• 우주기술과 응용
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• 제4권1호
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• pp.12-26
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• 2024

Attitude control of a satellite is very important to ensure proper for mission performance. Satellites launched in the past had simple missions. However, recently, with the advancement of technology, the tasks to be performed have become more complex. One example relies on a new technology that allows satellites quickly alter their attitude while orbiting in space. Currently, one of the most widely used technologies for satellite attitude control is the reaction wheel. However, the amount of torque generated by reaction wheels is too low to facilitate quick maneuvers by the satellite. One way to overcome this is to implement posture control logic using a control moment gyroscope (CMG). Various types of CMGs have been applied to space systems, and CMGs are currently mounted on large-scale satellites. However, although technological advancements have continued, the market for CMGs applicable to, small satellites remains in its early stages. An ultra-small CMG was developed for use with small satellites weighing less than 200 kg. The ultra-small CMG measured its target performance outcomes using a precision torque-measuring device. The target performance of the CMG, at 800 mNm, was set through an analysis. The final torque of the CMG produced through the design after the analysis was 821mNm, meaning that a target tolerance level of 10% was achieved.

• 소음진동
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• 제5권4호
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• pp.565-575
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• 1995

Gearboxes are often used in the petrochemical and electrical power plants to transmit mechanical power between two branches of a machinery train rotating at different speeds. When the gearboxes are connected with rotors supported by journal bearings, bearing loads vary in magnitude and direction with rotor speed and torque transmitted by the gearboxes. In this study, dynamic characteristics of the system which consists of gearboxes and a rotor supported by journal bearings are investigated analytically and experimentally by employing the polynomial transfer matrix method and modal analysis under different speeds and torque levels. Journal bearing loads due to the transmitted torque are claculated analytically and the stiffness and damping coefficient of the journal bearings are obtained using finite element method. Comparison of the analytical and experimental results shows that the cross coupled stiffness coefficients increase with increasing rotor speed, while the cross coupled damping coefficients decrease. This generates the oil whirl instability in the journal bearings. As the transmitted torque level goes up, the stiffness coefficients of the journal bearing and the first horizontal natural frequency increase. High levels of the transmitted torque produce high bearing stiffness since the contact loads of the mating gear teeth increase. The logarithmic decrement, which is a stability indicator, is shown to decrease with increasing speed and decreasing torque. Thus, at the low torque level, the system become unstable even at the low shaft speed.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2007년도 춘계학술대회논문집
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• pp.305-310
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• 2007

This paper presents a damper system design in torque converter to minimize the vibration in powertrain of automatic transmission vehicle. The lock-up clutch in torque converter makes engine and transmission connected directly. When the lock-up clutch is engaged the torque fluctuation of engine is attenuated by the damper system. This function decides the vehicle power-train dynamic characteristics. At first, the dynamic hysteresis effect with any self and surface to surface contact problems of the damper springs in the damper system for torque converter is analyzed by using FEM. It is shown that these simulation results have a good design reference to energy dissipation operating by damper system in torque converter. And, to calculate dynamic characteristics, the vehicle model is structured by using $AMESim^{(R)}$?? that is a common use program. The vehicle model shows the frequency response of vehicle by changing the stiffness of damper spring, and these results lead the most suitable stiffness of spring. Also, new damper system is analyzed resonance frequency variation and is compared with prior damper.

• 제어로봇시스템학회논문지
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• 제4권3호
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• pp.342-348
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• 1998

A majority of industrial robots are controlled by a simple joint servo control of joint actuators. In this type of control, the performance of control is greatly influenced by the joint interaction torques including Coriolis and centrifugal forces, which act as disturbance torques to the control system. As the speed of the robot increases, the effect of this disturbance torque increases, and hence makes the high speed - high precision control more difficult to achieve. In this paper, the joint disturbance torque of robots is analyzed. The joint disturbance torque is defined using the coefficients of dynamic equation of motion, and for the case of a 2 DOF planar robot, the conditions for the minimum and maximum joint disturbance torques are identified, and the effect of link parameters and joint variables on the joint disturbance torque are examined. Then, a solution to the optimal path placement problem is propose that minimizes the joint disturbance torque during a straight line motion. The proposed method is illustrated using computer simulation. The proposed solution method can be applied to a class of robots that are controlled by independent joint servo control, which includes the vast majority of industrial robots.

• Journal of Electrical Engineering and Technology
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• 제13권5호
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• pp.1978-1985
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• 2018

In this paper, a novel single-phase hybrid switched reluctance motor (HSRM) is proposed for hammer breaker application. The hammer breaker requires only unidirectional rotation and high-speed operation. To satisfy the requirements and eliminate torque dead-zone, the rotor of the proposed 4/4 poles SRM is designed with wider pole arc and non-uniform air-gap. This motor has a simple structure and produces low torque ripple. Permanent magnets (PMs) are mounted on the inner stator at a certain position which enables it to park the rotor for self-start and create positive cogging torque in the torque dead-zone. Compared with conventional single-phase switched reluctance motor, HSRM has an increased torque density and relatively low torque ripple. To verify effectiveness, finite element method (FEM) is employed to analyze the performance of the proposed structure. Then, the proposed motor is compared with the existing motor drive system for the same application. The proposed HSRM is easy to manufacture along with competitive performance.

