• Journal of Drive and Control
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• v.19 no.4
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• pp.19-28
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• 2022

This paper introduces an automatic steering system for straight traveling capable of being mounted on drivable agricultural machinery which user can handle it such as a tractor, a transplant, etc. The modular automatic steering device proposed in the paper is composed of RTK GNSS, IMU, HMI, hydraulic valve, and wheel sensor. The path generation method of the automatic steering system is obtained from two location information(latitude and longitude on each point) measured by GNSS in advance. From HMI, a straight path(AB line) can be created by connecting latitude and longitude on each point and the device makes the machine able to follow the path. During traveling along the reference path, it acquires the real time position data every sample time(0.1s), compares the reference with them and calculates the lateral deviation. The values of deviation are used to control the steering angle of the machine using hydraulic valve mounted on the axle of front wheel. In this paper, Pure Pursuit algorithm is applied used in autonomous vehicles frequently. For the analysis of traveling characteristics, field tests were executed about these conditions: velocity of 2, 3, 4km/h which is applied to general agricultural work and ground surface of solid(asphalt) and weak condition(soil) such as farmland. In the case of weak ground state, two experiments were executed about no-load(without work) and load(with work such as plowing). The maximum average deviations were presented 2.44cm, 7.32cm, and 11.34cm during traveling on three ground conditions : asphalt, soil without load and with load(plowing).

• Journal of Korea Water Resources Association
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• v.55 no.spc1
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• pp.1251-1260
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• 2022

Recently, due to the deterioration of watermains and the detachment of scale which is accumulated on the watermain surface, water quality accidents in a water supply network occur frequently. As scale accumulated on watermains is stabilized, it may not cause water quality accidents under the normal operating condition. However, due to water hammer or transient flow caused by the abrupt velocity and/or direction of flow change, it can be detached from the watermain surface resulting in water quality accidents. To prevent these kinds of water quality accidents, it is required to remove scale by watermain cleaning regularly. Many researches about flushing which is the most popular water cleaning method are focused on the desirable velocity criteria and the cleaning condition to accomplish the effect of flushing whereas less amount of research effort is given to develop a method to consider whether the desirable velocity for flushing can be obtained before flushing is performed. During flushing, the major and minor headloss is occurred when flushing water flows through a hydrant or drain valve. These headloss may slow down the velocity of flushing water so that it can reduce the flushing effect. Thus, in this study, we suggest a method to simulate the flow velocity of flushing water using "MinorLoss Coefficient" and "Emitter Coefficient" in EPANET. The suggested method is applied to a sample network and the water supply network of "A" city in Korea to compare the flushing effect between "flushing through a hydrant" and "flushing through a drain valve". In case of "flushing through a hydrant", if the hydraulic condition ocurring from a watermain pipe connecting to the inlet pipe of a hydrant to the outlet of a hydrant is not considered, the actual flowrate and velocity of a flow is less than the simulated flowrate and velocity of a flow. In case of "flushing through a drain valve", the flushing velocity and flowrate can be easily simulated and the difference between the simulated and the actual velocity and flowrate is not significant. Also, "flushing through a drain valve" is very effective to flushing a long-length pipe section because of its efficiency to obtain the flushing velocity. However, the number and location of a drain valve is limited compared to a hydrant so that "flushing through a drain valve" has a limited application in the field. For this reason, the engineer should consider various field conditions to come up with a proper flushing plan.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.44 no.12
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• pp.1087-1094
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• 2016

The responsibility of the vehicle holding device (VHD) is to hold the launch vehicle while it is stayed on launch pad and release the holding mechanism to allow a lift-off of launch vehicle at a moment of lift-off. During a release of the holding mechanism, in order to prevent the Ka doing a doing a doing mode which is vertical oscillation of entire liquid propellant and very severe for vehicle structure, gradual release of holding force is required. Also, a release operation of all 4 VHD should be synchronized very precisely. In this study, to comply the "gradual release and synchronized operation requirement", concept of VHD hydraulic system using an accumulator, pyro valve and orifice to control speed of hydraulic cylinder is proposed instead of using complicated hydraulic components. Then through multi-body dynamic analysis and computational hydraulic analysis, a size of orifice to meet a target speed of hydraulic cylinder is calculated. Through this study, simple and reliable VHD hydraulic system complying requirements is designed.

• Korean Journal of Agricultural Science
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• v.47 no.1
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• pp.43-58
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• 2020

Mulching plastic is used for the purpose of maintaining soil temperature, moisture, and weed and pest prevention in agriculture. Any remaining plastic after use may contaminate the soil and damage crop growth. To solve this problem, mulching plastic wrappers have been studied and developed, but the actual use rate is quite low due to their poor performance and frequent tearing of the plastic on the field. In this study, we developed a tractor attachable mulching plastic wrapper to minimize the tearing of the mulched plastic. The developed mulching plastic wrapper consists of hydraulic motors and pumps, valves, a microcontroller, and sensors. The collecting speed of the plastic mulch was calculated considering the tractor's travel speed and the radius of the collecting drum. A proportional controller was designed to control the rotating speed of the hydraulic motor as the plastic was wound around the collection drum and the radius increased. The performance of an indoor experiment was quite promising because the difference between the collecting speed predicted by the calculation and the actual collecting speed was 2.71 rpm. Based on a field verification test, the speed difference was max. 14.28 rpm; thus, the, proportional integral derivative (PID) controller needs to be considered to control the drum speed precisely. Another issue was found when the soil covered at the edge of the plastic was hardened or the road surface was uneven, the speed control was unstable, and the plastic was torn. In future research, vibrational plows will be equipped to break-up the harden soil for collecting the plastic smoothly.

