• 한국정밀공학회지
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• 제13권9호
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• pp.114-129
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• 1996

This paper describes the whole development phase for the underwater vehicle actuating system with high hydroload torque disturbance. This includes requirement analysis, system modeling, control algorithm design, real time implementation, test and performance evaluations. As for driving control algorithms, fuzzy logic, variable structure and PD(Proportional-Differential) algorithm were designed and implemented on board controller using a single chip microprocessor. Intel 8797. And test and performance evaluation is carried out both single test and wystem integration test. We could confirm the basic performance of actuating system through the single test and gereral developing work of any actuating systems was finished with a single performance test of actuating system without system integration test. But, we suggested that system integration test be needed. System integration test is carried out using G/C HILS(Guidance and Control Hardware-In-the -Loop Simulation) which is constituted flight motion simulator, load simulator, real time host computer and the related subsystems such as inertial navigation system, power supply system and Guidance and Control Computer etc.. The most important practical contribution of this paper is that full system characteristics such as minimal control effort, enhancement of guidance and autopilot performance by the actuating system using G/C HILS technique are investigated. Through full running G/C HILS, in spite of the passing to single tests, some control algorithm resulted in failure as to stability of full system and system time frame.

• 한국의류학회지
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• 제41권6호
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• pp.1022-1038
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• 2017

Wearable smart products contributed to expand the concept of modern clothing in terms of closer communication between wearers and the surrounding environment. This study investigated the concept of wearable smart actuators and characteristics of actuating feedback. The representative product development trends over the past 10 years are examined based on the method of actuating feedback. A first keyword search from Naver and Google reused to select the final 58 products based on the second key keyword actuating feedback. The wearable smart actuator system works in a similar way to a human body system such as those of the information processing process. Actuating feedback is delivered directly to the user as the last signal of the system, which has visual, auditory and tactile feedback. It works in complex at the device to be delivered to the user. Actuator feedback is divided into three types of active and passive, depending on the user situation, the overall purpose of the product, the collected information, and the device dependency. Active actuating feedback determines and actuates the situation on behalf of the user when the user is in an emergency or a disability situation. Passive actuating feedback plays a role in environmental monitoring to help in a healthy daily life.

• 대한기계학회논문집A
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• 제24권6호
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• pp.1470-1478
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• 2000

Analysis of actuating forces and joint reaction forces are essential to determine the capacity of actuators, to control the system and to design the components. This paper presents an algorithm tha t calculates actuating forces(or torques) depending on the various driving types to produce a given system motion. The joint reaction forces(or torques) of multibody systems with closed-loops are analyzed in the Cartesian coordinate space using the inverse velocity transformation technique. Two numerical examples were carried out to verify the algorithm proposed.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1993년도 춘계학술대회 논문집
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• pp.315-319
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• 1993

A dynamic modeling, analysis, and optimum design issuess for the Hybrid type of robot are addressed. The dynamic modeling can be used to describe acceleration and velocity properties of the system explicitly in terms of the actuating forces is coded in C language based on the kinematic influence coefficients(KIC). By using this modeling simulation, the actuating forces needed for the robot follows the given trajectory are calculated. Also, for the design concept, the optimum geometric configuration of the system that minimizes the maximum actuating forces is found by using the optimization techique.

• 대한기계학회논문집A
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• 제30권5호
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• pp.576-584
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• 2006

The actuating performance test of plate-type piezoelectric composite actuators having different lay-up sequences was experimentally carried out at simply supported and fixed-free boundary conditions. The actuating displacement of manufactured plate-type piezoelectric composite actuator (PCA) was measured using a non-contact laser displacement measurement system. Our results revealed that the actuating displacement with increasing applied electric field at a drive frequency of 1Hz increased non-linearly at the simply supported boundary condition whereas it almost linearly increased at the fixed-free boundary condition. On the other hand, the actuating displacement of piezoelectric composite actuator depended on the applied electric field in a drive frequency range from 1Hz to 10Hz, but its behavior was different in higher drive frequencies beyond 15Hz due to the occurrence of resonance. On the basis of the above experimental results, the bending characteristics of PCAs revealed different behavior depending on applied electric fields, drive frequencies as well as boundary conditions. Therefore, by investigating drive frequencies together with applied electric fields, actuating performance can be easily controlled and PCAs which were fabricated for this study will be sufficiently applied to pumping devices.

