• 한국정밀공학회지
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• 제21권10호
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• pp.127-136
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• 2004

This paper is the first of two companion papers concerning the analysis and design of a pneumatic vibration isolation system. The design optimization of the pneumatic vibration isolation system is required for the reduction of cost, endeavor and time, and it needs modeling and calculation algorithm. The nonlinear models are devised from the fluid mechanical expression for components of the system and the calculation algorithm is derived from the mathematical relationship between the models. It is shown that the orifice makes the nonlinear property of the transmissibility curve that the resonant frequency changes by the amplitude of excited vibration. Linearization of the nonlinear models is tried to reduce elapsed time and truncation error accumulation and to enable the transmissibility calculation of the system with multi damping chambers. The equivalent mechanical models generated by linearization clarify the function of each component of the system and lead to the linearized transfer function that can give forth to the transmissibility exactly close to that of nonlinear models. The modified successive under-relaxation method is developed to calculate the linearized transfer function.

• 연구논문집
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• 통권28호
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• pp.73-87
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• 1998

A pneumatic control system of compressed air as a working fluid has a variety of advantages such as low price, high respondence, non-explosion and good control performance and thus has many applications in the field of automobile, electronic and semiconductor industry. However, it has a difficulty in contolling a precise position due to quick response of system and compressibility of working fluid and. in particular, shock stress may occur due to an external load, resulting in fracture of a cylinder cap unless cushion device is equipped in the linear actuator. To avoid this, a cushion device should be installed for damping effect of the external load and the supply pressure as well as for decreasing shock stress and vibration caused by high speed rotation. Previous studies include dimensionless analyses and computer simulations of cushion capability and experiments of horizontally-mounted cylinder performances. A new attempt is experimentally made in this study using a vertically-mounted cylinder under an operation condition of 4, 5 and 6 (bar) as supply pressure and 40, 70 and 100 (kgf) as external load. It turns out that the cushion pressure is mainly a function of the external load rather than the supply pressure. The cushion characteristics was also revealed in the meter-in circuit.

• 한국항공운항학회지
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• 제23권1호
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• pp.56-61
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• 2015

Because of kinematic complexities, nonlinear behavior, etc, the performance of oleo-pneumatic landing gear is predicted by qualified commercial softwares. While commercial softwares predict more exactly, it takes a long time to construct or modify a model. At initial design stage, design parameters can be determined quickly and exactly enough with simple 2 degree of freedom model of mass, spring and damping. 2 degree of freedom model can be easily applied to optimization and reliability analysis which takes repetitive computation. In this paper, oleo-pneumatic landing gear is modeled as a nonlinear 2 degree of freedom model. The analysis are compared with landing gear drop test. To determine design parameter, optimization problem is solved with genetic algorithm and 2 degree of freedom model.

• 한국기계가공학회지
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• 제18권4호
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• pp.10-15
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• 2019

In this paper, we report a robust steering control using time delay control for the vehicle dynamics variation due to tire/road contact condition variation, the lateral disturbance force due to the side wind, and the yaw disturbance moment due to the difference between the left and right tires' pneumatic pressure. We controlled the side slip and yaw damping compensation for rapid steering at the high velocity of the vehicle. Based on the developed control, the driver can only consider the desired path without concerning on the vehicle dynamics variation, disturbances, and undesired side slip and yaw oscillations. Simulation results show that robustness from the vehicle dynamics variation and disturbances was achieved by using the developed time delay control. We evaluated the side slip and yaw damping compensation capability for the rapid steering at the high velocity of the vehicle in the cases of three control methods.

• Journal of Mechanical Science and Technology
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• 제19권3호
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• pp.778-791
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• 2005

A novel pneumatic artificial muscle actuator (PAM actuator), which has achieved increased popularity to provide the advantages such as high strength and high power/weight ratio, low cost, compactness, ease of maintenance, cleanliness, readily available and cheap power source, inherent safety and mobility assistance to humans performing tasks, has been regarded during the recent decades as an interesting alternative to hydraulic and electric actuators. However, some limitations still exist, such as the air compressibility and the lack of damping ability of the actuator bring the dynamic delay of the pressure response and cause the oscillatory motion. Then it is not easy to realize the performance of transient response of pneumatic artificial muscle manipulator (PAM manipulator) due to the changes in the external inertia load with high speed. In order to realize satisfactory control performance, a variable damper-Magneto­Rheological Brake (MRB), is equipped to the joint of the manipulator. Superb mixture of conventional PID controller and a phase plane switching control method brings us a novel controller. This proposed controller is appropriate for a kind of plants with nonlinearity, uncertainties and disturbances. The experiments were carried out in practical PAM manipulator and the effectiveness of the proposed control algorithm was demonstrated through experiments, which had proved that the stability of the manipulator can be improved greatly in a high gain control by using MRB with phase plane switching control method and without regard for the changes of external inertia loads.

• 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.

