• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.2725-2730
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• 2003

In this study we present a vibration controller for articulated robots that has flexible joints modeled as a 2-mass system. Most of articulated robots have time varying load inertias for each axis according to its motion. Moreover, the inertias vary drastically; for the base axis of articulated robots it may vary about 10 times of its minimum value. But, for industrial robots and many mechatronic devices, it is desirable to maintain control performance in spite of load inertia variation. So we propose a control gain adjustment rule considering the time-varying nature of load inertia. In this gain-adjusting algorithm, the pole locations are in proportion to the anti-resonance frequency of the 2-mass system. The simulation and experimental results show uniform properties in overshoot in spite of the variation of load.

• 한국자동차공학회논문집
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• 제6권3호
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• pp.88-96
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• 1998

The rattle noise is the most significant in many kinds of manual gearbox nioses, which is generated at the idle stage of the engine operation. The main torsional vibrat- ion source of the driveline is the fluctuation of the engine torque. The gear rattle is impacts generating in the backlash of the free gear due to this torsional vibration. Many researchers reported the clutch torsional characteristic optimization method to reduce the idle gear rattle but only few of them give sufficient consideration to the system parameters like gear backlash, drag torque, system inertia, inertia distribution, engine torque fluctuation, idle engine rotation speed, and accessory load. In this paper, influence rate of system parameters on the gear rattle is presented and counterplans like backlash reduction, drag torque increase, inertia addition, inertia distribution modification and engine torque characteristic control are suggested.

• 한국소음진동공학회논문집
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• 제19권8호
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• pp.788-794
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• 2009

Various types of latch designs for hard disk drives using load/unload mechanism have been introduced to protect undesired release motions of a voice coil motor(VCM) actuator from sudden disturbances. Recently, various inertia-type latches have been widely used because locking performance is better than that of other types of latch. However there has been a limit in the inertia type in order to guarantee perfect latch and unlatch operations because of changes in latch/unlatch conditions due to mechanical tolerance and temperature-dependent friction. In this paper, a reliable and robust magnetic latch mechanism is proposed through only simple modifications of coil and yoke shapes in order to overcome the mechanical limit of current inertia-type latches. This new magnetic latch does not have only a simple structure but it also ensures reliable operations and anti-shock performance. The operating mechanism of the proposed latch is theoretically analyzed and optimally designed using an electromagnetic simulation.

• 전력전자학회논문지
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• 제4권6호
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• pp.491-499
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• 1999

본 논문은 새로운 제어기법의 고성능 전동차 추진용 IGBT VVVF 인버터에 관한 것이다. 현차 적용 전에 견인력 제어성의 우수함과 안정성을 검증하기 위해, 현차 조건에서 발생될 수 있는 경우에 대한 모의 주행시험을 실시하고 그 결과를 보인다. 모의 주행시험은 160톤의 차량을 등가화한 관성부하장치를 이용하여 정상상태는 물론 전압변동 등 각종 과도상태에 대해서도 실시하였다. 본 논문에서는 4병렬 접속된 견인전동기의 토오크 제어성 향상을 위한 벡터제어기법 적용과 공간벡터 변조기법에 동기방식을 적용하여 500Hz이하의 저주파 스위칭으로써 6스텝까지 연속 과변조 제어가 가능한 최적의 PWM방법을 제시한다.

• 콘크리트학회논문집
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• 제20권3호
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• pp.393-404
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• 2008

철근콘크리트 휨 부재에서 현행 설계기준들의 처짐 계산 규정은 콘크리트의 균열 후 보의 휨강성이 감소하는 것을 반영한 유효 단면2차모멘트의 개념을 적용하고 있다. 그러나 기준식의 유효 단면2차모멘트는 하중을 받는 보의 최대 모멘트와 균열모멘트에 의하여 계산하며, 처짐에 영향을 미치는 경간, 단부구속, 단면의 크기, 하중 분포, 재료 및 단면 성질, 균열의 양과 확장 등의 여러 영향인자들에 대하여는 적절한 고려가 이루어지지 않았다. 따라서, 이 연구에서는 철근콘크리트 단순보를 대상으로 처짐 계산에 필요한 유효 단면2차모멘트에 대한 실험 자료를 제공하고, 국내 기준식 및 다른 연구자들의 제안식을 수정 보완하여 제안하는 것을 목적으로 하였다. 콘크리트강도와 피복두께, 철근비 및 철근 직경을 주요변수로 하여 총 14개의 철근콘크리트 보 실험체를 제작하였으며, 실험을 통하여 구한 유효 단면2차모멘트와 설계 기준에 의한 값, 기존의 제안식 및 본 연구에서 제안된 식에 의한 값들을 비교 분석하였다. 실험 결과를 바탕으로 균열 구간의 길이, 철근비 및 철근 한 개당 콘크리트의 유효 인장단면적을 고려하여 이 연구에서 제안한 유효 단면2차모멘트 예측식은 기존의 제안식들에 비하여 실험값에 더욱 근접한 결과를 나타내었다.

