• Progress in Superconductivity
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• 제13권3호
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• pp.195-202
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• 2012

In this paper, we designed Active Magnetic Bearing (AMB) for large scale Superconductor Flywheel Energy Storage System (SFESS) and PD controller for AMB. And we experimentally evaluated SFESS including hybrid type AMB. The radial AMB was designed to provide force slew rate that was sufficient for the unbalance disturbances at the maximum operating speed. The thrust AMB is a hybrid type where a permanent magnet carries the weight of the flywheel and an electromagnetic actuator generates the dynamic control force. We evaluated the design performance of the manufactured AMB through comparison of FEM analysis and the results of experimental force measurement. In order to obtain gains of PD controller and design a notch filter, the system identification was performed through measuring frequency response including dynamics for the AMBs, a power amp and a sensor using a sine swept test method after levitating the flywheel. Through measuring the current input of the AMBs and the orbit of a flywheel according to rotational speed, we verified excellent control performance of the AMBs with small amount current for the large scale SFESS.

• 한국정밀공학회지
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• 제25권6호
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• pp.134-142
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• 2008

In this paper, we propose a precise linear motion stage supported by magnetically preloaded air bearings. The eight aerostatic bearings with rectangular carbon porous pads were located only one side of vertical direction under the platen where four bearings are in both sides of horizontal direction as wrap-around-design, and this gives simpler configuration than which constrained by air bearings for all direction. Each of the magnetic actuators has a permanent magnet generating static magnetic flux far required preload and a coil to perturb the magnetic farce resulting adjustment of air- bearing clearance. The characteristics of porous aerostatic bearing are analyzed by numerical analysis, and analytic magnetic circuit model is driven for magnetic actuator to calculate preload and variation of force due to current. A 1-axis linear stage motorized with a coreless linear motor and a linear encoder was designed and built to verify this design concept. The load capacity, stiffness and preload force were examined and compared with analysis. With the active magnetic preloading actuators controlled with DSP board and PWM power amplifiers, the active on-line adjusting tests about the vertical, pitching and rolling motion were performed. It was shown that motion control far three DOF motions were linear and independent after calibration of the control gains.

• Earthquakes and Structures
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• 제6권2호
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• pp.217-235
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• 2014

In this paper, different feedback control strategies are presented for active seismic control using proportional-integral-derivative (PID) type controllers. The parameters of PID controller are found by using an numerical algorithm considering time delay, maximum allowed control force and time domain analyses of shear buildings under different earthquake excitations. The numerical algorithm scans combinations of different controller parameters such as proportional gain ($K_p$), integral time ($T_i$) and derivative time ($T_d$) in order to minimize a defined response of the structure. The controllers for displacement, velocity and acceleration feedback control strategies are tuned for structures with active control at the first story and all stories. The performance and robustness of different feedback controls on time and frequency responses of structures are evaluated. All feedback controls are generally robust for the changing properties of the structure, but acceleration feedback control is the best one for efficiency and stability of control system.

• 융복합기술연구소 논문집
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• 제1권2호
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• pp.6-15
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• 2011

This paper reports the design and fabrication of a micro-electro-mechanical-system(MEMS)-based electrostatic angular microactuator for a dual-stage servo. The proposed actuator employs a novel electrode pattern named "skewed electrode array(SEA)" scheme. It is shown that SEA has better linearity than a parallel plate type actuator and stronger force than a comb-drive based actuator. The moving and the fixed electrodes are arranged to make the driving force perpendicular to the rotating moment of arm. By changing the electrode overlap length, the magnitude of electrostatic force and stable displacement will be changed. In order to optimize the design, an electrostatic FE analysis was carried out and an empirical force model was established for SEA. A new assembly method which will allow the active electrodes to be located beneath the slider was developed. The active electrodes are connected by inner and outer rings lifted on the base substrate, and the inner and outer rings are connected to platform on which the slider locates. Electrostatic force between active electrodes and platform can be used for exiting out of plane modes, so this provides the possibility of the flying height control. A microactuator that can position the pico-slider over ${\pm}0.5{\mu}m$ using under 20 volts for a 2 kHz fine-tracking servo was designed and fabricated using SoG process.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2005년도 제36회 하계학술대회 논문집 D
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• pp.2534-2536
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• 2005

In this paper, we apply sliding control law to a nonlinear electro-hydraulic suspension system. The force the actuator must track is determined by the skyhook control law and the desired force value varies according to the road situation. The road frequencies can inform us of the current road situation. Detecting the road frequencies, we use the Fourier Transform.

