• Journal of Electrical Engineering and Technology
• /
• 제13권2호
• /
• pp.1008-1020
• /
• 2018

In this paper, the dynamic compliance and its compensation control of the force control system on the highly integrated valve-controlled cylinder (HIVC), the joint driver of the hydraulic drive legged robot, is researched. During the robot motion process, the outer loop dynamic compliance control is applied on the base of hydraulic control inner loop and most inner loop control are the force or torque closed loop control. While the dynamic compliance control effectiveness of outer loop can be affected by the inner loop self-dynamic-compliance. Based on this problem, the dynamic compliance series composition theory of HIVC force control system as well as the analysis of its self-dynamic-compliance is proposed. And then the paper comes up with the compliance-enhanced control, which is a compound compensation control method of dynamic compliance with multiple series branches. Finally, the experiment results indicate that the control method mentioned above can enhance the dynamic compliance of HIVC force control system observably. This provides the compensation control method of inner loop dynamic compliance for the outer loop compliance control requiring the high accuracy and high robustness for the robot.

• 한국압력기기공학회 논문집
• /
• 제12권1호
• /
• pp.49-55
• /
• 2016

This paper analyzed a root cause of abnormality in the temperature and vibration at generator-side bearing of motor generator set (MG Set), which is a power supply system to control element drive mechanism (CEDM) of nuclear power plants (NPPs), and modified the design of roller-type and sealing method to improve the abnormalities. From the inspection of MG Set and analysis of temperature variation during service, it was found that the abnormal temperature transition was basically associated with original design of generator-side bearing, whose roller was axially restrained by inner race, and that the abnormal vibration level was caused by inserting small chips of cage and V-ring, which were generated due to the abnormal temperature transition at roller bearing. Type of bearing and sealing method were modified based on these analyses. The temperature and vibration level measured at roller bearing showed that the modifications clearly improved the operational stability of MG Set.

• Journal of Advanced Marine Engineering and Technology
• /
• 제34권6호
• /
• pp.792-797
• /
• 2010

가정용 조리기구인 전자레인지는 구동시 필요한 고주파의 형성을 위하여 고전압 발생장치와 고 전압 축전지 등의 장치가 사용된다. 이 장치들은 높은 전압에서 구동되기 때문에 다량의 열에너지를 방출한다. 따라서 방출된 열에너지는 전자레인지 본체의 온도를 상승시키는 요인이 된다. 본 연구에서는 쿨링팬 구동조건과 열에너지 발생조건에 따른 전자레인지 내부의 온도 분포를 해석하였다. 해석결과 쿨링팬에서 유출되는 공기의 속도가 증가함에 따라 내부 온도가 감소하는 것을 확인하였으며 감소하는 정도를 정량적으로 분석하였다. 그리고 열에너지 방출량을 조정하여 내부 온도분포를 조사하였다.

• Journal of Electrical Engineering and Technology
• /
• 제9권5호
• /
• pp.1614-1622
• /
• 2014

A novel equivalent flux sliding-mode observer (SMO) is proposed for dual three-phase interior permanent magnet synchronous motor (DT-IPMSM) drive system in this paper. The DT-IPMSM has two sets of Y-connected stator three-phase windings spatially shifted by 30 electrical degrees. In this method, the sensorless drive system employs a flux SMO with soft phase-locked loop method for rotor speed and position estimation, not only are low-pass filter and phase compensation module eliminated, but also estimation accuracy is improved. Meanwhile, to get the regulator parameters of current control, the inner current loop is realized using a decoupling and diagonal internal model control algorithm. Experiment results of 2MW-level DT-IPMSM drives system show that the proposed method has good dynamic and static performances.

• 드라이브 ㆍ 컨트롤
• /
• 제18권1호
• /
• pp.31-38
• /
• 2021

This study presents a new principle for driving the robot aimed at reducing the position error for the boresonic examination of turbine rotor. The conventional method of inspection is performed by installing manipulator onto the flange of the turbine rotor and connecting a pipe, which is then being pushed into the bore. The longer the pipe gets, the greater sagging and distortion appear, making it difficult for the ultrasonic sensor to contact with the internal surface of the bore. A pneumatic pressure will ensure the front or rear feet of the robot in close contact with the inner wall to prevent slipping, while the ball screw on the body of the robot will rotate to drive it in the axial direction. The compression force required for tight contact was calculated in the form of a three-point support, and a static structural simulation analysis was performed by designing and modeling the robot mechanism. The driving performance and ultrasonic detection ability have been tested by fabricating the robot, the test piece for ultrasonic calibration and the transparent mock-up for robot demonstration. The tests have confirmed that no slipping occurs at a certain pneumatic pressure or over.

