• The Journal of Korea Robotics Society
• /
• v.19 no.2
• /
• pp.169-175
• /
• 2024

In this study, we developed control system for stable teleoperation of supermicrosurgical robot platform. The supermicrosurgical robot platform is designed to perform precise anastomosis with micro vessels ranging from 0.3 mm to 0.7 mm. The robotic assistance could help more precise manipulation then manual surgery with the help of motion scaling and tremor filtering. However, since the robotic system could cause several vulnerabilities, control system for stable teleoperation should be preceded. Therefore, we first designed control system including inverse kinematics solver, clutch error interpolator and finite state machine. The inverse kinematics solver was designed to minimized inertial motion of the manipulator and tested by applying orientational motion. To make robot slowly converges to the leader's orientation when orientational error was occurred during clutch, the SLERP was used to interpolate the error. Since synchronized behavior of two manipulators and independent behavior of manipulator both exist, two layered finite state machines were designed. Finally, the control system was evaluated by experiment and showed intended behavior, while maintaining low pose error.

• Journal of the Korean Society for Precision Engineering
• /
• v.15 no.8
• /
• pp.126-134
• /
• 1998

본 연구에서는 회전운동을 제어하기 위한 새로운 작동기로서 전기장에 대하여 매우 빠른 응답특성을 갖고 있는 두 쌍의 실린더형 ER(electro-rheological) 클러치/브레이크 작동기를 제안하였다. 자체조성 된 ER유체의 빙햄특성 모델을 실험적으로 도출하였으며, 이와 연계한 작동기 모델을 구성하여 전기장에 따른 전달 및 제동 토크를 해석한 후 알맞은 크기의 클러치/브레이크 작동기를 제작하였다. 제작된 작동기의 동적특성(시상수 등)을 작동기 모델에 고려하기 위하여 계단입력 전기장에 따른 과도응답 실험을 클러치와 브레이크 모드에서 각각 수행하였다. 제안된 작동기의 응용성을 보이기 위하여 두쌍의 작동기로 구동되는 실험실 차원의 소형 와권식 세탁기 시스템을 구성한 후 동적지배방정식을 유도하다. 각 작동기와 연계된 PID제어기를 설계하여 세탁과 탈수시의 회전운동을 제어하였으며, 부하질량의 변화에 대한 작동기 시스템의 제어 효율성과 장시간 운전을 통한 제어 내구성 실험을 수행하였다.

• Transactions of the Korean Society of Automotive Engineers
• /
• v.20 no.1
• /
• pp.8-13
• /
• 2012

In this paper, Hybrid Electric Vehicle is directly designed and manufactured for base study of HEV's system and Green Car. Foundation design consists of power train design and the frame design. The power train concept includes motor, engine, generator and battery. And the concept of the frame is the single-seat of this self-made HEV. A frame installed in hybrid system contains suspension, steering wheel, seat, accelerating pedal, brake pedal, clutch handle and various chassis parts with bearings. Electromagnetic clutch is equipped to transmit engine power to drive axle. The control algorism make using LabVIEW to control of an engine and a motor depending on drive condition. A parallel type hybrid system is manufactured to control operation of a motor and an engine depending on vehicle speed.

• Proceedings of the Korean Society of Precision Engineering Conference
• /
• 2003.10a
• /
• pp.102-102
• /
• 2003

• Journal of Drive and Control
• /
• v.12 no.4
• /
• pp.83-86
• /
• 2015

• Journal of the Korean Society of Safety
• /
• v.25 no.3
• /
• pp.15-21
• /
• 2010

A differential case equipped with LSD(limited slip differential) has several advantages over a normal type for rear wheel drive vehicles. Specially, the torque distribution can be done between left and right drive wheel in the state of limited slip differential. Also although LSD types are very various according to operating type, medium and torque distribution, a multi-clutch type is generally applied to rear wheel drive vehicles. So, this study presents the analysis of design parameters for development of a friction plate for multi-clutch type LSD using vehicle road test, the simulation of analytical model and the development of vehicle dynamics model by a benchmark product. According to this investigation, the design parameters which are pre-load of coil spring, friction plate and contact area quantity, friction coefficient and TBR(torque bias ratio) for a friction plate are derived from experiment and simulation and consequently, vehicle dynamics model has been constructed for the development of friction plate for multi-clutch type LSD.

