• Title/Summary/Keyword: 구동마찰력

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Anti-windup PID Control of Engine Throttle Actuator in Autonomous ATV (무인 ATV 엔진 스로틀 액츄에이터의 안티 와인드업 PID 제어)

  • Kim, Soon-Tae;Jung, Jin-Gu;Chwa, Dong-Kyoung;Hong, Suk-Kyo
    • Proceedings of the KIEE Conference
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    • 2007.10a
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    • pp.295-296
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    • 2007
  • 본 논문에서는 무인화 ATV 엔진 액츄에이터의 시스템 특수성을 고려한 PID 제어기의 설계를 통하여 종방향 구동을 담당하는 DC 모터의 위치제어 성능을 향상시켰다. DC 모터의 문턱 전압과 마찰력으로 인한 데드존(Dead zone)을 고려하였으며, DC 모터에 연결된 액츄에이터 와이어에 의한 복원력에 대한 영향을 최소화 시켰다. 또한 DC모터의 위치를 판별하는 엔코더의 분해능을 감안하여 제어기 설계에 반영하였고, 실험을 통하여 성능을 검증하였다.

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Developing an Instrument Ensuring Reliable Contact Conditions for Contact-Type Area-varying Capacitive Displacement Sensors (접촉식 면적변화형 정전용량 변위센서의 접촉 안정성을 위한 기구의 개발)

  • Kim, Sung-Joo;Lee, Won-Goo;Moon, Won-Kyu
    • Transactions of the Korean Society of Mechanical Engineers B
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    • v.35 no.11
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    • pp.1147-1156
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    • 2011
  • A contact-type area-varying capacitive displacement sensor, or CLECDiS, can measure displacements over millimeter ranges with nanometer resolution. However, a small changes in the contact condition due to the surface profile or friction, which are inherent characteristics of contact-type sensors, lead to significant distortion of the output signal. Therefore, ensuring reliable contact conditions during CLECDiS measurements is the most important area to be improved in their actual use. Herein, in order to design an instrument for ensuring reliable contact conditions, the contact condition is analyzed by characterizing the signal distortion, observing the pressure distribution between the contacting surfaces, and measuring the motional errors of the sensor using a laser Doppler vibrometer (LDV). The manufactured instrument enables a CLECDiS to be used in an ultraprecise positioning system with improved reliability.

A Study on the Inside Contact Characteristics Between Abrasive Belt and Pulley (연삭 벨트-풀리간의 내접촉 특성에 대한 연구)

  • 김현수
    • Transactions of the Korean Society of Mechanical Engineers
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    • v.12 no.3
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    • pp.457-465
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    • 1988
  • The inside contact characteristics in abrasive belt drives were investigated analytically and experimentally for (1) driver pulley contact wheel and (2) driven pulley contact wheel. The concentrated contact forces in the grinding zone divided the entire belt-pulley contact are by three distinct areas and the tangential friction forces in the active areas caused the normal forces to change, which resulted in the different belt force distribution compared with those of the ordinary flat belt drives. The experimental results for the normal pressure (belt tension) distribution were in good agreement with the theoretical results.

A Study on the Elevator Overbalance-Ratio Control and Improved Scheme for Safety (엘리베이터 오버밸런스율 제어와 안전을 위한 개선방안 연구)

  • Lee, Ho-Cheol;Choi, Young-Kiu
    • Journal of the Korea Institute of Information and Communication Engineering
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    • v.17 no.12
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    • pp.2785-2792
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    • 2013
  • An elevator is driven by the friction between the pulley and wire rope. A balancing counter weight is connected to the elevator car with a wire rope. This structure is essential to drive elevators while it always has weight unbalance problems on each side. The overbalance-ratio of elevators may be an important factor for safety and structural efficiency; however, it is not yet clearly defined in the Requirements of Korea Elevator Inspection. This paper describes these "weight unbalance ratio" for control of elevators to reduce the number of accidents. It includes the analysis of current elevator maintenance situations and also proposes some fundamental improvement schemes for safety.

A study on design, experiment control of the waterproof robot arm (방수형 로봇팔의 설계, 실험 및 제어 연구)

  • Ha, Jihoon;Joo, Youngdo;Kim, Donghee;Kim, Joon-Young;Choi, Hyeung-Sik
    • Journal of Advanced Marine Engineering and Technology
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    • v.38 no.6
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    • pp.648-657
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    • 2014
  • This paper is about the study on a newly developed small waterproofed 4-axis robot arm and the analysis of its kinematics and dynamics. The structure of robot arm is designed to have Pitch-Pitch-Pitch-Yaw joint motion for inspection using a camera on itself and the joint actuator driving capacity are selected and the joint actuators are designed and test for 10m waterproofness. The closed-form solution for the robot arm is derived through the forward and inverse kinematics analysis. Also, the dynamics model equation including the damping force due to the mechanical seal for waterproofness is derived using Newton-Euler method. Using derived dynamics equation, a sliding mode controller is designed to track the desired path of the developed robot arm, and its performance is verified through a simulation.

