• Journal of Sensor Science and Technology
• /
• v.22 no.1
• /
• pp.28-37
• /
• 2013

This paper presents a fault-tolerant control technique for wind turbine systems with sensor and actuator faults. The control objective is to maximize power production and minimize turbine loads by calculating a desired pitch angle within their limits. Any fault with a sensor and actuator can cause significant error in the pitch position of the corresponding blade. This problem may result in insufficient torque such that the power reference cannot be achieved. In this paper, a fault-tolerant control technique using a robust dynamic inversion observer and control allocation is employed to achieve successful pitch control despite these faults in the sensor and actuator. The observer based detection method is used to detect and isolate sensor faults by checking whether errors are larger than threshold values. In addition, the control allocation technique is adopted to tolerate actuator fault. Control allocation is one of the most commonly used fault-tolerant control techniques, especially for over-actuated systems. Further, the control allocation method can be used to achieve the power reference even in the event of blade actuator fault by redistributing the lost torque due to erroneous pitch position into non-faulty blade actuators. The effectiveness of the proposed method is demonstrated through simulations with a benchmark model of the wind turbine.

• 제어로봇시스템학회:학술대회논문집
• /
• 2003.10a
• /
• pp.209-214
• /
• 2003

We developed a new type of human-sized BWR (biped walking robot), named KUBIR1 which is driven by the closed-chain type of actuator. A new type of the closed-chain actuator for the robot is developed, which is composed of the four-bar-link mechanism driven by the ball screw which has high strength and high gear ratio. Each leg of the robot is composed of 6 D.O.F joints. For front walking, three pitch joints and one roll joint at the ankle. In addition to this, one yaw joint for direction change, and another roll joint for balancing the body are attached. Also, the robot has two D.O.F joints of each hand and three D.O.F. for eye motion. There are three actuating motors for stereo cameras for eyes. In all, a 18 degree-of-freedom robot was developed. KUBIR1 was designed to walk autonomously by adapting small 90W DC motors as the robot actuators and batteries and controllers are on-boarded. The whole weight for Kubir1 is over 90Kg, and height is 167Cm. In the paper, the performance test of KUBIR1 will be shown.

• Journal of the Korean Society of Industry Convergence
• /
• v.23 no.3
• /
• pp.463-471
• /
• 2020

Recently, various tries to apply ROV (Remotely Operated Vehicle) into underwater are being developed. However, due to underwater environment uniqueness, the additional problem must be taken into account when designing an ROV for the inspection of the underwater structure. This is because a GPS-based information method cannot be applied, and the obtainable image is also dependent on the turbidity. Also, it is necessary to be able to satisfy waterproof and operating speeds in consideration of most practical application environments. This paper describes the design results of the ROV system for underwater structure inspection considering the above problems. The designed system applied INS / DVL for location recognition and was configured to support 3D mapping and stereo camera-based image information using sonar depending on visibility. To satisfy the waterproof, a pressure vessel using a composite material was applied. And over-actuated system using eight thrusters to maintain a stable posture and operating speed was applied also. The designed system was verified by structural analysis and flow analysis also.

• Smart Structures and Systems
• /
• v.14 no.5
• /
• pp.765-784
• /
• 2014

In comparison with conventional shape memory actuated structures, antagonistic shape memory alloy (SMA) actuators permits a fully reversible two-way response and higher response frequency. However, excessive internal stress could adversely reduce the stroke of the actuators under repeated use. The two-way shape memory effect might further decrease the range of the recovered strain under actuation of an antagonistic SMA actuator unless additional components (e.g., spring and stopper) are added to regain the overall actuation capability. In this paper, the performance of all four possible types of SMA actuation schemes is investigated in detail with emphasis on five key properties: recovered strain, cyclic degradation, response frequency, self-sensing control accuracy, and controllable maximum output. The testing parameters are chosen based on the maximization of recovered strain. Three types of these actuators are antagonistic SMA actuators, which drive with two active SMA wires in two directions. The antagonistic SMA actuator with an additional pair of springs exhibits wider displacement range, more stable performance under reuse, and faster response, although accurate control cannot be maintained under force interference. With two additional stoppers to prevent the over stretch of the spring, the results showed that the proposed structure could achieve significant improvement on all five properties. It can be concluded that, the last type actuator scheme with additional spring and stopper provide much better applicability than the other three in most conditions. The results of the performance analysis of all four SMA actuators could provide a solid basis for the practical design of SMA actuators.

