• Transactions of the Korean Society of Mechanical Engineers A
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• v.36 no.7
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• pp.797-803
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• 2012

Proportional solenoid valves are a modulating type that can control the displacement of valves continuously by means of electromagnetic forces proportional to the solenoid coil current. Because the solenoid-type modulating valves have the advantages of fast response and compact design over air-operated or motor-operated valves, they have been gaining acceptance in chemical and power plants to control the flow of fluids such as water, steam, and gas. This paper deals with the auto tuning of the position controller that can provide the proportional and integral gain automatically based on the dynamic system identification. The process characteristics of the solenoid valve are estimated with critical gain and critical period at a stability limit based on implemented relay feedback, and the controller parameters are determined by the classical Ziegler-Nichols design method. The auto-tuning algorithm was verified with experiments, and the effects of the operating point at which the relay control is activated as well as the relay amplitude were investigated.

• Proceedings of the Korean Society for Agricultural Machinery Conference
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• 2017.04a
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• pp.19-19
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• 2017

자율주행 트랙터를 위한 트랙터 조향제어는 일반적으로 전자모터를 이용한 EPS(Electric Power Steering) 시스템을 스티어링 휠에 연결하여 회전변위를 변경하고 그 결과 오비트롤(Orbitrol) 밸브의 토출유량을 바꾸고 호스로 연결된 조향실린더의 변위를 조절하여 최종적으로 전방 타이어의 방향각을 변경하면서 이루어진다. 이러한 조향방식은 시스템 구조상 조향실린더와 오비트롤 밸브가 상대적으로 멀리 떨어져 있으며, 밸브 특성상 약 ${\pm}5^{\circ}$의 오버랩이 포함되어 있다. 또한, EPS의 전자모터는 관성력, 마찰, 백래시 등의 영향을 가진다. 이와 같은 복합적인 영향은 조향 응답을 느리게 만들어 상대적으로 빠른 속도에서 주행에서 추종성능이 떨어지는 문제가 발생한다. 본 연구에서는 자율주행 트랙터의 조향성능 개선 연구의 일환으로 조향 HILS 시뮬레이터를 설계제작하여 조향 성능의 요인을 실험적으로 구명하고자 하였으며 이를 바탕으로 조향 시스템의 설계개선 방안을 수립하고자 하였다. 시뮬레이터는 동양물산 80 마력급 TX803 트랙터에 사용되는 오픈센터방식의 오비트롤 유압회로 시스템을 기어펌프가 장착된 AC모터로 구동되게 구성하였으며, 유량은 모터의 주파수를 조절 회전속도를 조절 변경하였다. 추가적으로 EPS와 오비트롤 조합의 조향성능을 비교 및 개선하기 위해 비례제어밸브(PVG 32, Danfoss)를 추가 장착하였다. 실제 트랙터 조향 시 나타나는 마찰저항을 모사하기 위해 부하 실린더를 구성하였으며, 조향 실린더의 부하의 크기는 부하 실린더를 폐회로를 구성하고 유량비례제어밸브를 이용한 유로의 개구량 조절을 통해 부하의 크기를 약 4000 N 까지 증가시킬 수 있도록 하였다. EPS와 비례제어밸브를 제어하기 위해 CANoe 8.0 소프트웨어를 이용하여 CAN통신 기반 가상 조향ECU를 구성하였으며 오비트롤의 기본 성능을 확인하기 위해 조향휠에 따른 실린더 동특성 및 계단 추종성능을 비례제어밸브와 비교하였다. 오비트롤 밸브는 약 ${\pm}5^{\circ}$이상 동작 시 실린더 압력이 상승하기 시작하였으며, 이후 약 ${\pm}10^{\circ}$이상 동작 시 조향실린더가 동작하기 시작하였다. 계단 추종성능실험에서는 비례제어밸브가 약 2배 이상의 응답개선을 나타냈다. 자율주행 경로추종 성능을 향상시키기 위해서는 순간적인 출력밀도가 높은 비례제어밸브를 통해 응답개선이 필요한 것으로 나타났다.

• Journal of Drive and Control
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• v.15 no.2
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• pp.46-51
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• 2018

Many research studies have been carried out related to saving energy and environmental pollution in the field of construction machinery. The best solution for reducing the related environmental pollution is to reduce fuel consumption by upgrading the energy efficiency of machinery used in this field. An efficiency upgrade in the field of construction machinery would mean minimizing the pressure loss in hydraulic pipe lines or achieving optimal operating conditions while responding to a load. One way to achieve this is to make an equivalent circuit, like an electrohydrostatic actuator, or to improve the spool type valve using the 4/3 way method. This study deals with an electrohydraulic proportional flow control valve. SimulationX software is used as a simulation tool for analyzing the dynamic characteristics. The analysis results, including the performance and characteristics of design parameters, are discussed and the validity of the theoretical analysis is also evaluated.

