• International Journal of Control, Automation, and Systems
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• v.3 no.1
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• pp.87-99
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• 2005

We present in this paper the stabilization (tracking) with motion planning of the six independent configurations of a mini unmanned areal vehicle equipped with four streamlined rotors. Naturally, the yaw-dynamic can be stabilized without difficulties and independently of other motions. The remaining dynamics are linearly approximated around a small roll and pitch angles. It will be shown that the system presents a flat output that is likely to be useful in the motion generation problem. The tracking feedback controller is based on receding horizon point to point steering. The resulting controller involves the lift (collective) time derivative for what flatness and feedback linearization are used. Simulation tests are performed to progress in a region with approximatively ten-meter-buildings.

• 유공압시스템학회:학술대회논문집
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• 2010.06a
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• pp.39-43
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• 2010

It is hard and complex to analytically derive a volumetric displacement formula of a gerotor hydraulic motor because geometric shape of its rotors is complicate. An analytical method about the volumetric displacement is proposed in this work, which is relatively easy and based upon two physical concepts. The first one is energy conservation between hydraulic input energy of the motor and mechanical output energy. The second concept is torque equilibrium with respect to inner and outer rotors. The proposed formula about the volumetric displacement is verified by comparing an analytical displacement and a numerical displacement for an example specification of the motor. The numerical displacement is calculated through a kind of CAD technology. The analytical formula can be utilized in analysis and design of hydraulic gerotor motors.

• 한국전산유체공학회:학술대회논문집
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• 2003.08a
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• pp.171-175
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• 2003

Numerical analysis of three-dimensional viscous flow-fields in the turbine rotor passages is carried out to investigate flow physics including the interaction between secondary vortices, tip leakage vortex, and the rotor wake. The blade tip geometry is accurately modeled adopting the embedded H grid topology. An explicit four-stage Runge-Kutta scheme is used for the time integration of both the mean flow and turbulence equations. The computational results for the entire turbine rotor flows, particularly the tip clearance flow and the secondary flows, are interpreted and compared with the experimental data from the Penn State turbine stage. Good agreement between the experimental data and the numerical prediction was achieved in the sense of the major features of the flow fields.

• Proceedings of the Korean Society For Composite Materials Conference
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• 2004.04a
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• pp.83-86
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• 2004

The aeroelastic stability analysis of composite bearingless rotors is investigated using a large deflection beam theory in hover. The bearingless rotor configuration consists of a single flexbeam with a wrap-around type torque tube and the pitch links located at the leading edge and trailing edge of the torque tube root. For the analysis of composite bearingless rotors, flexbeam is assumed to be a rectangular section made of laminate. Two-dimensional quasi-steady strip theory and Loewy's aerodynamic theory with the lift deficiency function are used for unsteady aerodynamic computation. The finite element equations of motion for beams are obtained using Hamilton's principle. Numerical results of selected bearingless rotor configurations are obtained for the lay-up of laminae in the flexbeam and pitch links location.

• 연구논문집
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• s.31
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• pp.65-75
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• 2001

A dynamic model of pump having one step gearbox and two step gearbox is developed by the lumped parameter method. The model accounts for shafts, ball bearings and journal bearings flexibilities, gyroscopic effects and the force couplings among the transverse and torsion motions due to gearing. Excitation forces of pump having one step gearbox and two step gearbox are considered as the mass unbalance of the rotors and gear transmission error which comes from the modified tooth surface. A Campbell diagram, in which the excitation sources caused by the mass unbalance of the rotors and the transmitted errors of the gearing are considered, shows that there are no critical speeds at the operating speeds. One step and two step gearboxes are manufactured and are estimated for vibration/noise, lubrication and performance.