• Tribology and Lubricants
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• 제11권2호
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• pp.44-55
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• 1995

Frictional characteristics with the change of dynamic parameters, such as stiffness, inertia and damping, in the friction measurement at dry sliding surfaces were experimentally and theoretically investigated throughout the study. Dynamic frictional force and the variation in the normal load were mainly measured at the various conditions of system dynamic parameters with which stiffness in the normal direction, loading mechanisms and test materials were varied. For the normal load, mechanisms using both a dead weight and a pneumatic cylinder were applied, which resulted in change of the inertia and damping of the test rig. Test materials were steel, rosin and PTFE, which have different types of intrinsic frictional characteristics. Test results showed that frictional characteristics under different dynamic parameters could be different even though the operating variables were the same and also they could result in the variation in the normal load, which could consequently affect the wear mechanism.

• 한국산학기술학회논문지
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• 제7권4호
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• pp.575-579
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• 2006

본 논문에서는 전동기 시스템의 극저속 영역에서 안정적이고 동특성이 우수한 운전을 하기 위해 전차원상태 관측기로부터 추정되는 속도정보를 입력으로 하는 최소차원 토크 관성관측기를 구성하여 부하외란과 관성을 피드포워드 제어를 함으로써 극저속영역에 대한 강인성을 갖도록 한다. 제시한 제어 알고리즘을 MATLAB SIMULINK를 통해 전체 시스템을 모델링하고 실험을 통해 극저속에서 속도 추정 능력이 향상됨을 확인 한다.

• Journal of international Conference on Electrical Machines and Systems
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• 제2권1호
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• pp.69-76
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• 2013

This paper is concerned with speed tracking control problem for permanent-magnet synchronous drives (PMSM) in the presence of an variable load torque and unknown model parameters. The disturbance of speed control caused by inaccuracy of model parameters has been investigated. A load torque observer has been proposed to observe the load torque and estimate the disturbance caused by inaccuracy of model parameters. Both inertia and friction coefficient are identified in gradient descent approach. The stability condition of the observer has also been studied. Furthermore an improved feed-forward control has been introduced to reduce the speed track error. The proposed control strategy has been verified by both simulation and experimental results.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1987년도 한국자동제어학술회의논문집; 한국과학기술대학, 충남; 16-17 Oct. 1987
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• pp.358-363
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• 1987

It is widely noted that pressure feedback systems have been devised to damp the fluid resonance effectively in precision speed control-for large inertia system. A compensation technique preserving the natural output disturbance discrimination characteristics at lower frequencies is proposed The load pressure across positive displacement acceleration. The technique involves feeding back load differential pressure, sensed by pressure transducers, though a simple analog compensatory circuit (high pass filter). The effectiveness of the damping is determined by the filter time donstant and loop gain. Nonlinear total hydraulic simulation results verify the possibility of linear model predictions of extending the closed loop bandwidth beyond the uncompensated frequency.

• 한국전산구조공학회:학술대회논문집
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• 한국전산구조공학회 2002년도 가을 학술발표회 논문집
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• pp.244-251
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• 2002

The purpose of this paper is to investigate the stability of tapered columns with general boundary condition(translational and rotational elastic support) at one end and carrying a tip mass of rotatory inertia with translational elastic support at the other end. The column model is based on the classical Bernoulli-Euler beam theory which neglects the effects of rotatory inertia and shear deformation. The governing differential equation for the free vibrations of linearly tapered columns subjected to a subtangential follower force is solved numerically using the corresponding boundary conditions. And the bisection method is used to calculate the critical divergence/flutter load. After having verified the results of the present study, the frequency and critical divergence/flutter load are presented as functions of various nondimensional system parameters.