• Journal of Power System Engineering
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• v.6 no.3
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• pp.71-77
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• 2002

In this study, a dynamic model of proportional pressure control valve using the bond graph and a predictive controller are presented in the form of dynamic matrix control which is concerned with a design method of digital controller for the electro hydraulic servo system. The bond graph can be utilized for all types of systems which involve power and energy, and it is applied to a propotional pressure control valve in this study. Recently, many researchers suggested that better control performance could be obtained by means of the predictive controls with future reference input, future control output and future control error. The Predictive controller is very practical because the controller can be easily applicable to a personal computer or a microprocessor. This study investigates through numerical simulations that hydraulic system with the predictive controller shows very good control performances.

• Transactions of the Korean Society of Automotive Engineers
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• v.2 no.3
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• pp.75-84
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• 1994

In general direct-operated pressure reducing valves have been gardly applied to a dynamic control system such as active suspension control because of their poor control stability. But they are more robust than pilot-operated type and do not need pilot control flow. In this paper development of a new direct-operated proportional pressure reducing valve for low-band type active suspension control is reported. By means of a special damper directly linked to the valve spool, the control stability could be effectively improved without drawback in response time. The linearity error was less than $\pm$3.5%. Applied to an experimental active suspension system the new valve showed the $-90^{\circ}$ phase delay at 4Hz with 20% sinusoidal signal input and could control the suspension system with almost same performance as that with a pilot-operated type valve.

• The Journal of Korea Institute of Information, Electronics, and Communication Technology
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• v.15 no.5
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• pp.349-359
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• 2022

The aim of this study is to analyze the dynamic characteristics of proportional control valves according to various working conditions as a basic study for developing proportional control valves for auto-steering tractors. The dynamic characteristics of proportional valves were measured using hydraulic characteristics measurement system, and the power was analyzed using measured flow rate and pressure data. As the experimental conditions, the tractor engine speed and steering angle was selected as the main variables, and the experiment was performed on urethane road conditions. As a result, it was found that the flow rate, pressure, and power of the proportional control valve increased as the tractor engine speed and steering angle increased. In particular, as the steering angle increased at the same engine speed, the flow rate, pressure, and power tended to increase by up to 190%, 172%, and 273%, respectively. Similarly, as the engine speed increased at the same steering angle, the flow rate, pressure, and power tended to increase up to 161%, 122%, and 168%, respectively. Therefore, it can be seen that the steering angle has a higher influence on the dynamic characteristics of the proportional control valve than the engine speed.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2010.05a
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• pp.1109-1110
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• 2010

• Journal of Power System Engineering
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• v.12 no.2
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• pp.62-70
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• 2008

The paper made a description of the method for numerical analysis and modeling of a proportional pressure control valve by bondgraph. The valve is a three port pressure regulator valve, consists of two subsystems; a proportional solenoid and a spool assembly. A purpose of this study is to analysis the dynamic characteristics of the valve using bondgraph method and to verified results that each of parameters has an effect on modeling. It considered the effect which the presence of solenoid, flow coefficient and non-linearity of resistance causes in the valve modeling. In particular, it is analyzed the effect that the solenoid interacted with modeling results and characteristics of the nonlinear resistance through orifice on the supply and discharge side of valve. Thus this paper described method to present nonlinear characteristics by bondgraph modeling method, so that we could know easily result that each parameters has an effect on the modeling.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.21 no.8
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• pp.1229-1240
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• 1997

The purpose of this study is to build up control scheme that promptly control pressure in a hydraulic cylinder having comparatively small control volume, using a PCV (proportional control valve) and a digital computer. Object pressure control system has the character to be unstable easily, because the displacement-flow gain of the PCV is too large considering the small volume of the hydraulic cylinder and the time delay of response of the PCV is comparatively long. Considering the above-mentioned characteristics of the object pressure control system, in this study, control system is designed with two degree of freedom control scheme that is composed by adding a feed-forward control path to I-PDD$^{2}$ control system, and a reference model is used on the decision of control parameters. And through some experiments on the control system with FF-I-PDD$^{2}$ controller, the validity of this control method has been confirmed.

• Journal of Advanced Marine Engineering and Technology
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• v.17 no.4
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• pp.87-99
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• 1993

Nowadays, the cartridge valve can be controlled proportionally in remote place by adopting proportional solenoid and it becomes widely used as control component in hydraulic systems. Especially, multi stage proportional valve is attractive because it consumes less input power though its characteristics might slightly be defected. But, the system parameter should be carefully chosen to obtain optimistic characteristics. This study concerning three stage proportional throttle control valve is purposed to examine the influences of paameters to the dynamic characteristics. The typical transient and frequency responses of proportional throttle control valve were inspected through the experiments and compared to those derived from the theoritical analyses. And it was confirmed that the analyses are appropriate. Then the influences of various system parameters to the dynamic characteristics were examined by means of simulations. For the analyses, the basic equations derived from lumped model were linearized and the linearized equations were transformed to the transfer functions between inputs and outputs. Then the transient responses and frequency responses were obtained from transfer functions. 1. It is appropriate to estimate the dynamic characteristics of valve which has relatively sophisticated structure by means of system analyses using linearized equations. 2. Though the valve has two pilot stages, fairly good characteristics can be obtained by carefully choosing system parameters. 3. Main valve very quickly follows the movement of second pilot valve when the parameters of main valve(the oil supply passage and discharge passage fpr second pilot valve) are appropriately chosen.