• Journal of Power Electronics
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• 제13권6호
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• pp.975-984
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• 2013

This paper proposes a robust optimal nonlinear control with an observer to reject the offset errors of position tracking for surface mounted permanent magnet synchronous motors. We provide the control method to reject offset errors and load torque for designing field oriented control (FOC) based the alternating current (AC) frame. The proposed method consists of a torque generator, a commutation scheme, an electrical controller, and a load torque observer. The mechanical controller is designed to compensate for load torque and the offset error and generate the desired torque. The commutation scheme is proposed to create the desired currents for the desired torque. The electrical controller is developed to guarantee the desired currents. The observer is designed to estimate both the velocity and the load torque. In order to obtain the robustness to parameter uncertainties and a gain tuning guide, the linear quadratic regulator method is applied to the proposed method. The closed-loop stability is proven. A detailed process for the FOC design and an analysis of the control methods based on the AC frame are presented. The performance of the proposed method was validated via experiments. The proposed method obtains the FOC based on the AC frame. Furthermore, the position tracking performance of the proposed method is superior to that of the conventional method.

• Journal of Power Electronics
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• 제17권3호
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• pp.674-685
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• 2017

The conventional model predictive direct torque control (MPDTC) method uses all of the voltage vectors available from a two level voltage source inverter for the prediction of the stator flux and stator current, which leads to a heavy computational burden. This paper proposes an improved model predictive direct torque control method. The stator flux predictive controller is obtained from an analysis of the relationship between the stator flux and the torque, which can be used to calculate the desired voltage vector based on the stator flux and torque reference. Then this method only needs to evaluate three voltage vectors in the sector of the desired voltage vector. As a result, the computational burden of the conventional MPDTC is effectively reduced. The time delay introduced by the computational time causes the stator current to oscillate around its reference. It also increases the current and torque ripples. To address this problem, a delay compensation method is adopted in this paper. Furthermore, the switching frequency of the inverter is significantly reduced by introducing the constraint of the power semiconductor switching number to the cost function of the MPDTC. Both simulation and experimental results are presented to verify the validity and feasibility of the proposed method.

• 대한의용생체공학회:의공학회지
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• 제25권4호
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• pp.289-293
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• 2004

본 연구에서는 경사각도가 다른 내, 외측 후족 왯지를 착용하고 보행하는 동안 삼차원 동작분석시스템과 무선가속도측정시스템을 이용하여 무릎관절의 내번토크와 내외측 방향 가속도를 측정하였다. 내번토크와 외측 가속도는 하중수용기와 전유각기에서 각각 양의 절정값을 나타내었다. 하중수용기에 내측 왯지의 경우 내번토크와 외측 가속도가 맨발에 비하여 증가되었으며, 외측 왯지의 경우 내번토크와 외측 가속도값이 감소하였다. (p<0.05). 이러한 변화는 왯지의 경사각이 커질수록 더욱 뚜렷한 상관성을 보였다(p<0.05). 그러나 전유각기에서는 왯지의 방향과 경사에 따른 무릎의 내번토크와 내외측 가속도의 상관성을 확인할 수 없었다. 본 연구의 견과를 통하여 외측 왯지 사용 시 무릎관절의 내번토크가 감소되어 퇴행성 무릎관절염의 치료에 도움을 줄 수 있다. 또한, 보행 중 무릎관절의 내번토크 대신에 외측방향 가속도를 측정함으로써 간단히 왯지의 효과를 결정할 수 있을 것이다.

• Restorative Dentistry and Endodontics
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• 제37권4호
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• pp.215-219
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• 2012

Objectives: The purpose of this study was to investigate the screw-in effect and torque generation depending on the size of glide path during root canal preparation. Materials and Methods: Forty Endo-Training Blocks (REF A 0177, Dentsply Maillefer) were used. They were divided into 4 groups. For groups 1, 2, 3, and 4, the glide path was established with ISO #13 Path File (Dentsply Maillefer), #15 NiTi K-file NITIFLEX (Dentsply Maillefer), modified #16 Path File (equivalent to #18), and #20 NiTi K-file NITIFLEX, respectively. The screw-in force and resultant torque were measured using a custom-made experimental apparatus while canals were instrumented with ProTaper S1 (Dentsply Maillefer) at a constant speed of 300 rpm with an automated pecking motion. A statistical analysis was performed using one-way analysis of variance and the Duncan post hoc comparison test. Results: Group 4 showed lowest screw-in effect ($2.796{\pm}0.134$) among the groups (p < 0.05). Torque was inversely proportional to the glide path of each group. In #20 glide path group, the screw-in effect and torque decreased at the last 1 mm from the apical terminus. However, in the other groups, the decrease of the screw-in effect and torque did not occur in the last 1 mm from the apical terminus. Conclusions: The establishment of a larger glide path before NiTi rotary instrumentation appears to be appropriate for safely shaping the canal. It is recommended to establish #20 glide path with NiTi file when using ProTaper NiTi rotary instruments system safely.

• 한국전자통신학회논문지
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• 제12권6호
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• pp.1065-1070
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• 2017

마그네틱 기어는 기계적인 접촉 없이 회전 기계의 입력측과 출력측이 자기적으로 결합되어 동력을 전달한다. 마그네틱 기어는 내측회전자, 외측회전자, 폴피스로 구성되어 있으며, 동력전달 시 두 회전체와 폴피스 사이의 자기저항 차이로 토크리플이 발생하게 된다. 이러한 토크리플은 회전기계의 소음과 진동의 원인이 되기 때문에 최소화하는 방안이 필요하다. 본 논문에서는 토크리플 저감 방안으로 폴피스의 각진 모서리를 깎아 필렛을 적용한 형상을 제안하였다. 2D 유한요소해석법을 활용하여 필렛 파라미터 변화에 따른 마그네틱 기어의 토크리플을 비교 및 분석하고 토크리플이 우수한 폴피스 형상을 모색하였다.