• Transactions of the Korean Society of Automotive Engineers
• /
• v.16 no.4
• /
• pp.135-142
• /
• 2008

Hydraulic power steering system has been adopted in seniority passenger and commercial vehicle system for an easy maneuverability and a smoother ride. In this study, hydraulic power steering system analysis model which includes hydraulics and mechanical sub-systems was developed using commercial software, AMESim in order to predict characteristics for various steering components. Each component which constructs system was modeled and verified by experimentally obtained characteristics curves of each components. The parameter sensitivity analysis such as valve opening area, torsional stiffness of torsion bar for system design are carried out by the analysis and experimental method. The predicted results by the development model were a good agreement with experimentally obtained results. The sensitivity investigation results rotary torque when changing an input shaft edge width, was most sensitive, to change in angle and slot width and supply flow of input shaft edge is not a lot sensitively.

• Proceedings of the KIEE Conference
• /
• 2008.10b
• /
• pp.337-338
• /
• 2008

2008년 현재 우리나라는 10%의 인구가 60세 이상인 이른바 고령사회에 접어들었다. 노인 인구의 증가로 인해 노인이 여가생활 또는 일반생활을 보조하기 위한 보행 보조기에 대한 관심이 증가되고 있다. 대부분 동력이 없는 보행보조기를 사용하고 있으며 이러한 기구는 경사로 공간 또는 힘이 약한 노인들에게 취약성을 가지고 있다. 이에 동력형 보행보조로봇에 관심이 증가하고 있다. 동력형 보행보조로봇 역시 경사로에 있어서 편리성과 안전성을 높이기 위한 연구가 필요한 실정이다. 이에 본 논문에서는 보행보조로봇이 경사로에 진입 하였을 경우 기울어진 경사로의 정도를 인식하여 모터를 제어 한다. TILT 센서를 이용하여 기울이짐 정도를 측정 하였고, 또한 로봇의 전류 실시간으로 체크하여 로봇의 안전성을 향상 하였다. 제어 시스템 구성은 사용자의 보행의지를 파악하기위해 FSR 센서를 부착하여 조향장치로 사용하였으며, 경사로를 인식하기 위해 Liquid 타입의 TILT 센서를 사용하였으며, 모션 제어를 위해 DSP를 사용하였다. 본 제어 시스템을 보조보행로봇에 적용하였을 때, 보행보조로봇이 오르막 경사로에 진입시 기존보다 힘을 적게 사용하여 경사로를 진행하였으며, 경사로에서 브레이크 작동속도가 향상 되었다. 또한 내리막 경사로에서는 모터의 힘을 적게 사용하고 중력의 힘을 사용하여 이를 통해 전류의 소비량을 개선 하였다.

• Journal of the Korean Society for Railway
• /
• v.10 no.6
• /
• pp.709-716
• /
• 2007

An active steering bogie has been theoretically proved to improve both stability and steering performance remarkably. However, It has not been commercialized yet even though many researchers have been trying to develop it because some technical difficulties still exist such as information acquisition fer active control, increasing mechanical components, high energy consumption, fail-safe problem and so on. To solve those problems, an advanced active steering mechanism is proposed in this paper. With this mechanism, required control force is small enough to use direct drives. Therefore, the number of additional mechanical components can be minimized since mechanical transducers like gears are not necessary. Fail-safe function can be also inserted easily. In this paper, concept design of the proposed active steering bogie is introduced and the possibility is verified through computer simulation using linear dynamic model.