• 한국정밀공학회지
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• 제12권10호
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• pp.25-31
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• 1995

In this paper, a direct drive scalar robot manipulator is constructed and its mechanical machanism for operation is explained. Also, a motion controller board for the direct drive robot manipulator was developed where the IBM 486 computer is the main controller. For the developed direct drive robot, a force/motion control algorithm based on an active compliance scheme is developed. A preliminary experiment using the developed direct drive for a peg-in-hole job was done by implementing the control algorithm.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2003년도 하계학술대회 논문집 D
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• pp.2251-2253
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• 2003

This paper is concerned with the active vibration control of flexible cantilever beam system using electromagnetic force actuator. The main objective of this paper is to propose the control algorithms and implement the experimental setups for active vibration control. Several control algorithms are proposed and implemented on the experimental setups to show their efficacy. These include a PID control design, an optimal $H_2$ control design, and a fuzzy PID control design. Effectiveness and performance of the designed controller were verified by both simulation and experiment results.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2004년도 ICCAS
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• pp.1275-1280
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• 2004

This paper presents the construction of an active suspension system of a one-wheel car model by using fuzzy reasoning. The car model is approximately described by a nonlinear two degrees freedom system subject to excitation from a road profile, and the active control force is constructed by actuating a pneumatic actuator, and the degradation of the performance due to the delay of the pneumatic actuator is improved by inserting a compensator. The fuzzy control is obtained by single input rule modules fuzzy reasoning, and the excitation from the road profile is estimated by using a disturbance observer. The experimental result shows that the proposed active suspension system much improves the performance in the vibration suppression of the car model.

• 동력기계공학회지
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• 제4권1호
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• pp.51-59
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• 2000

Active suspension systems have been using for improving ride quality and stability for vehicles. An active suspension system is composed of a hydraulic pump, pressure control valves, hydraulic dampers, vehicle body, tires and other components. In this study, the mathematical model for the active suspension system based on the quarter car concept is derived, and a program for analysing the dynamic behaviour of the suspension system is developed. The computed results by the developed program are compared with the experimental results for confirming the reliability and usefulness of the developed program.

• Smart Structures and Systems
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• 제23권6호
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• pp.565-577
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• 2019

One of the most effective countermeasures for mitigating cable vibration is to install mechanical dampers near the anchorage of the cable. Most of the dampers used in the field are so-called passive dampers where their parameters cannot be changed once designed. The parameters of passive dampers are usually determined based on the optimal damper force obtained from the universal design curve for linear dampers, which will provide a maximum additional damping for the cable. As the optimal damper force is chosen based on a predetermined principal vibration mode, passive dampers will be most effective if cable undergoes single-mode vibration where the vibration mode is the same as the principal mode used in the design. However, in the actual engineering practice, multi-mode vibrations are often observed for cables. Therefore, it is desirable to have dampers that can suppress different modes of cable vibrations simultaneously. In this paper, MR dampers are proposed for controlling multi-mode cable vibrations, because of its ability to change parameters and its adaptability of active control without inquiring large power resources. Although the highly nonlinear feature of the MR material leads to a relatively complex representation of its mathematical model, effective control strategies can still be derived for suppressing multi-mode cable vibrations based on nonlinear modelling, as proposed in this paper. Firstly, the nonlinear Bouc-wen model is employed to accurately portray the salient characteristics of the MR damper. Then, the desired optimal damper force is determined from the universal design curve of friction dampers. Finally, the input voltage (current) of MR damper corresponding to the desired optimal damper force is calculated from the nonlinear Bouc-wen model of the damper using a piecewise linear interpolation scheme. Numerical simulations are carried out to validate the effectiveness of the proposed control algorithm for mitigating multi-mode cable vibrations induced by different external excitations.