• Proceedings of the KIPE Conference
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• 2015.07a
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• pp.505-506
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• 2015

In this paper, two types of switched reluctance motors (SRMs) with segmental rotors are presented in detail. One is 6/5 segmental rotor type; the other is 12/8 segmental rotor type. Both motors have the same stator, rotor and winding configurations. The stator is constructed with special stator poles in which the exciting and auxiliary poles are designed exclusively. The rotor is constructed from a series of discrete segments, each of which is embedded in the magnetic isolator. The windings are only wound on the exciting poles, and no windings are wound on the auxiliary poles. These structures result in short flux path and high flux-linkage utilization in the proposed motors, which may reduce the magneto motive force (MMF) requirement and increase the electrical utilization of the machine. To verify the proposed two structures, the characteristics of the proposed two types are analyzed and compared with that of conventional 12/8 SRM.

• Proceedings of the Korean Society of Propulsion Engineers Conference
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• 2008.11a
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• pp.157-160
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• 2008

Tip clearance is a critical point in turbine to reduce friction between blade and casing. To estimate the direct effectiveness of the tip clearance, numerically analyzed are flow passing through rotors with and without tip clearance. The Results by CFX tells that rotors with tip clearance have vortex structure which makes larger loss in turbine, and shows lower total-to-total efficiency than that without tip clearance.

• International Journal of Fluid Machinery and Systems
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• v.6 no.2
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• pp.105-112
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• 2013

The application of contra-rotating rotors for higher specific speed pump has been proposed in our studies, which is in principle effective for reducing the rotational speed and/or the pump size under the same specification of conventional axial flow pump. In the previous experiments of our prototype, the cavitation inception at the tip region of the rear rotor rather than that of the front rotor and the strong potential interaction from the suction surface of the rear rotor blade to the pressure surface of the front one were observed, indicating the possibility to further improve the pump performance by optimizing rotational speed combination between the two rotors. The present research aims at the design of rear rotor with lower rotational speed. Considering the fact that the incoming flow velocity defects at the tip region of the rear rotor, an integrated inflow model of 'forced vortex' and 'free vortex' is employed. The variation of maximum camber location from hub to tip as well as other related considerations are also taken into account for further performance improvement. The ideas cited above are separately or comprehensively applied in the design of three types of rear rotor, which are subsequently simulated in ANSYS CFX to evaluate the related pump performance and therefore the whole low speed design idea. Finally, the experimental validation is carried out on one type to offer further proofs for the availability of the whole design method.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.40 no.4
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• pp.343-352
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• 2016

A multi-rotor vehicle is an unmanned vehicle consisting of multiple rotors. A multi-rotor vehicle can be categorized as tri-, quad-, hexa-, and octo-rotor depending on the number of the rotors. Multi-rotor vehicles have many advantages due to their agile flight capabilities such as the ability for vertical take-off, landing and hovering. Thus, they can be widely used for various applications including surveillance and monitoring in urban areas. Since multi-rotors are subject to uncertain environments and disturbances, it is required to implement robust attitude stabilization and flight control techniques to compensate for this uncertainty. In this research, an advanced nonlinear control algorithm, i.e. sliding mode control, was implemented. Flight experiments were carried out using an onboard flight control computer and various real-time autonomous attitude adjustments. The feasibility and robustness for flying in uncertain environments were also verified through real-time tests based on disturbances to the multi-rotor vehicle.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.13 no.4
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• pp.1496-1502
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• 2012

The fuel pump mounted on the engine in the vehicle is consist of the outer and inter rotors, and which inhales fuel from the inlet port and supplies it to the outlet port. In this study, it is carried out the analysis and test of the fuel pump with rotors to evaluate its performance. It is analyzed the flow characteristics of the fuel pumps with numerical simulation in their inlet-outlet angles of 0, 15, 30 degree. After it is determined whether it has the best flow characteristics, its vibration characteristics is analyzed. The flow rate of a pump in the inlet-outlet angles of 0 degree is 191.0 LPH(Liter per hour) which is the largest. and its vibration is calculated to be 0.866 $^m/s^2$. In the results of vibration test, it is known that the vibration of the research pump is smaller than that of the existing one. And the natural frequencies of two pumps is nearly same. Therefore it is known that the performance of the research pump is superior.