• 한국항공우주학회지
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• 제49권8호
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• pp.649-660
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• 2021

S -76 모델을 기준으로 해석을 통해 개별 블레이드에 대한 고조화 가진에 따른 로터 허브 진동 수준을 분석하였다. 개별 블레이드에 대한 고조화 가진 방법은 회전부에 있는 피치링크 자체에서 추가적인 가진력을 발생하는 방법(Actuating by Individual Pitch-link)과 블레이드 능동 뒷전 플랩조절을 통해 가진력을 발생하는 방법(Active Trailing Edge Flap)으로 구분하였다. 100kts의 전진비행 조건에서 개별 블레이드에 대한 2P/3P/4P/5P 조화 가진을 15도의 위상각을 변경시켜가며 허브 하중 해석을 수행하였다. 그 결과를 통해 가진 조건에 따른 로터 시스템의 민감도를 확인하였으며 이 정보를 기반으로 로터 시스템의 특성을 나타내는 전달 행렬(T-matrix)을 구성하였다. 그리고 전달 행렬을 통해 비행조건에 대해 허브 진동 수준을 최소화하는 최적의 고조화 가진 조건을 도출하였다. 그리고 최소 허브 진동 조건에서 로터 시스템의 성능 및 피치링크 하중에 대한 영향성과 더불어 소음해석을 통한 소음 영향성도 확인하였다.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2007년도 춘계학술대회A
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• pp.1231-1236
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• 2007

This study presents the static and dynamic actuating performances of a bending piezoelectric actuator with a thin sandwiched PZT plate under a static load. The stored elastic energy within the actuators which occurs during a curing process is obtained through a flexural bending test. An actuating performance is evaluated in terms of an actuating displacement at the simply supported condition. The results reveal that an actuator that consists of a top layer having a high elastic modulus and a low coefficient of thermal expansion exhibits a better performance than the rest of actuators due to the formation of the large stored elastic energy within the actuator system. When actuators are excited at the alternating current voltage, the effect of PZT ceramic softening results in a slight reduction in the resonance frequency of each actuator as the applied electric field increases. It is thus suggested that the static and dynamic actuating characteristics of bending piezoelectric actuators with a thin sandwiched PZT plate should be simultaneously considered in controlling their performances.

• 대한기계학회논문집A
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• 제31권8호
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• pp.880-888
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• 2007

This article describes the load capability of bending piezoelectric actuators with a thin sandwiched PZT plate in association with the stored elastic energy induced by an increased dome height after a curing process. The stored elastic energy within the actuators is obtained via a flexural mechanical bending test. The load capability is evaluated indirectly in terms of an actuating displacement with a load of mass at simply supported and fixed-free boundary conditions. Additionally, a free displacement under no load of mass is measured for a comparison with an actuating displacement. The results reveal that an actuator with a top layer having a high elastic modulus and a low coefficient of thermal expansion exhibits a better performance than the rest of actuators in terms of free displacement as well as actuating displacement due to the formation of the large stored elastic energy within the actuator system. When actuators are excited at AC voltage, the actuating displacement is rather higher than the free displacement for the same actuating conditions. In addition, the effect of PZT ceramic softening results in a slight reduction in the resonance frequency of each actuator as the applied electric field increases. It is thus suggested that the static and dynamic actuating characteristics of bending piezoelectric composite actuators with a thin sandwiched PZT plate should be simultaneously considered in controlling the performance.

• International Journal of Automotive Technology
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• 제3권3호
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• pp.123-128
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• 2002

This paper presents the design of an active roll control system for a ground vehicle and an experimental study using an devised electric-actuating roll control system. Based on a three degree of freedom linear vehicle model, the controller is designed using lateral acceleration and rollrate feedback. In order to investigate the feasibility of an active control system, experimental work is carried out using a hardware-in-the-loop (Hil) setup which has been constructed by the devised electric-actuating system and the full vehicle model including tire characteristics. The performance is evaluated by an experiment using the Hil setup with limited bandwidth. Finally, in order to enhance the control performance in the transient region, a hybrid control strategy is proposed and evaluated.

• 한국정밀공학회지
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• 제18권4호
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• pp.167-175
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• 2001

This paper presents design of active roll controller of a vehicle and experimental study using the electric actuating roll control system. Firstly, parameter sensitivity analysis is performed based on 3DOF linear vehicle model. The controller is designed in the frame work of gain-scheduled H$\infty$ control scheme considering the varying parameters induced by laden and running vehicle condition. In order to investigate a feasibility of an active control system, experimental work is performed using hardware-in-the -loop setup which has been constructed by the devised electric actuating system and the full vehicle model with tire characteristics. The performance is evaluated by experiment using hardware-in-the -loop simulation under the conditions of some steer maneuvers and parameter variations.