• International Journal of Safety
• /
• v.11 no.2
• /
• pp.10-14
• /
• 2012

Recently, the combined power plants are refocused rapidly as a replaceable energy system of the nuclear power plant. The large turbine is revolved highly at 1800~3600 rpm. Thus, the turbine speed should be monitored with mechanical and electrical method for a safety. The electrical cutoff valve which blocks the flow channel with the electrical signal is with a built in. The aim of this study is to develop a manufacturing technology through by the localization of a solenoid actuated directional control valve. Especially the results show performances of the solenoid valve by the experiments and modeling and the reliability estimation. Applied load port pressure was changed rapidly on the form of a quadratic curve over time. And in the cases of square waveform when 0~100 V and 20~120 V input voltage, it was driven on a stable state until 13.4 Hz and 16.6 Hz, respectively. We think that this study will give useful data for the electricity safety system of the combined power plant gas turbine.

• Composites Research
• /
• v.17 no.4
• /
• pp.18-24
• /
• 2004

In this paper, active shape control of composite structures actuated by shape memory alloy (SMA) wires is presented. The thermo-mechanical behaviors of SMA wires were experimentally measured. Hybrid composite structures were established by attaching SMA actuators on the surfaces of graphite/epoxy composite beams using bolt-joint connectors. SMA actuators were activated by phase transformation, which induced by temperature rising over austenite finish temperature. In this paper, electrical resistive heating was applied to the hybrid composite structures to activate the SMA actuators. For (aster and more accurate shape/deflection control of the hybrid composite structure, PID feedback controller was designed from numerical simulations and experimentally applied to the SMA actuators.

• Journal of Advanced Marine Engineering and Technology
• /
• v.34 no.8
• /
• pp.1107-1114
• /
• 2010

In this paper, a development of a new 5 d.o.f. underwater manipulator which is actuated by electric motors capable of carrying over 20kg payload and of various operation under the water has been studied. The manipulator for applying to midium-sized AUV or ROV has been designed small and light but to handle a heavy 25kg payload. The joint actuator for the manipulator is designed and builted as a new modular typed double oil jacket for waterproofness. Also, superior joint torque performance of the developed joint actuator has been varified through tests in the air. And, a 5 d.o.f. highly perfomable underwater manipulator has been builted applying the developed underwater joint actuators.

• Journal of the Korean Society of Manufacturing Technology Engineers
• /
• v.21 no.3
• /
• pp.362-367
• /
• 2012

Though a micro pump is a crucial element in miniaturized bio-fluidic systems or drug delivery systems, most of the conventional micro pumps still have some limitations to miniaturize their controller system and to obtain the sufficient back pressure which can rise over the inner pressure of human body or experimental animals. In this paper, to overcome these limitation, a new PZT disc and its controller were designed and fabricated to get the sufficient flowrate and the back pressure with guaranteeing embeddability of the controller into pumping body. The amplitudes of the disc deflections were as large as 40 ${\mu}m$ at 200 V - 100 Hz condition. As results of experiments, the flow rate and the back pressure increase when the frequency increases. The obtainable maximum flow rate and back pressure are 5.2 ml/min at 95 Hz and 13.14 kPa at 90 Hz respectively.

• Journal of electromagnetic engineering and science
• /
• v.6 no.2
• /
• pp.135-145
• /
• 2006

This paper presents the theory, design, fabrication and characterization of the novel low actuation voltage capacitive shunt RF-MEMS switch using a corrugated membrane with HRS MEMS packaging. Analytical analyses and experimental results have been carried out to derive algebraic expressions for the mechanical actuation mechanics of corrugated membrane for a low residual stress. It is shown that the residual stress of both types of corrugated and flat membranes can be modeled with the help of a mechanics theory. The residual stress in corrugated membranes is calculated using a geometrical model and is confirmed by finite element method(FEM) analysis and experimental results. The corrugated electrostatic actuated bridge is suspended over a concave structure of CPW, with sputtered nickel(Ni) as the structural material for the bridge and gold for CPW line, fabricated on high-resistivity silicon(HRS) substrate. The corrugated switch on concave structure requires lower actuation voltage than the flat switch on planar structure in various thickness bridges. The residual stress is very low by corrugating both ends of the bridge on concave structure. The residual stress of the bridge material and structure is critical to lower the actuation voltage. The Self-alignment HRS MEMS package of the RF-MEMS switch with a $15{\Omega}{\cdot}cm$ lightly-doped Si chip carrier also shows no parasitic leakage resonances and is verified as an effective packaging solution for the low cost and high performance coplanar MMICs.

• Land and Housing Review
• /
• v.13 no.4
• /
• pp.105-114
• /
• 2022

Non-fire activated fire alarms caused by such actions as cigarette smoke, cooking, and high humidity are fire safety risk factors. In such instances, it is important to quickly locate and replace the actuated detector. However, it is difficult to locate those detectors because most do not have an address function. While new apartments can incorporate addressable fire alarm detectors, in existing apartments there are limitations in converting over to addressable detectors due to cost and power line issues. This study developed an efficient address function for fire alarms in existing apartments. The newly developed system consists of the existing receiver, and a proposed addressable repeater and detector. Utilizing an experimental setup, the performance of the proposed address monitoring system was confirmed to be stable and compatible with the receiver and existing detectors.