• 드라이브 ㆍ 컨트롤
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• 제12권4호
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• pp.60-70
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• 2015

A front-end loader (FEL) mounted on an agricultural tractor is one of the most commonly used implements for farm work. However, when the tractor carries material using the bucket attached to the FEL on a sloping ground, the materials can spill or roll back over the operator due to the tilted body, thereby requiring the bucket surface to remain level at a constant value regardless of varying slopes. In this study, an active system for controlling the angle of the FEL bucket on a tractor based on the real-time measurement of ground slopes was developed to enable the bucket to constantly remain level. A FEL simulator operated based on an electro hydraulic proportional valve (EHPV) was constructed in the laboratory to develop a proportional-integral-derivative (PID) controller forming a virtual electronic control unit (ECU) on the computer, which could automatically adjust the bucket angles depending on varying input angles while sending SAE-J1939 associated messages via CAN BUS to the EHPV. The different parameter values for the PID controller due to the gravity effect of the bucket were determined using a manual PID tuning method while assuming that the tractor travels on either an ascending slope or a descending slope. The developed PID control-based self-leveling system showed a mean of steady-state errors of within $1^{\circ}$ and a mean of delayed times of ~ 0.8s when the step input of $+20^{\circ}$ was given, implying that the developed system and control algorithm would be effective in maintaining the bucket angle at a certain value. Future studies include the improvement of the control algorithm to reduce such a time delay as well as the application of the developed algorithm to the FEL mounted on a tractor tested at a testing ground.

• KIEE International Transaction on Electrical Machinery and Energy Conversion Systems
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• 제5B권2호
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• pp.111-117
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• 2005

Several of the conventional hydraulic systems in an automobile are now being replaced by more reliable and energy efficient electromechanical systems. Developments in the brushless permanent magnet machine and in the power and control electronics are the key factors responsible for this transformation. These applications brought out some performance challenges associated with the brushless machines. This paper will focus on these challenges to be able to use these machines in such applications. In terms of replacing hydraulic systems with electromechanical systems, steering system is leading the way in automobiles. Currently, steering systems using Electro-hydraulically assisted systems and Electrically assisted (Electromechanical) systems are in the market. Though the Electrically assisted power steering has several advantages over other systems, certain performance and cost challenges delayed the penetration of such systems in to the market.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1997년도 한국자동제어학술회의논문집; 한국전력공사 서울연수원; 17-18 Oct. 1997
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• pp.357-360
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• 1997

This paper presents a new anti-lock brake system(ABS) using electro-rheological(ER) valve actuators for the wheel slip control. The hydraulic dynamic model of the automotive brake system is formulated by incorporating electric field-dependent Bingham properties of ER fluid obtained experimentally. The brake system designed by this hydraulic model is able to control wheel slip by controlling the intensity of electric field which tunes the braking torque. The control fields of the ER valve to command desired wheel slip are determined by a sliding mode controller. A comparison between the proposed brake system and the conventional brake system is made by providing with computer simulations of vehicle motions under ABS performance requirement condition.

• 한국정밀공학회지
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• 제12권7호
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• pp.138-147
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• 1995

The conventional PWM method, which was used in controlling the on-off valve, such as high-speed solenoid valve, was modulating the width of the pulse applied to the valve, by selecting arbitrary sampling time and modulating the duty-ratio in proportion to the error. However, in this method, a selection of long sampling time was inevitable and it was unable to get a high accuracy and a quick response. This study is for designing an appropriate controller for high-speed solenoid valve by proposing an improved duty-ratio modulation method using the Saw-toothed Carrier Wave which enables a short sampling time selection, high accuracy of control, and a quick response. Test which was carried out in the laboratory shows that transient and steady state response could be improved by PID controller.

• 한국정밀공학회지
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• 제7권3호
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• pp.83-93
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• 1990

The characteristics of servo systems are desired to be independent for any unpredicted operational condition. The relation between input current and output flowrate of the servovalve is dependent on the load pressure and the idea of compensation using the load pressure feedback is fundamental theory in this paper. With this idea, this paper researches the performance improvement of hydraulic position control system. Static characteristics of compensated system is analyzed by means of analog computer simulation, digital computer simulation and experiment for nonlinear model and linearized model, respectively.

• 제어로봇시스템학회논문지
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• 제8권7호
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• pp.584-588
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• 2002

The real-time characteristic of the adaptive leaning control algorithms is validated based on the applied results of the hydraulic servo system that has very strong a non-linearity. The evolutionary strategy automatically adjusts the search regions with natural competition among many individuals. The error that is generated from the dynamic system is applied to the mutation equation. Competitive individuals are reduced with automatic adjustments of the search region in accordance with the error. In this paper, the individual parents and offspring can be reduced in order to apply evolutionary algorithms in real-time. The feasibility of the newly proposed algorithm was demonstrated through the real-time test.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2009년도 제40회 하계학술대회
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• pp.824_825
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• 2009

This paper deals with the characteristics of SPMSM for hydraulic actuator according to the slot number. As a design variable, slot number affects the winding configuration and this leads to the total variation of motor characteristic. Therefore number of slot should be cautiously determined. Three SPMSMs are designed and THD of back emf, cogging torque, and torque ripple are compared. Among three SPMSMs, 36slots with 12 pole is chosen for further development considering motor characteristics and manufacturing.

• Journal of Advanced Marine Engineering and Technology
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• 제37권4호
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• pp.404-408
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• 2013

본 연구에서는, 대형 증기유량이 요구되는 플랜트에서 정밀한 압력제어의 요구를 충족시키기 위한 다른 방법으로 3단계의 다중 제어밸브 구조를 이용하여 압력을 제어하는 제어기를 설계하는 내용이다. 본 연구의 핵심은 전기 유압시스템 외부에 별도의 PID 제어기를 이용하여 제어밸브의 위치를 정확하게 제어하는 것이다. 시뮬레이션 및 실험을 통해 제어기의 성능을 검증한다.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1995년도 추계학술대회 논문집
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• pp.614-617
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• 1995

The unbalance heavy-load elevation driving systems are composed of rotating link-mechanism and hydraulic cylinder which actuates elevation and compensates the static unbalance moment of supporting mechanism. Control and compensation of gun driving is very difficult because these mechanism imply highly nonlinearities due to hydraulic fluid characteristics and mechanical rotation of link-mechanism. In this study, through the analysis of manufactured link-mechanism, the optimal link-mechanism design of the elevating system is suggested. Also to estimate the control performance of the unbalance heavy-load elevation servo-control driving system, modeling and simulation of the system are carried out. To prove the reliability of performance estimation program,simulation results are compared with the experimental results. Both results are similar, therefore this program will be helpful to study the control performance improvement of the system.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1994년도 Proceedings of the Korea Automatic Control Conference, 9th (KACC) ; Taejeon, Korea; 17-20 Oct. 1994
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• pp.54-59
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• 1994

In this study, a high-speed servo valve with no outer leakage is developed, which is used to drive flexible hydraulic actuators (FHA) for extreme environments. In the valve, multilayered PZT devices are used to drive a spool directly and quickly. A bellows is also used to prevent outer leak from the clearance between the spool and the sleeve. Employing a disturbance observer, the lack of the system damping of the valve is improved by feeding back the estimated velocity of the spool, as well as the estimated disturbance is fed back to eliminate effectively the hysteresis between input voltage and output displacement of the PZT devices.