• Proceedings of the Korean Society of Precision Engineering Conference
• /
• 2009.06a
• /
• pp.817-818
• /
• 2009

• Transactions of the Korean Society of Mechanical Engineers A
• /
• v.30 no.6 s.249
• /
• pp.684-690
• /
• 2006

This study proposes and validates a new column type electric power steering system (EPS-TT). It is driven by a uni-directional motor and two electro-magnetic clutches. The assist motor produces assist torque in only one direction and two clutches transmit the torque to the column of steering system in either left or right direction with respect to the steering input. A full order and a reduced order models are developed to evaluate the EPS-TT. Models are also used to investigate the vehicle responses. A PID control logic is designed to control the torque of the assist motor. A driver model is applied to the system and the resulting performances are analyzed. The results show that the performances of the full order model are similar to those of reduced order model. The results also prove that the performances achieved by the EPS-TT are improved compared to those of a conventional EPS-TT across the frequency domain.

• Transactions of the Korean Society of Mechanical Engineers A
• /
• v.24 no.12
• /
• pp.2883-2890
• /
• 2000

In this study, a Hardware-In-The-Loop-Simulation(HILS) system for developing a Electric-Power-Steering(EPS) system is designed. To test a EPS by HILS system, a mathematical vehicle model with a steering system model has been constructed. This mathematical model has been constructed. This mathematical model has been downloaded to the Digital-Signal-Processor(DSP) board. To realize the lateral force acting on the front wheel in a real car. the steering wheel angle sensor and vehicle velocity have been used for input signal. The force sensor has been used for a feedback signal. The full vehicle states could by simulated by the HILS system. Consequently, the HILS system could by used to analyze control-parameters of a EPS that contributes to the maneuverability and stability of a vehicle. At the same time, the HILS system can evaluate the whole performance of the vehicle-steering system. Also the HILS system could do test could not be executed in real vehicle. The HILs system will useful for developing the control logic for the EPS system.

• Journal of Drive and Control
• /
• v.17 no.4
• /
• pp.113-124
• /
• 2020

Most of the work of construction equipment and agricultural machinery is done in off-road conditions. Autonomous driving required in these conditions uses GPS sensors, and PID controllers to control their speed and position. The hydrostatic steering, which is composed of a PSU, hydraulic hoses, and cylinders, rather than a mechanical coupling is used in these equipments. The PSU plays a key role in hydrostatic steering. Precise control of the position under various conditions requires detailed behavioral analysis of the basic components and operation. Two Gerotor PSU is now a commonly used safer option. The components of the PSU can be divided into mechanical and hydraulic actuating elements by its behavior. Since the system is combined by mechanical and hydraulic elements, the modelings are performed using Amesim, which is one of the most effective for the multi-domain dynamic system analysis. To confirm the validity of the model, input torque and pressures are checked with varying steering speed. The opening and the steering speed of normal and newly designed control valve set is investigated with the effect of centering spring force and friction. Finally, simulation results with fully detailed model with two gerotors are analyzed and compared with simple model.

• Proceedings of the Korean Society for Agricultural Machinery Conference
• /
• 2017.04a
• /
• pp.90-90
• /
• 2017