• 대한기계학회:학술대회논문집
• /
• 대한기계학회 2001년도 춘계학술대회논문집D
• /
• pp.382-389
• /
• 2001

In the present study, local heat transfer rates for co-rotating disks with two modified hubs having ventilation holes are investigated for Rossby number of 0.04, 0.1 and 0.35 to evaluate the influence of incoming flows through hub holes. A naphthalene sublimation technique is employed to determine the detailed local heat/mass transfer coefficients on the rotating disks using the heat and mass transfer analogy. Flow field measurements are conducted using Laser Doppler Anemometry (LDA) and numerical calculations are performed simultaneously to analyze the flow patterns induced by the disk rotation. The basic flow structure in a cavity between co-rotating disks consists of three regions; the solid-body rotating inner region, the outer region with turbulence vortices and the shroud boundary layer region. The heat/mass transfer. rates on the co-rotating disks are very low near the hub due to the solid-body rotation and those increase rapidly in the outer region due to turbulence mixing. The modified hubs with ventilation holes enhances significantly the heat/mass transfer rates on the region near the hub. The results also show that the heat transfer of Hub-2 is superior to that of Hub-1, but Hub-1 is more profitable for destructing the solid-body rotating inner region.

• Journal of international Conference on Electrical Machines and Systems
• /
• 제3권3호
• /
• pp.241-247
• /
• 2014

The voltage source PWM inverter generally used to drive the air conditioning (A/C) fans has been posing a large issue that the bearings in air conditioning fan motors are highly possible to be corroded electrically. Potential difference called shaft voltage is generated between inner and outer rings of the bearings due to inverter switching. The shaft voltage causes bearing lubricant breakdown dielectrically. As a result, bearing current is caused. This current causes the bearing corrosion. In previous work, we demonstrated that the shaft voltage can be reduced by using an insulator inserted between the outer and inner cores of the rotor in an air conditioning fan motor without grounding. This paper proposes the other countermeasure for reducing the shaft voltage in fan motors. The countermeasure which adds a capacitor between the brackets and the stator core is effective even for fan motors with non-insulated rotor. The effectiveness is confirmed by both simulated and experimental results.

• International Journal of Fluid Machinery and Systems
• /
• 제4권4호
• /
• pp.367-374
• /
• 2011

Water hammer pumps can effectively use the water hammer phenomenon in long-distance pipeline networks that include pumps and allow fluid transport without drive sources, such as electric motors. The results of experiments that examined the effect of the geometric form of water hammer pumps by considering their major dimensions have been reported. In addition, a paper has also been published analyzing the water hammer phenomenon numerically by using the characteristic curve method for comparison with experimental results. However, these conventional studies have not fully evaluated the pump performance in terms of pump head and flow rate, common measures indicating the performance of pumps. Therefore, as a first stage for the understanding of water hammer pump performance in comparison with the characteristics of typical turbo pumps, the previous paper experimentally examined how the hydrodynamic characteristics were affected by the inner diameter ratio of the drive and lifting pipes, the form of the air chamber, and the angle of the drive pipe. To understand the behavior of the components attached to the valve chamber and the air chamber that affects the performance of water hammer pumps, the previous study also determined the relationship between the water hammer pump performance and temporal changes in valve chamber and air chamber pressures according to the air chamber capacity. For the geometry of components attached to the drain valve, which is another major component of water hammer pumps, this study experimentally examines how the water hammer pump performance is affected by the length of the spring and the angle of the drain pipe.

• 드라이브 ㆍ 컨트롤
• /
• 제11권4호
• /
• pp.15-24
• /
• 2014

It is difficult to analytically derive a volumetric displacement formula for a gerotor hydraulic motor due to the complexity of the geometric shape of its gear lobes. This work proposes an analytical method for the volumetric displacement, a relatively easy method based upon two physical concepts: conservation between hydraulic energy and mechanical shaft energy, and torque equilibrium for the rotor's motion. The first research using these concepts was conducted on inner and outer rotors rotating with respect to each rotor axis. This work represents the second report conducted on an inner rotor revolving as a planetary motion on the stationary outer rotor. The formula equations regarding the volumetric displacement and flow rate are derived, and the proposed formula about the volumetric displacement is proven to be the same as another analytical displacement formula: the so-called vane length method. From the formula, volumetric displacement is calculated for an example geometry of the gear lobes. The resultant displacement is confirmed to be the same as the value calculated from the chamber volume method. The proposed analytical formula can be utilized in the analysis and design of gerotor hydraulic motors. Because it is based on torque equilibrium, this formula can provide a better understanding of torque performance, such as torque ripple, in designing a gerotor type motor.

• 대한임베디드공학회논문지
• /
• 제3권2호
• /
• pp.66-73
• /
• 2008

The pipes have been laid underground while the industry is developing. We have to take maintenance procedure when the pipes are cracked or ruptured. It is very difficult jop to check pipe's crack because the pipes are narrow and laid underground. Using in-pipe robot, we can check the conditions of inner section of pipes, therefore, we designed a crawler type robot to search cracked pipe. In this paper, we have made a special focus on the control of the robot using differential drive algorithm to move in curved section of pipes. The detailed design of the robot with experimental result show the effectiveness of the robot in pipe maintenance.