• 소음진동
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• 제9권2호
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• pp.285-294
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• 1999

Transient analysis for compressible fluid flow has been performed experimentally and analytically to study the dynamic characteristics of the end volume transmission lines following a sudden pressure change a its entrance. The numerical method was developed based on the method of characteristics. The sudden pressure at its entrance was generated by rupture of diaphragm in a shock tube. The sudden pressure was used to obtain the response, as input signal for the numerical analysis. The response to the sudden pressure at the end volume was measured using a pressure transducer. The experimental result shows good agreements with the numerical result. The effects of tube length, its diameter and end volume magnitude are evaluated on the responses of the pressure and on the damping factor. It is found that the viscous damping effects on the response through the transmission pipeline becomes larger with increasing pi;eline length and decreasing diameter of the pipe and the fluid-elastic stiffness decreases with increasing the terminal volume. The numerical approach presented in this paper can be very useful in designing the instrument and control system.

• 한국해양공학회지
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• 제35권4호
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• pp.296-304
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• 2021

Research on the development of marine renewable energy is actively in progress. Various studies are being conducted on the development of wave energy converters. In this study, a numerical analysis of wave-energy extraction performance was performed according to the body shape and scale of the sloped oscillating water column (OWC) wave energy converter (WEC), which can be connected with the breakwater. The sloped OWC WEC was modeled in the time domain using a two-dimensional fully nonlinear numerical wave tank. The nonlinear free surface condition in the chamber was derived to represent the pneumatic pressure owing to the wave column motion and viscous energy loss at the chamber entrance. The free surface elevations in the sloped chamber were calculated at various incident wave periods. For verification, the results were compared with the 1:20 scaled model test. The maximum wave energy extraction was estimated with a pneumatic damping coefficient. To calculate the energy extraction of the actual size WEC, OWC models approximately 20 times larger than the scale model were calculated, and the viscous damping coefficient according to each size was predicted and applied. It was verified that the energy, owing to the airflow in the chamber, increased as the incident wave period increased, and the maximum efficiency of energy extraction was approximately 40% of the incident wave energy. Under the given incident wave conditions, the maximum extractable wave power at a chamber length of 5 m and a skirt draft of 2 m was approximately 4.59 kW/m.

• 한국도로학회논문집
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• 제16권6호
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• pp.121-128
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• 2014

PURPOSES : The objective of this study is to evaluate the tack-coating material's properties using the bitumen bond strength(BBS) test and damping test as function of changed curing times. In this study, bonding strength tests were performed according to the curing time of tack coating materials. METHODS : In order to investigate bonding characteristic of tack coating materials, the Pneumatic Adhesion tensile Testing Instrument(PATTI) device is used to measure the bond strength between the tack coating materials and aggregate substrate based on the AASHTO TP-91. Also, damping test as in situ test was used to determine an appropriate traffic openting time for construction vehicle. Four different tack-coating materials were used in this study. The BBS tests were performed a one hour curing and testing temperatures of $5^{\circ}C$, $15^{\circ}C$, and $25^{\circ}C$. Damping test was conducted at 30min, 60min, 90min, and 120 min of curing times with temperatures of $20^{\circ}C$ and $30^{\circ}C$. RESULTS and CONCLUSIONS : The BBS test results show various bond strength as function of tack coat materials. At the same testing condition, A tack coat material shows almost two times higher than D tack coat materials although both materials are satisfied the criteria of material's physical properties. Also, Dampting test results shows similar trend with BBS test result. The damping test result was significantly changed as function of tack coat materials. Based on this study, the tack coating material's curing time is very important. Therefore, both curing time and the bond strength's characteristic has to be considered in standard specification.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.1983-1989
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• 2005

Industrial robots are powerful, extremely accurate multi-jointed systems, but they are heavy and highly rigid because of their mechanical structure and motorization. Therefore, sharing the robot working space with its environment is problematic. A novel pneumatic artificial muscle actuator (PAM actuator) has been regarded during the recent decades as an interesting alternative to hydraulic and electric actuators. Its main advantages are high strength and high power/weight ratio, low cost, compactness, ease of maintenance, cleanliness, readily available and cheap power source, inherent safety and mobility assistance to humans performing tasks. The PAM is undoubtedly the most promising artificial muscle for the actuation of new types of industrial robots such as Rubber Actuator and PAM manipulators. However, some limitations still exist, such as the air compressibility and the lack of damping ability of the actuator bring the dynamic delay of the pressure response and cause the oscillatory motion. In addition, the nonlinearities in the PAM manipulator still limit the controllability. Therefore, it is not easy to realize motion with high accuracy and high speed and with respect to various external inertia loads in order to realize a human-friendly therapy robot To overcome these problems a novel controller, which harmonizes a phase plane switching control method with conventional PID controller and the adaptabilities of neural network, is newly proposed. In order to realize satisfactory control performance a variable damper - Magneto-Rheological Brake (MRB) is equipped to the joint of the manipulator. Superb mixture of conventional PID controller and a phase plane switching control using neural network brings us a novel controller. This proposed controller is appropriate for a kind of plants with nonlinearity uncertainties and disturbances. The experiments were carried out in practical PAM manipulator and the effectiveness of the proposed control algorithm was demonstrated through experiments, which had proved that the stability of the manipulator can be improved greatly in a high gain control by using MRB with phase plane switching control using neural network and without regard for the changes of external inertia loads.