• 제어로봇시스템학회:학술대회논문집
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• 1999.10a
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• pp.133-136
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• 1999

Many researches on the identification of a system have been carried out using a least square method, an adaptive filter, and so on. However, it is difficult to apply these methods in a nonlinear system. In the case of a nonlinear system, it is known that the signal compression method is able to estimate uncertain parameters of linear element in a nonlinear system because it is able to separate linear element and nonlinear element in a nonlinear system. However, the signal compression method cannot be applied to a motion simulator because actuators of the simulator is single-rod cylinders which includes expansion and compression dynamic properties. Therefore, this paper proposes a modified signal compression method which is able to estimate uncertain parameters of the motion simulator dynamics. The dynamic properties of this system are identified by separating expansion and compression properties when applying the signal compression method. And then, the identified parameters are applied to design a sliding mode controller for the simulator. The performance of the designed sliding mode controller is evaluated experimentally.

• Journal of Drive and Control
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• v.13 no.3
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• pp.32-38
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• 2016

For this paper, the position-control performances of dual EHA(electro-hydrostatic actuator) systems were investigated according to two cases wherein the double-rod- and single-rod-type hydraulic cylinders were combined. Since the control performance is significantly dependent on the load conditions including external forces such as the inertia load, it is proposed here that the two sub-EHAs are driven by separate position and force controllers, instead of two identical position controllers. According to the simulation results, the best performance was achieved by the position-controlled single-rod-type EHA that was combined with a force-controlled double-rod-type EHA. As the force-controlled double-rod-type EHA compensated for the external loads on the position-controlled single-rod-type EHA, the position-control performance was not influenced by external forces including the inertia load. In addition, the position-controlled single-rod-type EHA contributed to the enhancement of the damping ratio by absorbing the pressure peaks through its internal accumulator. Due to the symmetrical piston areas, the double-rod-type EHA is more suitable for force control than the single-rod- type EHA.

• Journal of Biosystems Engineering
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• v.18 no.4
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• pp.305-316
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• 1993

Fuel efficiency in tractor operations dep6nds on the selection of transmission gears and upon the engine being operated at or near maximum torque much of time. The objective of this study was to develop automatic control systems for tractor transmission ratio and governor setting so that the engine is operated at or near maximum torque as much of time as possible. An indoor test unit, which can be used to simulate tractor operation, was built in order to investigate the system design parameters and test the performance of the control system designed. The test-unit consists of engine, gear-type transmission, dynamometer, and control systems for transmission ratio and engine speed. Governor setting lever was controlled by a step motor, and the clutch and transmission levers were controlled by hydraulic cylinders and solenoid valves. The control systems showed good time responses which are assumed to be suitable for optimal tractor operation. The time required for shifting gears from clutch disengagement to engagement was about 1 second, which is almost the same as that for manual shift. And the settling time for engine speed control system was about 5 to 6 seconds.

• Proceedings of the Korea Committee for Ocean Resources and Engineering Conference
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• 2004.11a
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• pp.277-282
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• 2004

This paper concerns about dynamic analysis of an underwater test miner, which operates on cohesive soil. The test miner consists of tracked vehicle and pick-up. device. The motion oj pick-up device relative to the vehicle chassis is controlled by two pairs of hydraulic cylinders. The test miner is modeled by means of a commercial software. A terramechanics model of cohesive soft soil is implemented to the software and applied to dynamic analysis of the test miner model. The dynamic responses of test miner are studied with respect to of four different types of terrain conditions.

• Journal of Ocean Engineering and Technology
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• v.33 no.3
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• pp.272-279
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• 2019

In order to perform a pressure chamber experiment with a circular cylindrical pressure vessel, the dimensions of the cylinder need to be determined in the range of the maximum externally applied pressure of the chamber to create the collapse process. In this study, the collapse load values from published chamber test results, finite element analysis and the theory of thick cylinders were thoroughly compared in a aluminum cylinder. In order to investigate the effect of collapse load according to the ovality during manufacturing, nonlinear buckling analysis was performed and the collapse load according to ovality was compared. Based on the results, the dimensions of the steel cylinder were determined for the future chamber collapse test.

• Journal of the Korean Society of Industry Convergence
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• v.25 no.1
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• pp.87-99
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• 2022

We propoes a study on the dynamic characteristics analysis and position control of 5-degree multi-joint manipulators for untact remote working at construction sites and manufacturing plants. The main frame of freedom multi-joint manipulator consists of five elements, boom cylinder, boom cylinder, arm cylinder, bucket cylinder, and rotation joint and link. In addition, the main purpose of the proposed system is to realize the work of the manufacturing process or construction site by remote control. Motion control of the entire system is a servo valve control method by hydraulic servo cylinders for one to four joints, and a servo motor control method is applied for five joints. The reliability of the proposed method was verified through performance experiments by computer simulation.