• Journal of Drive and Control
• /
• v.18 no.4
• /
• pp.1-8
• /
• 2021

An electro proportional pressure control valve is mainly used to control the clutch of an agricultural tractor's automatic transmission. During transmission, the operating, hydraulic oil is mix with many kinds of contaminants. The contaminants can be trapped between the valve body and spool of the proportional pressure control valve leading to abnormal operating conditions and finally critical damage to the transmission hydraulic system. The present study aimed to verify the valve control algorithm as a basic study of developing control logic that removes contaminants between the spool and the body of the proportional pressure control valve. To develop the algorithm, MATLAB/SIMULINK was used. PWM method was used to control the applied solenoid coil current. The effectiveness of the algorithm was verified by comparing the actual pressure of the normal valve with the actual pressure of the abnormal valve. Based on the present study findings, when the algorithm was applied, the response of the valve pressure according to the current became stable and oil contaminated particles were removed. In the future study, the control algorithm will be optimized for the stability of the proportional pressure reducing valve, and it will be verified in consideration with the driving of the clutch.

• Transactions of the Korean Society of Automotive Engineers
• /
• v.7 no.6
• /
• pp.91-105
• /
• 1999

Dynamic simulation techniques are developed to analyze the shift characteristics of vehicle powertraisn with automatic transmission. In this study, the mathematical modeling of powertrain components such as engine , clutch system, planetary gear system and road load , is presented for the simulation. The clutch engagement condition, which determines the degree of freedom for the system, is also proposed .By using a detailed nonlinear model of torque converter, it is possibile to accurately analyze the extremely transient state such as the shift. Dynamo-based experiments are carried out to prove the validity of the proposed simulation techniques. Using the developed simulation program, the effects of the dynamic design variables and the control conditions , focused on the shift, are evaluated to improve the driving comforability.

• Transactions of the Korean Society of Automotive Engineers
• /
• v.5 no.3
• /
• pp.106-116
• /
• 1997

In this paper, using MATLAB SIMULINK, a generalized design methodology was suggested for multi pass transmission(MPT) by classifying the vehicle power train as prime mover, MPT and vehicle dynamics. This approach enables a designer to investigate the influence of each transmission component by simple combination of system components without changes of overall program. Using the design methodology, a MPT consisting of CVT, 2, clutches and reduction gears was designed for a braking energy regenerative flywheel hybrid vehicle. The CVT is essential in order to connect the engine and flywheel speed with the vehicle speed. For the purpose of smooth clutch operation, control algorithm was suggested by introducing dead zone for the clutch engagement. Using the SIMULINK model, performance of the flywheel hybrid vehicle with MPT was investigated. It was observed from the simulation results that the MPT vehicle showed better fuel economy, 47% than that of AT vehicle, 27% than that of CVT vehicle for ECE-15 driving cycle. Especially destinct fuel efficiency improvement was obtained for city driving cycle requiring more frequent stop and start.

• Journal of Drive and Control
• /
• v.13 no.1
• /
• pp.1-9
• /
• 2016

Nowadays automatic transmission equipped vehicles prevail in construction and agricultural equipment due to their convenience in driving and operation. Though domestic vehicle manufacturers install imported electronic controlled transmissions at present, overseas products will be replaced by domestic ones in the near future owing to development efforts over the past 10 years. For passenger cars, there are many kinds of shift control algorithms that enhance the shift quality such as feedback and learning control. However, since shift control technologies for heavy duty vehicles are not highly developed, it is possible to improve the shift quality with an organized control method. A feedback control algorithm for neutral-into-gear shift, which is enabled during the inertia phase for the master clutch slip speed to track the slip speed reference, is proposed based on the power transmission structure of TH100. The performance of the feedback shift control is verified by a vehicle test which is implemented with firmware embedded TCU. As the master clutch engages along the predetermined speed trajectory, it can be concluded that the shift quality can be managed by a shift time control parameter. By extending the proposed feedback algorithm for neutral-into-gear shift to gear change and shuttle shift, it is expected that the quality of the shift can be improved.