• 제어로봇시스템학회:학술대회논문집
• /
• 1997.10a
• /
• pp.272-275
• /
• 1997

When a manipulator makes contact with an object having position uncertainty, performance measures vary considerably with the control law. To achieve the optimal solution for this problem, an unique objective function that weights time and impact force is suggested and is solved with the help of variational calculus. The resulting optimal velocity profile is then modified to define a sliding mode for the impact and force control. The sliding mode control technique is used to achieve the desired performance. Sets of experiments are performed, which show superior performance compared to any existing controller.

• Proceedings of the KIEE Conference
• /
• 2005.07d
• /
• pp.2474-2476
• /
• 2005

본 논문에서는 슬라이딩 평면에 도달 조건을 이용하여 균일한 계단 반응을 얻을 수 있는 퍼지 슬라이딩 모드 제어기 설계방법을 제시한다. 슬라이딩 평면에 도달할 조건을 퍼지 논리로 설계하여 과도한 입력이 플랜트에 가해지지 않도록 비선형 제어기를 설계한다. 슬라이딩 평면 도달 속도의 가변 조건을 퍼지화 하여 퍼지슬라이딩 모드 제어기를 설계한다. 각각의 제어기에 대하여 고주파 공진이 있는 2차 강성 모델에 대하여 모의 실험을 실시하여 그 특성을 비교하였다.

• Proceedings of the KSME Conference
• /
• 2002.08a
• /
• pp.573-576
• /
• 2002

A flow characteristics of automotive oil pump of gerotor type has been investigated numerically. For the simulation of gerotor that have different rotating velocity at inner rotor and outer rotor, node expansion and contraction method was adopted. ASI (Arbitrary Sliding Interfaces) method was also applied at interface between rotating gerotor and stationary volute. The present results showed good agreement with the experimental data.

• Journal of Drive and Control
• /
• v.15 no.3
• /
• pp.8-13
• /
• 2018

This paper presents a phase portrait analysis-based safety control algorithm for excavators, using adaptive sliding mode control. Since working postures and material types cause the excavator's rotational inertia to vary, the rotational inertia was estimated, and this estimation was used to design an adaptive sliding mode controller for collision avoidance of the excavator. In order to estimate the rotational inertia, the recursive least-squares estimation with multiple forgetting was applied with the information of the swing velocity of the excavator. For realistic evaluation, an actual working scenario-based performance evaluation was conducted. Based on the estimated rotational inertia and an analysis of estimation errors, sliding mode control inputs were computed. The actual working scenario-based performance evaluation of the designed safety algorithm was conducted, and the results showed that the developed safety control algorithm can efficiently avoid a collision with an object in consideration of rotational inertia variations.

• Journal of the Korean Society of Industry Convergence
• /
• v.19 no.2
• /
• pp.81-87
• /
• 2016

This paper presents a new approach to control of stable motion of single wheel driving robot system of a pitch that is controlled by an in-wheel motor and a roll that is controlled by a reaction wheel. This robot doesn'thave any actuator for a yaw axis control, which makes the derivation of the dynamics relatively simple. The Lagrange equations was applied to derive the dynamic equations of the one wheel driving robot to implement the dynamic speed control of the mobile robot. To achieve the real time speed control of the unicycle robot, the sliding mode control and optical regulator are utilized to prove the reliability while maintaining the desired speed tracking performance. In the roll controller, the sigmoid-function based robust controller has been adopted to reduce the vibration by the situation function. The optimal controller has been implemented for the pitch control to drive the unicycle robot to follow the desired velocity trajectory in real time using the state variables of pitch angle, angular velocity, angle and angular velocity of the driving wheel. The control performance of the control systems from a single dynamic model has been illustrated by the real experiments.