Characteristics of Starting Torque in Single Phase Permanent Magnet Motor (단상 영구자석 모타의 기동토오크 특성연구)

  • Kwon, Byung-Il;Kim, Ki-Bong
    • Proceedings of the KIEE Conference
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    • 2002.07b
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    • pp.935-938
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    • 2002
  • 본 논문은 회전자에 영구자석을 사용한 2극 단상 브러시리스 모타에서의 기동토오크 특성에 관한 연구결과를 소개함에 목적이 있다. 본 논문에서와 같은 구조의 모타에서의 토오크는 전자기력에 의한 기동력과 코깅 토오크에 의한 영향력 두가지로 구분다. 본 논문에서는 기동토오크의 이론적 구조식을 유도하고, 문리 적 운동방정식과 결합하여 기동시 나타나는 특성을 나타내었다. 본 논문의 목적은 보다 보편적인 기동토오크에 의한 회전자의 운동을 구명하고자 함인데, 이 목적을 위하여 일반적 전원으로 사용하는 연속 직류전류가 아니라, 비연속적이고 정현파 형태의 일펄스 반파 전류를 전원으로 사용하였다. 이때 나타나는 임펄스 응답특성은, 전류를 흘렸을 때, 대부분의 경우 모타의 회전자는 전류의 주기와 다른 주기를 가지고 반회전하였다. 모타 회전자의 반전주기는 입력전압, 영구자석의 자화의 강도, 그리고 관성계수 및 마찰 계수와 같은 기계적 상수에 의해 영향을 받는 것을 알수 있는데, 반전주기 속도가 모타의 동기속도와 적절하지 않는 경우, 모타의 회전은 이루어 지지 않거나 심한 흔들림(CHATTERINC)의 현상이 나타남을 발견하였다. 이러한 결과를 바탕으로 모타의 회전자를 동기속도로 구동을 하도록 하기위한 조건을 구하였다.

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Analysis of Tire Characteristics according to Driving Conditions using Finite Element Method (유한요소법을 이용한 구동상태에 따른 타이어의 특성 분석)

  • Jeon, Do-Hyung;Choi, Joo-Hyung;Cho, Jin-Rae;Kim, Kee-Woon
    • Proceedings of the KSME Conference
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    • 2004.11a
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    • pp.539-544
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    • 2004
  • This paper discusses the measurement of tire driving performance for 2 types of tire model. Tire is almost composed of rubber, and this is related with the bearing capacity of tire due to the external force. In this study, an explicit time integration method has been used to simulate steady state rolling along a straight path and over a cleat. And analysis for tire dynamic response rolling over a cleat is importnat to study automobile NVH properties. Besides, the evaluation of contact shear force is perfomed for steady state rolling and braking state. The results show that there are noticeable differences between 205/60R15 and 225/60R15 tire model.

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Tribological Characteristics of Endoscope Capsule Inside of Small Intestine (캡슐형 내시경 개발을 위한 소장 내에서의 캡슐저항력 특성)

  • 백남국;김대은
    • Proceedings of the Korean Society of Precision Engineering Conference
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    • 2002.05a
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    • pp.142-145
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    • 2002
  • In order to develop a self-propelled microendoscope, the frictional resistance of the capsule-type endoscope inside the intestine should be understood. In this work the frictional resistance behaviors of capsules with different designs were experimentally investigated using a pig intestine. It was found that cylindrical capsule design had the least frictional resistance. Also, the resistance increased as the speed of the capsule motion was decreased. It is expected that the results of this work will be used to design the optimum propulsion system for the microendoscope.

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A Study on Heat and Vibration of Nano Precision Linear Motors (나노 구동용 선형 모터의 열.진동에 관한 연구)

  • Kim H.Y.;LEE W.Y.;Rim K.H.;Seol J.S.
    • Proceedings of the Korean Society of Precision Engineering Conference
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    • 2005.06a
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    • pp.254-259
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    • 2005
  • The heat and vibration effect is known to cause a serious deformation in linear motor system. The paper presents a heat and vibration characteristics that compare a advanced linear motor with developed linear motor through experiment and analyses. The heat in linear motor system is identified for experimental data and analytic data using the Finite Volume Method (FVM). Also, it shows that the optimum standard analyzed the acceleration patterns of the moving part cause the vibration source in linear motor. It presents the analyzed dynamics of linear motor in compliance with a deformation of the non-linear factor.

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Design a Small Form Factor Actuator using Inclined Motion Guides (경사형 모션 가이드를 이용한 초소형 액츄에이터)

  • Yang, Tae-Joon;Lee, Seung-Yop
    • Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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    • 2006.11a
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    • pp.136-139
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    • 2006
  • In this paper we propose a small form factor actuator using an inclined motion guide for auto-focusing and zoom motions for mobile information devices. The novel structure using the inclined motion guide and a lens-supporting beam converts the circular motion by an ultrasonic motor into the linear motion of the optical lens. The proposed actuator has a simple structure to minimizing the mechanical tolerance, and the stroke is easy to modify by controlling the inclined angle. Experiments using a prototype verify the validity of the model as small form factor optical actuator.

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