• Journal of the Institute of Electronics Engineers of Korea SC
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• v.38 no.1
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• pp.1-13
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• 2001

Due to the friction characteristics of cylinders and the rail of a passenger car, in the elevator actuated with hydraulic systems, there exist dead zones, which can not be controlled by a PID controller. To overcome the drawbacks, in this paper, we first try a hybrid controller which switches between a fuzzy logic controller and a PID controller. However, because the hybrid control scheme uses only a single type controller, except the switched layer, the high control performance can not be achieved. To solve this problem, we propose a new type fuzzy hybrid control scheme, which outputs of the output mixer arc controlled by a fuzzy logic. The hydraulic elevator system controlled by inverters has more then one switched layers due to the highly nonlinear characteristics. The proposed fuzzy hybrid control scheme achieves improved control performances by using both controllers with weighted outputs depend on the system status, to achieve improved control performances. The effectiveness of the proposed control scheme arc shown by simulation results, which the proposed fuzzy hybrid control method yields good control performance not only in the zero crossing speed region but also in the overall control region including steady-state region.

• Fire Science and Engineering
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• v.29 no.3
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• pp.59-64
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• 2015

This study analyzed results of the causes of failure in 1,022 fire trucks currently being used in South Korea (aerial ladder, aerial platform, pumper, and chemical fire trucks). The results show that 46% of aerial ladder trucks have defective in the elevator brake systems, 29% of aerial platform trucks have contamination in the hydraulic oil, 37% of pumpers have defective in the pneumatic cylinders of the air supply system, and 39% of chemical fire trucks have defective in the powder fire extinguishing systems. The principal reasons for malfunctions are deterioration of the apparatuses, and accumulated fatigue from repetitive use of certain components, such as pneumatic cylinders in the air supply system and wire rope jamming in rollers in the ladder apparatus. These manufacturing defects should be improved upon in the manufacturing process. As a result, the fire trucks, which are used for 5 years or more, need precise inspections in accordance with the Regulation on Fire Apparatus Maintenance. Fire apparatuses have a service life of 10 to 12 years or more. They need to be replaced or require life extension, and they should be kept in top shape with the best maintenance for public safety.

• Transactions of the Korean Society of Mechanical Engineers B
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• v.41 no.3
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• pp.171-181
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• 2017

Two-phase cross flow exists in many shell-and-tube heat exchangers such as condensers, evaporators, and nuclear steam generators. The drag force acting on a tube bundle subjected to air/water flow is evaluated experimentally. The cylinders subjected to two-phase flow are arranged in a normal square array. The ratio of pitch to diameter is 1.35, and the diameter of the cylinder is 18 mm. The drag force along the flow direction on the tube bundles is measured to calculate the drag coefficient and the two-phase damping ratio. The two-phase damping ratios, given by the analytical model for a homogeneous two-phase flow, are compared with experimental results. The correlation factor between the frictional pressure drop and the hydraulic drag coefficient is determined from the experimental results. The factor is used to calculate the drag force analytically. It is found that with an increase in the mass flux, the drag force, and the drag coefficients are close to the results given by the homogeneous model. The result shows that the damping ratio can be calculated using the homogeneous model for bubbly flow of sufficiently large mass flux.

• KSCE Journal of Civil and Environmental Engineering Research
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• v.31 no.5D
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• pp.705-717
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• 2011

The number of horizontal tower cranes, major hoisting machineries for lifting approximately 50% of entire materials in construction projects, is rapidly increasing, but a number of accidents related to the tower cranes are being continuously occurred in construction sites as well. In particular, telescoping works in the horizontal tower cranes have showed the greatest safety concerns such as falls and collapses. It is due to the fact that tasks inserting a new mast in the space made after raising telescoping cage by fluid pressure and ascending it to the required height in the telescoping works include a series of dangerous factors in safety aspects, and might cause very serious and unexpected accidents in construction sites. The primary objective of this research is to propose two conceptual models for automating the telescoping work in horizontal tower crane and conduct their technical feasibility analyses. In this study, a design concept, a position control system using hydraulic cylinders is suggested as a better alternative for automating the telescoping work. Its potential safety improvement rate compared to the conventional method is also analyzed and presented in this study.