• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2006.05a
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• pp.224-231
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• 2006

A six-degree-of-freedom dynamic model with time-varying mesh stiffness/damping and friction has been developed for the dynamic analysis of a gear driving system. This model includes a spur gear pair, bearing, friction and prime mover. Using Newton???s method, equations of motion for the gear driving system were derived. Two computer programs are developed to calculate mesh stiffness, transmission error and friction force and analyze the dynamics of the modeled system using a time integration method. The influences of mesh stiffness/damping, bearing, and friction affecting the system were investigated by performing eigenvalue analysis and time response analysis. It is found that the reduction of the maximum peak magnitude by friction is decided according to designing the positions of pitch point and maximum peak in the responses.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.21 no.5
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• pp.103-110
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• 2020

Bio-inspired underwater robots have been studied to improve the dynamic performance of fins, such as swimming speed and efficiency, which is the most basic performance. Among them, bio-inspired soft robots with a compliant tail fin can have high degrees of freedom. On the other hand, to improve the driving efficiency of the compliant fins, the stiffness of the tail fin should be changed with the driving frequency. Therefore, a new type of variable stiffness mechanism has been developed and verified. This study, which was inspired by the anatomy of a real dolphin, assessed a process of designing and manufacturing a robotic dolphin with a variable stiffness mechanism. By mimicking the vertebrae of a dolphin, the variable stiffness driving part was manufactured using subtractive and additive manufacturing. A driving tendon was placed considering the location of the tendon in the actual dolphin, and the additional tendon was installed to change its stiffness. A robotic dolphin was designed and manufactured in a streamlined shape, and the swimming speed was measured by varying the stiffness. When the stiffness of the tail fin was varied at the same driving frequency, the swimming speed and thrust changed by approximately 1.24 and 1.5 times, respectively.

• Journal of Power System Engineering
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• v.7 no.3
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• pp.40-47
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• 2003

In this study, position and force simultaneous trajectory tracking control apparatus with pneumatic cylinder driving system is proposed. The pneumatic cylinder driving system that consists of two pneumatic cylinders constrained in series and two proportional flow control valves offers a considerable advantage as to non-interaction of the actuators because of the low stiffness of the pneumatic actuators. The controller applied to the driving system is composed of a non-interaction controller to compensate for interaction of two cylinders and a disturbance observer to reduce the effect of model discrepancy of the driving system in the low frequency range that cannot be suppressed by the non-interaction controller. The experimental results with the proposed control apparatus show that the interacting effects of two cylinders are eliminated remarkably and the proposed control apparatus tracks the given position and force trajectory accurately.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2001.11b
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• pp.671-675
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• 2001

Elastomers, which are engine mounts and body mounting rubbers, are traditionally designed for NVH use in vehicles, and they are designed to isolate specific unwanted frequencies. According to the measurement of the characteristics of engine mounts and body mounting rubbers, dynamic stiffness changes with respect to the driving miles accumulated in engine mounts and initial load in body mounting. This study looks at the variability in same engine mount properties, and the desired dynamic stiffness may increased with driving miles accumulated. And the dynamic stiffness of body mounting rubber changes very stiff above 150Hz.

• Proceedings of the KSME Conference
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• 2003.11a
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• pp.1614-1619
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• 2003

In this study, position and force simultaneous trajectory tracking control system with pneumatic cylinder driving apparatus is proposed. The pneumatic cylinder driving apparatus that consists of two pneumatic cylinders constrained in series and two proportional flow control valves offers a considerable advantage as to non-interaction of the actuators because of the low stiffness of the pneumatic cylinders. The controller applied to the driving system is composed of a non-interaction controller to compensate for interaction of two cylinders and a disturbance observer to reduce the effect of model discrepancy of the driving system in the low frequency range that cannot be suppressed by the non-interaction controller. The experimental results with the proposed control system show that the interacting effects of two cylinders are eliminated remarkably and the proposed control system tracks the given position and force trajectories accurately.

• Journal of Auto-vehicle Safety Association
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• v.5 no.1
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• pp.62-68
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• 2013

This paper describes development of 4 Wheel Drive (4WD) Electric Vehicle (EV) based driving control algorithm for severe driving situation such as icy road or disturbance. The proposed control algorithm consists three parts : a supervisory controller, an upper-level controller and optimal torque vectoring controller. The supervisory controller determines desired dynamics with cornering stiffness estimator using recursive least square. The upper-level controller determines longitudinal force and yaw moment using sliding mode control. The yaw moment, particularly, is calculated by integration of a side-slip angle and yaw rate for the performance and robustness benefits. The optimal torque vectoring controller determines the optimal torques each wheel using control allocation method. The numerical simulation studies have been conducted to evaluated the proposed driving control algorithm. It has been shown from simulation studies that vehicle maneuverability and lateral stability performance can be significantly improved by the proposed driving controller in severe driving situations.

• Proceedings of the KIEE Conference
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• 2004.11c
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• pp.62-65
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• 2004

An optimal robust controller design method for gun driving system is discussed in this paper. The parameters of the gun driving controller are tuned by using the LQR characteristics for the performance and robustness. Tuning method that optimize velocity error gives a significant improvement over the existing PID tuning methods. It is shown that the tuning result of real gun driving system which is regarded as rigidness model or stiffness model satisfy performance and robustness.

• Transactions of the Korean Society of Automotive Engineers
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• v.6 no.4
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• pp.32-38
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• 1998

In order to investigate the relationship between the stiffness and structure of the automotive roof panels, two kinds of glass fiber reinforced plastic(GFRP) roof panels without and with insert material were fabricated by resin transfer molding(RTM) method. The stiffness test was performed at the same condition as it of actual driving. The structural design and material selection for improving the recyclability of GFRP roof panels were also covered.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2001.04a
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• pp.877-880
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• 2001

This paper presents the new linear motion device so called "inch-worm" which gets large displacement by incrementally summing small displacements of PZT actuators. Dynamics stiffness of inch-worm is generally low compared to its driving condition due to the requirement of inch-worm like small size and light weight. This low stiffness may degenerate the positional precision of inch-worm. An inch-worm is realized using three PZT actuators, a monolithic moving device and a guide way frame. Driving input signal is shaped to reduce the residual vibration of inch-worm by LQG controller and cycloid step input. The practical feasibility of inch-worm is also examined by running test.ning test.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2002.11a
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• pp.311.2-311
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• 2002

Even through the problem of misalignment is of great importance, not much work has been reported in the literature on the effect of misalignment on the vibrations of the gear-bearing systems. Therefore, the nonlinear dynamic characteristics of the gear driving system due to misalignment are investigated in this work. Transmission error for helical gear and bearing nonlinear stiffness is calculated. (omitted)