원형실린더 벽면근처에서 경계층이 형성되고 자유수면에서 원형실린더의 주기적인 강제회전동요로 인해 미소한 크기의 파가 생성(wave making)됨을 PIV 계측결과의 분석을 통해 확인하였다. 본 연구에서는 점성 롤감쇠로 인한 실험식의 적합성을 모형시험을 통해 확인하였고, PIV 계측기법을 통해 벽면주위의 유체점성으로 인한 조파현상을 입증하였다.