• Transactions of the Korean Society of Mechanical Engineers A
• /
• v.21 no.6
• /
• pp.871-883
• /
• 1997

Kinetodynamics of a cam driving slider mechanism consists of kinematic analysis and force analysis. The kinematic analysis is to determine the kinematic characteristics of a cam driving mechanism and a slider mechanism. The force analysis is to determine the joint forces of links, the contact forces of the cam and follower, and the driving torque of a main shaft. This paper proposes a close loop method and a tangent substitution method to formulate the relationships of kinematic chains and to calculate the displacement, velocity and acceleration of the cam driving slider mechanism. Also, and instant velocity center method is proposed to determine the cam shape from the geometric relationships of the cam and the roller follower. For dynamic analysis, the contact force and the driving torque of the cam driving slider mechanism are calculated from the required sliding forces, sliding motion and weight of the slider.

• Composites Research
• /
• v.15 no.3
• /
• pp.1-10
• /
• 2002

The effect of size of SiC particles and additive Mg content on the mechanical properties and wear characteristics were investigated for the SiCp/AC8A composites fabricated by pressureless infiltration process. Results showed that the hardness and the bending strength increased with decreasing the size of SiC particle. By increasing the Mg content the hardness of SiCp/AC8A composites increased due to the hard reaction products, however the bending strength decreased by formation of coarse precipitates and high porosity level. The SiCp/AC8A composites exhibited about 6 times higher wear resistance compared with AC8A alloy at high sliding velocity and as increasing the particle size, wear resistance was improved. The major wear mechanical of SiCp/AC8A composites exhibited the abrasive wear at low to high sliding velocity whereas AC8A alloy showed adhesive and melt wear at high sliding velocity.

• Journal of Korean Society of Coastal and Ocean Engineers
• /
• v.29 no.5
• /
• pp.260-268
• /
• 2017

In this study, wind characteristics of a shipping container were investigated through the wind tunnel test (high-frequency force balance test), and damage occurrence velocities of various containers with weights were evaluated based on results of the wind tunnel tests. As a result, mean wind force coefficients acting on containers in x-direction increased in the order of 12ft, 20ft, 40ft and 40ft high cube. On the other hand, mean wind force coefficients at y-direction increased in the order of 40ft high cube, 40ft, 20ft and 12ft. It was suggested that the shear layer separated from the corner of windward surface of the container is reattached on the sides of it, and then the mean wind force coefficient is weaker. As a result of the damage occurrence velocity on containers with weights, it was found that the probability of occurrence of sliding is higher rather than that of overturning. Further, the most unfavorable container was 40ft high cube, and the sliding and overturning occurrence velocities were 20.4 m/s and 26.8 m/s, respectively. Furthermore, the regression formula for sliding and overturing occurrence velocitys were proposed based on the results of relationship between weights of containers and damage occurrence velocities. These results are expected to be useful in establishing a guideline for external force estimation acting on container securing equipment and stacking way.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
• /
• 2006.05a
• /
• pp.384-387
• /
• 2006

Vertical L/UL (Load/Unload) velocity is very important parameter to determine the L/UL performance, and the vertical velocity is determined by the actuator velocity and the ramp profile. However, it is not easy to precisely control the actuator rotating velocity during the L/UL process. Especially in emergency parking, servo system doesn't operate, it is impossible to control an actuator velocity. Then, the vertical unloading velocity depends on only ramp profile. The ramp height and the sliding length for L/UL process in SFF (Small Form Factor) HDD are restricted due to slimness and small media. For these reasons, it is very difficult to design the ramp profile in SFF HDD. Therefore, this study analyzes the unloading dynamic characteristics for various ramp profiles and makes the thesis for ramp profile design.

• Transactions of the Society of Information Storage Systems
• /
• v.2 no.2
• /
• pp.150-155
• /
• 2006

Vertical L/UL (Load/Unload) velocity is very important parameter to determine the L/UL performance, and the vertical velocity is determined by the actuator velocity and the ramp profile. However, it is not easy to precisely control the actuator rotating velocity during the L/UL process. Especially in emergency parking, servo system doesn't operate, it is impossible to control an actuator velocity. Then, the vertical unloading velocity depends on only ramp profile. The ramp height and the sliding length for L/UL process in SFF (Small Form Factor) HDD are restricted due to slimness and small media. For these reasons, it is very difficult to design the ramp profile in SFF HDD. Therefore, this study analyzes the unloading dynamic characteristics for various ramp profiles and makes the thesis for ramp profile design.