• Proceedings of the Korean Society of Precision Engineering Conference
• /
• 1995.10a
• /
• pp.151-156
• /
• 1995

This paper presents a methodology for real-time detecting and identifying the runout geometry of an end mill. Cutter runout is a common but undesirable phenomenon in multi-tooth machining such as end-milling process because it introduces variable chip loading to insert which results in a accelerated tool wear,amplification of force variation and hence enlargement vibration amplitude. Form understanding of chip load change kinematics, the analytical sutting force model was formulated as the angular domain convolution of three dynamic cutting force component functions. By virtue of the convolution integration property, the frequency domain expression of the total cutting forces can be given as the algebraic multiplication of the Fourier transforms of the local cutting forces and the chip width density of the cutter. Experimental study are presented to validata the analytical model. This study provides the in-process monitoring and compensation of dynamic cutter runout to improve machining tolerance tolerance and surface quality for industriql application.

• Ocean Systems Engineering
• /
• v.7 no.3
• /
• pp.225-246
• /
• 2017

Excessive dynamic-tension variations on the top-tensioned risers (TTRs) deteriorate the structural integrity and cause potential safety hazards. This phenomenon has become more remarkable in the development of deep-water fields with harsher environmental loads. The conventional prediction method of tension variations in hydro-pneumatic tensioner (HPT) has the disadvantage to underestimate the magnitude of cyclic loads. The actual excessive dynamic tension variations are larger when considering the viscous frictional fluid effects. In this paper, a suppression method of tension variations in HPT is modeled by incorporating the magneto-rheological (MR) damper and linear-force actuator. The mathematical models of the combined HPT and MR damper are developed and a force-control scheme is introduced to compensate the excessive tension variations on the riser tensioner ring. Numerical simulations and analyses are conducted to evaluate the suppression of tension variations in HPT under both regular- and irregular-wave conditions for a drilling riser of a tensioned-leg platform (TLP). The results show that significant reduction of tension variations can be achieved by introducing the proposed system. This research has provided a theoretical foundation for the HPT tension control and related structural protection.

• The Journal of the Korea Contents Association
• /
• v.18 no.7
• /
• pp.322-329
• /
• 2018

Teleoperation is defined with a master device that gives control command and a slave robot in a remote site. In this field, it is common that a human operator executes and experiences teleoperation with a virtual slave, and preliminary learns dynamic characteristic and network environment from both agents. Generally, a virtual slave has neglected forward dynamics and its kinematic model has been implemented in computer graphics. This makes a operator to experience actual feelings. This paper proposes a dynamic teleoperation model in which a robotic forward model is applied. Also, a novel compensation method is proposed to reduce the numerical error problems in forward dynamics caused by low control sampling rate. Finally, its results will be compared to the teleoperation in an actual environment.

• The Transactions of the Korean Institute of Power Electronics
• /
• v.18 no.1
• /
• pp.37-44
• /
• 2013

In this paper, the characteristics of portable fuel cell system are introduced and the dynamic response of output voltage of fuel cell stack with internal humidifier is analyzed. When the output of the fuel cell (FC) stack is short-circuited for humidification, the output voltage of the FC stack rapidly drops. In order to maintain the load voltage in the required range, dynamic compensation methods are proposed: 1) installing a capacitor behind the output of the FC stack; 2) utilizing the bi-directional converter. Especially, bi-directional converter is used when short of the FC output is detected or predicted by algorithm using data which is measured during previous three cycles. These methods are simulated by PSIM 9.0, then experimental results from the fuel cell system prototype verify the validity of the proposed methods.

• Journal of Institute of Control, Robotics and Systems
• /
• v.16 no.7
• /
• pp.688-694
• /
• 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.

