• 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.

• 한국정밀공학회지
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• 제16권6호
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• pp.7-13
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• 1999

The unbalanced heavy-loaded elevation-driving system is composed of link-mechanism, hydraulic cylinder and compensator for the static unbalanced moment of the load. Control and compensation of elevation-driving system is very difficult because these mechanisms imply highly nonlinear properties due to hydraulic fluid characteristics and mechanical rotation of link-mechanism. In this study, through the analysis of the link-mechanism, the optimal design of the link-mechanism is suggested. Also to estimate the control performance of the unbalanced, heavy-loaded servo-controlled system, modeling and simulation of nonlinear system are carried out. To prove the validity 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 improvement of the system control performance.

• 제어로봇시스템학회논문지
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• 제6권11호
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• pp.1033-1038
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• 2000

The unbalanced heavy-loaded elevation-drive system is composed of a hydraulic cylinder, a driving link-mechanism and an equilibrating-mechanism which compensate the static unbalanced moment of the elevation load. The Compensator for the unbalanced moment is composed of a hydrau-pneumatic accumulator and a hydraulic cylinder which act with the elevation cylinder together. Compensation of the variable static-unbalanced moment for the elevation-drive system is very difficult because these mechanisms imply highly nonlinear properties due to air conditioning characteristics and mechanical rotation of the link-mechanism. In this study, through the analysis of the already designed equilibrating-mechanism, the optimal design parameters of the equilibrating-mechanism is suggested.