• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1993년도 한국자동제어학술회의논문집(국내학술편); Seoul National University, Seoul; 20-22 Oct. 1993
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• pp.1178-1182
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• 1993

Variable-displacement pumps are inherently more efficeint than fixed-displacement pumps under varying loads. Their energy-saving characteristics can be improved by the use of special control. This paper shows the improvement of the system by the use of load-sesing technique.

• 한국정밀공학회지
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• 제33권10호
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• pp.837-843
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• 2016

This paper presents a position control strategy for a pump-controlled electro-hydrostatic actuator (EHA) using feedforward control with disturbance compensation. As the disturbance observer is used to estimate nonlinear dynamics of EHA, which has valve-opening conditionals, as well as external disturbances, an additional feedforward control is adopted to achieve rapid response. The effectiveness of the proposed control strategy is verified through experiment using an EHA test bench. The proposed controller shows better tracking performance compared with a conventional PID controller.

• 로봇학회논문지
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• 제16권2호
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• pp.86-93
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• 2021

This paper proposes a controller to regulate the supply pressure of the hydraulic power unit (HPU) for driving a bipedal robot. We establish flow rate models for charging accumulator, actuating joints and leaking from actuators and spool valves. This determines the pump driving motor speed to satisfy the demanded flow rate for operating the bipedal robot without the energy loss caused by the bypass through a pressure regulating valve. We apply proposed controller to an onboard HPU mounted on top of bipedal robot platform with twelve degrees of freedom. We implement air-walking motion and squat motion which require variable flow rate to the bipedal robot. Through this experiment, the energy efficiency of proposed controller was verified by comparing the electric energy consumed when the controller was applied and when the pump operated at constant speed. We also shows the capability of the HPU's control performance to regulate supply pressure.

• 드라이브 ㆍ 컨트롤
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• 제17권2호
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• pp.28-37
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• 2020

It is difficult to analytically derive the relationship among volumetric displacement, flowrate, torque, and rotation speed regarding an instantaneous position of gerotor hydraulic pumps/motors. This can be explained by the geometric shape of the rotors, which is highly complicated. Herein, an analytical method for the instantaneous torque, rotation speed, flowrate, and volumetric displacement of a pump/motor is proposed. The method is based on two physical concepts: energy conservation and torque equilibrium. The instantaneous torque of a pump/motor shaft is determined for the posture of rotors from the torque equilibrium. If the torque equilibrium is combined with the energy conservation between the hydraulic energy of the pump/motor and the mechanical input/output energy, the formula for determining the instantaneous volumetric displacement and flowrate is derived. The numerical values of the instantaneous volumetric displacement, torque, rotation speed, and flowrate are calculated via the MATLAB software programs, and they are illustrated for the case in which inner and outer rotors rotate with respect to fixed axes. The degrees of torque fluctuation, speed fluctuation, and flowrate fluctuation can be observed from their instantaneous values. The proposed formula may provide a better understanding of the design or analysis process of gerotor pumps/motors.

• 드라이브 ㆍ 컨트롤
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• 제4권2호
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• pp.35-43
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• 2007

• 드라이브 ㆍ 컨트롤
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• 제13권3호
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• pp.83-85
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• 2016

• 드라이브 ㆍ 컨트롤
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• 제11권4호
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• pp.39-45
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• 2014

With recent oil price increases, the fuel efficiency of hydraulic excavators has become a serious issue. Researchers have considered weight lightening by high pressurization in order to improve the efficiency of the excavator and pump controlled actuation (PCA) and to reduce pressure loss of hybrid and valves using mechanical inertia. However, high pressurization is not very effective because the excavator operates at a low speed; a hybrid is inefficient because little accumulated inertial energy is accumulated; and PCA is ineffective because control precision and responsibility are low. In this study, a method to minimize air and gas in hydraulic oil has been presented as a simple and new way to increase hydraulic efficiency.

• 대한기계학회논문집B
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• 제26권11호
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• pp.1488-1495
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• 2002

The response time represents how fast a system responds to a given disturbance at the system boundary. Flow restricting devices for controlling transients can result in a decrease in the peakm pressure, but may change response time. Response lag in a hydraulic system leads to inefficient working cycle and operator discomfort. The experiments were conducted in order to get information on the parameters which exert appreciable influence on the response time. The experimental apparatu including a hydraulic actuator, orifice and a hydraulic pump was an idealization of a bucket hydraulic shifting system. Experimental results show that the response time depends on operating pressure and flow rate. The effects of orifice type and size on the response time are quantified.

• 한국생산제조학회지
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• 제9권1호
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• pp.88-95
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• 2000

In this paper, an expansion-resonator type pulsation attenuator is proposed to absorb and attenuate flow an pressure ripple with high frequencies generated from hydraulic control systems. The basic principle of a pulsation attenuator proposed here is applied to propagation, reflection, absorption of pressure waves at the cross section of discontinuity and resonance in the pipeline. It has advantage of the compact size and high degree fo freedom for installation in hydraulic systems. The design scheme based on distributed parameter pipeline system with dissipative viscous compressible model is developed. To investigate the reduction of flow and pressure ripple with high frequencies produced by swash plate type axial piston pump, two kinds of attenuators are manufactured. It is experimently confirmed that the spectral intensity of flow and pressure ripple with high frequencies from the pump are reduced up to about 20$^{\circ}$~30dB by using attenuators proposed here. The calculated results were in good agreement with the measured values. From there sults of this study, it is shown that an expansion-resonator type pulsation attenuator is effective in a wide frequency ranges to attenuate the flow and pressure ripple from hydraulic components.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2004년도 ICCAS
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• pp.307-311
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• 2004

In this study, a novel hybrid vehicle is proposed. The vehicle has a flywheel-engine hybrid system. Flywheels are more effective as energy charge systems than electric batteries in a respect of output power density. However, transmissions to effectively drive flywheels are very complex systems such as CVTs (Continuously Variable Transmissions). In the proposed hybrid vehicle, Constant Pressure System is employed, which is hydraulic power transmission. Using Constant Pressure Systems, hydraulic CVTs are easily realized with variable displacement pumps/motors. In this paper, firstly, the proposed flywheel hybrid vehicle making use of Constant Pressure System is described. Secondly, fuel consumption characteristics of the flywheel hybrid vehicle are experimentally examined with the stationary test facility, which employs a flywheel as a load emulating vehicle inertia. Finally, the experimental results and discussions are described. Fuel consumption of 26km/L is expected for 10 mode driving schedule with vehicle mass of 1500kg.