• 유공압시스템학회논문집
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• 제5권1호
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• pp.1-5
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• 2008

Pneumatic driving systems have hard non-linear characteristic and large friction force compared with driving power. Hence, it cannot be robust against parameter uncertainties, modelling error, disturbance and noise. In this study, we apply a mixed $H_2/H_{\infty}$ control to the generalized plant for a pneumatic driving apparatus system including parameter uncertainty and disturbance. In order to design the $H_2/H_{\infty}$ controller, we use the LMI technique. To evaluate control performance and robust stability of the designed controller, we compare it with a conventional controller such as PVA(Position-Velocity-Acceleration state controller) using the simulation results. As a result, it can be known that designed controller shows better robust stability than the conventional controller.

• 드라이브 ㆍ 컨트롤
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• 제1권1호
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• pp.23-26
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• 2004

• 대한기계학회논문집A
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• 제35권5호
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• pp.533-541
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• 2011

본 연구에서는 공압형 인공근육으로 이루어진 회전관절의 동적 특성을 파악하기 위해서 두 개의 공압형 인공근육으로 이루어진 상극구동 시스템의 주파수 응답특성실험을 수행하였다. 인공근육의 작동범위에서 수행한 주파수 응답결과에 최적으로 근사할 수 있는 선형모델을 추정하고 이를 이용하여 회전관절의 움직임을 정밀하게 제어할 수 있는 모델에 기초한 제어법칙을 제시하였다. 사각파, 정현파 기준궤적에 대한 회전관절의 추종실험을 수행한 결과 선형 추정모델에 의한 보상효과와 피드벡 이득에 의한 추종오차 제거효과를 통해서 우수한 궤적 추정성능을 보였다.

• 한국정보통신학회논문지
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• 제26권11호
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• pp.1697-1705
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• 2022

대규모 해양 건설에 따른 해양 건설 작업자의 안전 및 해양 오염 문제가 발생하고 있다. 특히, 해양의 수중 건설 작업은 다른 작업에 비해 위험도가 높아 작업자의 안전을 고려한 무인 대체 시스템의 적용이 필요하다. 본 논문에서는 수중 무인 작업을 위해 해양 건설용 ROV 시스템을 개발 완료하였다. 수중 추진체의 제어를 통한 위치제어, 공압 gripper 그리고 수중 작업 모니터링을 위한 모니터링 시스템을 개발하였다. 성능평가 결과 ROV의 수중 이동속도는 최대 0.89m/s로 평가되었으며, 공압 gripper의 최대 하중은 80kg의 하중 허용 가능함을 확인하였다. 또한, 수중 ROV의 제어와 수중 영상 스트리밍에 필요한 네트워크 대역폭이 300Mbps 이상으로 평가되었으며, 유선 통신은 205m에서 92.7 ~ 95.0Mbit/s, 무선 통신은 78.3 ~ 84.8Mbit/s의 속도로 평가되었다.

• 대한산업공학회지
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• 제21권4호
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• pp.593-608
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• 1995

In this study two issues are considered, one is to develop a pneumatic servomechanism using a direct-connected circuit between inlet and outlet, the other is to design two kinds of advanced controllers such as fuzzy and PID controllers for a fingering system. Besides, the application of the advanced controllers to the newly proposed servomechanism is presented. The procedure of this study is composed of following 6 steps : [Step 1] Structuring of a control system; [Step 2] Development of a pneumatic circuit for the servomechanism ; [Step 3] Characteristic analysis of the valve and cylinder systems ; [Step 4] Determination of optimal parameters of the PID controller ; [Step 5] Design of a fuzzy controller and parameter tuning; and, [Step 6] Experimental analysis of fuzzy and PID controllers. Experimental results show that the newly proposed pneumatic servomechanism has good performance and, not only the performance of the fuzzy controller is better than that of the PID controller but also the fuzzy controller fits well to the control of the pneumatic servomechanism.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.1146-1151
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• 2003

Pneumatic servo valve is an electro-mechanical device which change electric signals to a proper pneumatic signals, that is, flowrate and pressure. In this study, a pneumatic servo valve was designed and each simulation was conducted on any variation in the flowrate depending upon the magnetic force of the linear force motor and the displacement of the spool. And permanent magnet was used as a material for the plunger of the servo valve. Thereby, a low electrical power consumption type coil was desinged. And a modeling for the coil design was conducted by using the magnetic circuit. also, the feasibility of the modeling was verified by using a commercial magnetic field analysis program. The designed and fabrication of the spool and sleeve, position sensor, servo controller and the dynamic characteristic verified by the experiment.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1991년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 22-24 Oct. 1991
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• pp.523-527
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• 1991

A rubber pneumatic controlled actuator is a new actuator. It is very light With a high power-to-weight ratio. In this thesis, a control method for a two link robot arm using the rubber actuator is developed. The structure of the servo control is made up of two sections. The position control is performed by PID feedback control. The air pressure is controlled by Servo Valve Unit driven by PWM and the control input is compensated by software operation. The numerical simulation of this control method to two link robot arm is presented to verify the performance of the closed loop system. The actual control of the real two link robot arm with rubber actuator is taken and its results are discussed.

• Journal of Mechanical Science and Technology
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• 제17권7호
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• pp.978-985
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• 2003

In this paper, a new proportional solenoid invented for pneumatic directional control valves is introduced. The new proportional solenoid has two-dimensional structure and a pivoting armature on which the friction force is inherently negligible. Another advantageous feature of this solenoid is that its mechanical parts can be easily manufactured and assembled. The working principle and design example of the now proportional solenoid, its application to the activation of a 4/3-way directional control valve, and the evaluation of its control performance in a position control loop are reported.

• Nuclear Engineering and Technology
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• 제41권6호
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• pp.813-820
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• 2009

A rapid pneumatic transfer system (PTS) for an instrumental neutron activation analysis (INAA) is developed as an automatic irradiation facility involving the measurement of a short half-life nuclide and a delayed neutron counting system. Three new PTS designs with improved functions were constructed at the HANARO research reactor in 2006. The new system is composed of a manual system and an automatic system for both an INAA and a delayed neutron activation analysis (DNAA). The design and basic conception of a modified PTS are described, and the functions of system operation and control, radiation protection and emissions of radioactive gas are improved. In addition, a form of capsule transportation of these systems is tested. The experimental results pertaining to the irradiation characteristics with variation of the neutron flux and the temperature of the irradiation position with the irradiation time are presented, as is an analysis of the reference material for analytical quality control and uncertainty assessments.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1991년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 22-24 Oct. 1991
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• pp.968-973
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• 1991

Seven axis modular type pneumatic manipulator is composed of electro-pneumatic automation system which contributes to factory automation by performing loading & unloading process successively which is simple routine work of dealing item of machine tool, catapult, assembly machine, welding machine and so on. In this study, we obtained soft and quick movement in a large space and good reliability motion of various function by combining several actuators which perform rotation movement as well as linear movement at the same time. Gripper which apply to rotary sensor transmitted a structure to demanded position. This development item of 5kgf load prevent stick-slip phenomena of stroke end by designing high cushion internal. We develope flexible manipulator which conforms to demand of user by applying multiple sequence program.