• Journal of the Korean Society for Aeronautical & Space Sciences
• /
• v.48 no.11
• /
• pp.881-888
• /
• 2020

In this paper, research on estimation of states of a target of interest using Line Of Sight(LOS) angle measurement is performed. Target's position, velocity, and acceleration are chosen to be the states of interests. The LOS measurement is known to be highly non-linear, making target dynamic modeling hard to be implemented into a filter. To solve this issue, the Pseudomeasurement equation was applied to the LOS measurement equation. With the help of this equation, 3D variable turn target dynamic model is applied to the filter model. For better performance, Kinematic Constraint is also implemented into the filter model. As for the filter, Bias Compensation Pseudomeasurement Filter (BCPMF) is used which is known for its robustness to initial conditions. Moreover, Two-Stage Kalman Filter (TSKF) form was also implemented to benefit from the parallel computation. As a result, TBCPMF 3DVT-KC is proposed and simulated to assess performance.

• Journal of the Korea Academia-Industrial cooperation Society
• /
• v.8 no.3
• /
• pp.444-453
• /
• 2007

This paper deals with a powerful countermeasure for power quality problems caused by the operation of electrical arc furnace in bulk power systems. The rapid active load fluctuations of electrical arc furnace could produce several problems such as voltage flicker and active power oscillations. The typical methods using only the reactive power compensation have their own limitation in solving the power quality problems caused by active load variations. The coordination of both active and reactive power compensation is required to solve the power quality problems. This paper focuses on the impacts and the dynamic phenomena caused by the active load fluctuation. This paper proposes the optimal algorithm for the active power compensation based on the function of 1(n ratio and the concepts for the active power compensation. The results from a case study show that the proposed methods can be a practical tool for the power quality problems in power systems.

• Journal of Electrical Engineering and Technology
• /
• v.6 no.4
• /
• pp.439-446
• /
• 2011

Frequency is an important operating parameter for the protection, control, and stability of a power system. Thus, it must be maintained very close to its nominal frequency. Due to the sudden change in generation and loads or faults in a power system, however, frequency deviates from its nominal value. An accurate monitoring of the power frequency is essential for optimum operation and prevention of wide area blackout. Most conventional frequency estimation schemes are based on the DFT filter. In these schemes, the gain error could cause defects when the frequency deviates from the nominal value. We present an advanced frequency estimation technique using gain compensation to enhance the DFT filter-based technique. The proposed technique can reduce the gain error caused when the frequency deviates from the nominal value. Simulation studies are performed using both the data from EMTP-RV software and the user-defined arbitrary signals to demonstrate the effectiveness of the proposed algorithm. Results show that the proposed algorithm achieves good performance under both steady state tests and dynamic conditions.

• The Transactions of the Korean Institute of Electrical Engineers P
• /
• v.59 no.2
• /
• pp.173-178
• /
• 2010

Frequency is an important operating parameter of a power system. Due to the sudden change in generation and loads or faults in power system, the frequency is supposed to deviate from its nominal value. It is essential that the frequency of a power system be maintained very close to its nominal frequency. And monitoring and an accurate estimation of the power frequency by timing synchronized signal provided by FDR is essential to optimum operation and prevention for wide area blackout. As most conventional frequency estimation schemes are based on DFT filter, it has been pointed out that the gain error by change in magnitude could cause the defects when the power frequency is deviated from nominal value. In this paper, an advanced frequency estimation scheme using gain compensation for fault disturbance recorders (FDR) is presented. The proposed scheme can reduce the gain error caused when the power frequency is deviated from nominal value. Various simulation using both the data from EMTP package and user's defined arbitrary signals are performed to demonstrate the effectiveness of the proposed scheme. The simulation results show that the proposed scheme can provide better accuracy and higher robustness to harmonics and noise under both steady state tests and dynamic conditions.

• Transactions of the Korean Society of Automotive Engineers
• /
• v.15 no.2
• /
• pp.165-174
• /
• 2007

Variable displacement type piston pump uses various controllers for controlling more than one state quantity like pressure, flow, power, and so on. These controllers need the mathematical model closely expressing dynamic behavior of pump for analyzing the stability of control systems which usually use various kinds of state variables. This paper derives the nonlinear mathematical model for variable displacement type piston pump. This model consists of two 1st oder differential equations by the continuity equations and one 2nd oder differential equation by the motion equation. To simplify the model we obtain the linear state variable model by differentiating the three nonlinear equations. And we verify this linearized model by comparison of simulation with experimentation and analyze the stability for the flow/pressure control. Finally this paper suggests the design compensation to ensure the stability of the systems.