• Journal of the Korean Society of Propulsion Engineers
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• v.22 no.1
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• pp.80-88
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• 2018

The function of a vehicle holding device (VHD) is to securely hold a launch vehicle on the launch pad and release the launch vehicle at maximum thrust after engine ignition to allow lift-off of the launch vehicle. During the release of the launch vehicle, to prevent the Ka doing a doing a doing mode, which is the vertical oscillation of the entire liquid propellant, the release of the launch vehicle should be gradual. In this study, for the gradual release of a launch vehicle, a hydraulic system comprising an accumulator and pyro valve to operate a hydraulic cylinder and control the speed of the cylinder with an orifice is introduced. Through a test, the influence of design variables on the cylinder speed is analyzed. Based on this, the design values of the hydraulic cylinder are determined. Through this study, the engineering basis for developing a VHD releasing a launch vehicle at maximum thrust is provided.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.43 no.9
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• pp.822-829
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• 2015

In this paper, the piezoelectric-hydraulic pump with a piezostack actuator as a driving source has been designed, fabricated, and evaluated for its application to UAV's brake system. The performance requirements of the piezoelectric-hydraulic pump were decided based on the requirements analysis of the target aircraft brake system. The geometric design of the piezoelectric-hydraulic pump to meet the performance requirements of the pump was conducted, and all components of the pump including the spring sheet type check valves were machined with close tolerance. By constructing a test apparatus for the performance check of the piezoelectric-hydraulic pump, the performance characteristics of the pump, such as the outlet flow rate for load-free condition and the outlet oil pressure for closed loop condition, have been evaluated. It has been found by the performance test result that the developed piezoelectric-hydraulic pump satisfies the design requirements effectively.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.13 no.6
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• pp.2428-2434
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• 2012

This paper describes the control of a solenoid valve of ESC(Electronic Stability Control) with hydraulic modulator in braking system. ESC ECU(Electronic Control Unit) to control the high-frequency control and slope control method was applied, the surge pressure and EMI(electromagnetic interference) reduction characteristics were studied. The stage of ECU output was added the slope shaping function to reduce electromagnetic emission at higher frequencies. Measurements show that this high frequency ECU manages to reduce the surge pressure and electromagnetic emission by the control of solenoid valve. In conclusion, by using the results of this study for the high frequency ECU control, we could expect enhancement of braking system performance.

• Journal of Mechanical Science and Technology
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• v.20 no.3
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• pp.426-434
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• 2006

The impact of leakage was incorporated into the transfer functions of the complex head and discharge. The impedance transfer functions for the various leaking pipeline systems were also derived. Hydraulic transients could be efficiently analyzed by the developed method. The simulation of normalized pressure variation using the method of characteristics and the impulse response method shows good agreement to the condition of turbulent flow. The leak calibration could be performed by incorporation of the impulse response method with Genetic Algorithm (GA) and Harmony Search (HS). The objective functions for the leakage detection can be made using the pressure-head response at the valve, or the pressure-head or the flow response at a certain point of the pipeline located upstream from the valve. The proposed method is not constrained by the Courant number to control the numerical dissipation of the method of characteristics. The limitations associated with the discreteness of the pipeline system in the inverse transient analysis can be neglected in the proposed method.

• The KSFM Journal of Fluid Machinery
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• v.7 no.1 s.22
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• pp.51-57
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• 2004

The waterhammer has recently become more important because the pumping stations were big and the systems conveying the fluid through the large and long transmission pipelines were complex. When the pumps are started or stopped for the operation or tripped due to the power failure, the hydraulic transients occur as a result of the sudden change in velocity As the pressure waves are propagating between the pumping station and the distributing reservoir, the pressure inside the pipe drops to the liquid vapor pressure with the pipeline profile, at which time a vapor cavity forms, and finally the column separation occurs. If the pressure in the pipe is less than the atmospheric pressure, the pipe can be collapsed and destroyed after the water columns separated by the vapor cavity rejoin. During the reverse flow, the pressure is so abnormally increased at the pumping station that the accident of flooding may happen due to the failure of system. In this paper, the field tests on the waterhammer by the startup, stoppage, and power failure of a centrifugal pump were carried out for Yongma transmission pumping station in Seoul. The experimental results were compared with that of the numerical calculations, in which results the procedure of controlled pump normal shut-down and the two-step closing mode of controlling the ball valve for pump emergency stop are proposed to reduce the pressure surge.

• Proceedings of the Korean Society of Propulsion Engineers Conference
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• 2017.05a
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• pp.88-93
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• 2017

For the control of pre-burner combustion pressure, the open angle of TTR(Throttle for Thrust Regulation) valve was varied from $143^{\circ}$ to $185^{\circ}$ while testing of cold flow, ignition, combustion. The major performance variables of rocket engine and hydraulic performance of TTR valve regarding the open angle was verified. However the controllability of pre-burner combustion pressure was not verified due to the limitations of test. The comprehensive research will be done after supplementing these problems.