생력화를 위한 구기자의 수확 기계화는 열악한 수확작업환경을 쾌적한 작업환경으로 개선하고 노동력 감소, 생산비 절감을 할 수 있다. 관행 손 수확과 진동 고리형 수확기 방법보다 높은 작업 능률 향상으로 영농규모의 확대 촉진 및 안정적인 영농 구조를 구축하여 재배농가의 생산비를 절감하여 경쟁력을 높일 수 있으며, 기존 인력에 의존하였던 수확작업을 기계화함으로서 전업농 및 대단위 경작이 가능하게 함으로서 국내에서 생산한 양질의 구기자를 국민에게 안정적으로 제공할 수 있다. 따라서, 본 연구는 구기자 수확작업의 생력화를 위하여 개발 보급된 수목형의 재배법 특성을 분석하고 이를 토대로 타격장치를 적용한 보행형 구기자 수확기를 개발하는데 목적이 있다. 수목형 구기자나무의 분지에 착과되어 있는 숙과를 주행하면서 탈과 할 수 있는 탈과 장치를 제작하기 위하여 타격형 탈과 장치를 3D 모델링 작업(Inventor V.11, Autodesk, USA) 후 시작기를 제작, 구기자 수확 시작기는 주행부, 타격장치, 집과부, 분지유인부로 구성하였다. 구기자 수확 시작기의 최대 높이는 형태학적 특성을 토대로 타격봉의 높이를 900 mm 이하로 제한하였으며, 조향장치의 높이는 800 mm로 하였다. 주행부는 구기자 재식 조사결과를 이용하여 고랑 폭 1,500 mm 이하에서 자유롭게 전 후진 이동이 가능하고 경사로 등을 주행 시에도 안전성을 높이기 위해 자동브레이크 기능이 있으며 타격장치의 타격 봉은 알루미늄 재질로 지름 100 mm, 길이 400 mm로 설계 제작하였으며, 구기자 분지 타격 시 분지와 타격 봉이 수직 상태로 타격이 가능하도록 제작, 집과장치는 포장의 두둑, 고랑은 일괄 표준화가 되어 있지않아 청양구기자시험장에서 측정한 재배법을 바탕으로 설계된 수집부 프레임의 적용범위는 폭 450 mm, 길이 720 mm, 높이 1,500 mm를 집과 범위로 하여 설계 제작하였다. 타격 방식을 적용한 구기자 수확기 성능평가 결과 조숙기에 30초 이상의 탈과 시 87.5 % 이상 탈과는 어려울 것으로 판단되었으며, 성숙기에는 타격시간에 관계없이 92 %의 매우 우수한 탈과율이 나타났다. 성숙기의 주행속도 48 m/h 일 때 탈과율과 집과율은 89 %, 92 %로 나타났다.단위작업시간당 최대 수확 능력은 관행작업 2.9 kg/hr, 진동고리형 수확기 5.2 kg/hr, 타격방식을 적용한 구기자 수확기는 최소 7.6 kg/hr, 최대 24.1 kg/hr로 관행작업과 비교하여 주행속도와 시기별 최소 2.6배, 최대 8.3배의 작업 성능 차이가 나타났다. 재배양식에서는 기계화 수목형이 적합한 것으로 나타났고, 타격방식을 적용한 보행형 구기자 수확기를 이용하여 수형별 시간대별 수확성능을 시험한 결과 우수한 결과가 나타났다. 이에 따라 구기자 재배 농가에 기계화수목형 재배법을 보급하고 타격방식을 적용한 구기자 수확기를 이용하면 작업환경 개선과 노동력, 인건비 절감을 통한 영농규모의 확대 촉진 및 안정적인 영농 구조로 구기자 경쟁력 제고를 할 수 있을 것으로 판단되어진다.

