• Proceedings of the KIEE Conference
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• 2008.07a
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• pp.1799-1800
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• 2008

본 연구는 초중량물 핸들링로봇의 디지털 PI제어의 방법에 대하여 연구하는 목적을 갖는다. 6축 초중량물 로봇의 핵심요소인 2축과 3축만으로 구성되었으며, 제어기는 DSP를 사용하였다. DSP와 AC 서보 모터 드라이브간의 인터페이스 회로를 구성하여, PI제어기 알고리즘을 설계하여 직선보간 알고리즘에 적용하였다. 최종목적인 가반하중이 600Kg급 부하에도 강한 초중량물 핸들링 지능형 6축 로봇의 실현을 위해 원하는 경로를 부하의 영향에 받지 않는 고속.고응답성을 구현할 수 있는 2축 로봇제어에 대한 실험을 수행하였다. 위치.속도제어에 대한 알고리즘으로는 PID 제어기를 사용하였다. 본 연구의 의의는 초중량물 핸들링 로봇의 제어에 있어서 로봇의 설계 및 제작이 최적화되어 있다면 작은 부하용로봇의 제어와 크게 다를 바 없음을 보여주는데 있다.

• Journal of Advanced Marine Engineering and Technology
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• v.24 no.6
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• pp.128-139
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• 2000

Environmental concerns and shortage of petroleum have promoted considerable interest in the use of alternate fuels in stationary diesel engine. In this study, a heavy-duty, intercooler-turbocharged 6-cylinder stationary diesel engine was converted into stationary gas engine fueled with propane or natural gas for the cogeneration plants. One of the most important factors in the combustion features of a stationary gas engine is the fuel composition and operating parameters in terms of compression ratio, spark advance, and engine loads. Experiments with different fuel gas and load conditions were carried out with combustion pressure analysis and NOx measurement. Combustion analysis based on P-$\theta$ diagrams was also investigated by means of combustion duration and cycle variation. Compression ratio is 10.0 and ignition timing is set by using the gasoline setting as a base line and advanced toward BTDC. The results show that fuel composition and spark advance have dominant effects on combustion and NOx characteristics at operating conditions.

• Journal of Advanced Marine Engineering and Technology
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• v.27 no.3
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• pp.381-387
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• 2003

Engine noise consists of the noise radiated from an engine structure and noises from engine ancillaries such as a turbocharger fuel injection system, and alternator. The noise of these ancillaries might be incorrectly evaluated in the aspect of the noise contribution to engine noise because the noise reflection effect of their neighbor engine structure is easily ignored. Consequently, noise source identification should be misled. This study investigates the fact that the engine structure located around an alternator reflects alternator noise, and the reflected noise acts as another alternator noise source in a heavy-duty diesel engine. The result shows that the alternator noise can be correctly estimated in engine noise by properly including the noise reflection effect.

• The Transactions of the Korean Institute of Electrical Engineers D
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• v.49 no.10
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• pp.572-581
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• 2000

When the manipulator consisting of high ratio gear reducers at its joints is used as the slave manipulator in teleoperated systems, its dynamic characteristics is much slower than that of the master manipulator and it is likely to encounter the saturation in the input magnitude. The control input saturation generates an windup phenomenon that the system stability and position tracking performance of the slave manipulator are to be deteriorated. This paper proposes an force reflecting control scheme and its design method which compensates the control input saturation with absolute stability. The proposed scheme is shown to give a stable force reflection while compensating for control input saturation effectively.

• International Journal of Fluid Machinery and Systems
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• v.2 no.4
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• pp.449-455
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• 2009

A reversible axial flow fan called jet fan has been widely used for longitudinal ventilation in road tunnels to secure a safe and comfortable environment cost-effectively. As shifting the flow direction is usually made by only switching the rotational direction of an electric motor due to heavy duty, rotor blades having identical aerodynamic performance for bidirectional flow should be necessary. However, such aerodynamically desirable blades haven't been developed sufficiently, since most of the related studies have been done from the viewpoint of unidirectional flow. In the present paper, we demonstrate a method to profile the blade section suitable for bidirectional flow, which is validated by studying the aerodynamic performances of rotor blades of a two-stage jet fan experimentally and numerically.

• International Journal of Aeronautical and Space Sciences
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• v.1 no.2
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• pp.22-29
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• 2000

A method to simulate the gas turbine transient behavior is developed. The basic principles of the method and main input data required are described. Calculation results are presented in terms of whole operating regime of the engine. The influence of initial parameters such as starting engine power, moment of inertia of the rotor, fuel schedule on performance characteristics of gas turbine during transient operation is shown. In addition, the effect of bleeding air on transient behavior is also considered. For validation of the developed computer code, a comparative analysis with experimental data obtained from a heavy duty gas turbine is made. Calculation results agree well with the experimental data for the range of operating regime studied and proved applicability of the developed technique to initial design stage of control system.

• Tunnel and Underground Space
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• v.5 no.1
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• pp.48-56
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• 1995

Recently, most of the underground excavation works are adopting heavy duty mobile diesel equipments which have outstanding merits in view of efficiency. However, these equipments are causing hygienic problems to the workers due to the various hazardous exhaust contaminants. Considering that there are always dead end workings in underground excavation sites, it is very important how to supply enough airflow to the workings to dilute diesel exhaust contaminants. This paper introduced the theoritical mechanism and actual trends of exhaust contaminants of diesel equipments under operation at local mines and suggested the design method of intake air volume in underground excavation workings using diesel equipments.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2006.05a
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• pp.299-300
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• 2006

The camera and reduction mechanism that are equipment outdoors camera for general CCTV are miniaturization trend gradually. The foreign countries began to sell variableness speed type camera drivels that do DC voltage by motive power recently. But, Domestic is state that enterprise which has technology connected with this does not exist. We need optimum control program design, an internal organs technology, actuator interface and a driver design technology that have position control special quality of high accuracy as a necessary technology for CCTV camera drivers. Also, we need detailed mechanism design and a manufacture technology of camera drivers that behave variable speed essentially.

• Journal of the Korean Society for Precision Engineering
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• v.16 no.6
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• pp.77-82
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• 1999

대형 화물트럭의 차실 내에 높은 수준의 차바닥 진동을 수반한 높은 소음이 발생하였다. 측정 및 분석결과 문제의 진동 소음은 추진축의 회전 1차 및 2차 성분으로 나타났다. 진동 전달경로상의 구성계 및 구성요소들에 대해 모드해석과 실차 주행 모드 해석시험을 실시한 결과 드라이브라인 및 프레임의 공진주파수가 문제가 되는 소음진동 주파수와 거의 일치하였으며, 또한 캡의 실내음향 공진 모드가 문제되는 주파수에서 존재하였다. 실험결과에 따라 액슬과 액슬간의 축의 장착각도를 변경하여 가진력을 줄이고, 비틀림 동흡진기를 추진축에 장착하여 드라이브라인계 공진을 제어함으로써 문제의 시내진동소음을 현저히 개선하였다.

• Journal of Welding and Joining
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• v.31 no.1
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• pp.33-37
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• 2013

Robotized MIG welding of large aluminium components for high speed trains is state-of-the-art. The implementation of online laser cameras enables seam tracking and adoptive modification of welding parameters. A constant fill is achieved regardless of the gap tolerances. Friction Stir Welding has been introduced to the market as a reliable and fast joining technology. The advantages of high welding speeds and the elimination of arc light, fumes and liquefaction in the welding spot lead to economical realisation of heavy-duty gantry systems. FSW robots offer a high flexibility with regard to welding of curved parts, and can be equipped with laser cameras for exact joint tracking.