• Journal of Biosystems Engineering
• /
• v.6 no.1
• /
• pp.28-38
• /
• 1981

A survey has been conducted to investigate the presents of breaks down and repair of power tiller for efficient use. Eight provinces were covered for this study. The results are summarized as follows. A. Frequency of breaks down. 1) Power tiller was breaken down 9.05 times a year and it represents a break down every 39.1 hours of use. High frequency of breaks down was found from the fuel and ignition system. For only these system, the number of breaks down were 2.02 and it represents 23.3% among total breaks down. It was followed by attachments, cylinder system, and traction device. 2) For the power tiller which was more than six years old, breaks down accured 37.7 hours of use and every 38.6 hours for the power tiller which was purchased in less than 2 years. 3) For the kerosene engine power tiller, breaks down occured every 36.8 hours of use, which is a higher value compared with diesel engine power tiller which break down every 42.8 hours of use. The 8HP kerosene engine power tiller showed higher frequency of break down compared with any other horse power tiller. 4) In October, the lowest frequency of break down was found with the value of once for every 51.5 hours of use, and it was followed by the frequency of break down in June. The more hours of use, the less breaks down was found. E. Repair place 1) 45.3% among total breaks down of power tiller was repaired by the owner, and 54.7% was repaired at repair shop. More power tiller were repaired at repair shop than by owner of power tiller. 2) The older the power tiller is, the higher percentage of repairing at the repair shop was found compared with the repairing by the owner. 3) Higher percentage of repairing by the owner was found for the diesel engine power tiller compared with the kerosene engine power tiller. It was 10 HP power tiller for the kerosene power tiller and 8 HP for the diesel engine power tiller. 4) 66.7% among total breaks down of steering device was repaired by the owner. It was the highest value compared with the percentage of repairing of any other parts of power tiller. The lowest percentage of repairing by owner was found for the attachments to the power tiller with the value of 26.5%. C. Cause of break down 1) Among the total breaks down of power tiller, 57.2% is caused by the old parts of power tiller with the value of 5.18 times break down a year and 34.7% was caused by the poor maintenance and over loading. 2) For the power tiller which was purchased in less than two years, more breaks down were caused by poor maintenance in comparison to the old parts of power tiller. 3) For the both 8-10 HP kerosene and diesel engine power tiller, the aspects of breaks down was almost the same. But for the 5 HP power tiller, more breaks down was caused by over loading in comparison to the old parts of power tiller. 4) For the cylinder system and traction device, most of the breaks down was caused by the old parts and for the fuel and ignition system, breaks down was caused mainly by the poor maintenance. D. Repair Cost 1) For each power tiller, repair cost was 34,509 won a year and it was 97 won for one hoar operation. 2) Repair cost of kerosene engine power tiller was 40,697 won a year, and it use 28,320 won for a diesel engine power tiller. 3) Average repair cost for one hour operation of kerosene engine power tiller was 103 won, and 86 won for a diesel engine power tiller. No differences were found between the horse power of engines. 4) Annual repair cost of cylinder system was 13,036 won which is the highest one compared with the repair cost of any other parts 362 won a year was required to repair the steering device, and it was the least among repair cost of parts. 5) Average cost for repairing the power tiller one time was 3,183 won. It was 10,598 won for a cylinder system and 1,006 won for a steering device of power tiller. E. Time requirement for repairing by owner. 1) Average time requirements for repairing the break down of a power tiller by owner himself was 8.36 hours, power tiller could not be used for operation for 93.58 hours a year due to the break down. 2) 21.3 hours were required for repairing by owner himself the break down of a power tiller which was more than 6 years old. This value is the highest one compared with the repairing time of power tiller which were purchased in different years. Due to the break down of the power tiller, it could not be used for operation annually 127.13 hours. 3) 10.66 hours were required for repairing by the owner himself a break down of a diesel engine power tiller and 6.48 hours for kerosene engine power tiller could not be used annually 99.14 hours for operation due to the break down and it was 88.67 hour for the diesel engine power tiller. 4) For both diesel and kerosene engine power tiller 8 HP power tiller required the least time for repairing by owner himself a break down compared with any other horse power tiller. It was 2.78 hours for kerosene engine power tiller and 8.25 hours fur diesel engine power tiller. 5) For the cylinder system of power tiller 32.02 hours were required for repairing a break down by the owner himself. Power tiller could not be used 39.30 hours a year due to the break down of the cylinder system.

• Journal of Power System Engineering
• /
• v.3 no.3
• /
• pp.70-75
• /
• 1999

This study is for the development of tie rod end, a parts of steering system, that would be changed with plastic material. The position of weld line is founded by the analysis of Mold Flow, computer software with FEM(Finite Element Method). Then new mold is designed by consideration with the locations of weld line. PA66(G/F 35%), PA6(G/F 45%), PET(G/F 45%) and PET(G/F 55%) are tested two types loading conditions for selecting suitable material, the requirement tensile load(more 19600N). PA6(G/F 45%) showed high mechanical properties in this study. And then, tensile strength was compared between conventional metal products and the injection molded products which were reinforced with 33%, 34%, 45%. 60% of glass fiber in matrix material. In the case of, the measured two types of tensile load values are 24500N (Method-1), 21560N (Method-2) and weight is decreased by 50% of conventional one.