• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.50 no.4
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• pp.269-275
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• 2022

In ideal configuration, elapsed-time method can measure the exact reaction wheel speed. But in real configuration, the speed measurement error exists due to tacho pulse non-uniformity. In this research, we study the method which overcome the non-uniformity effects. First, we introduce the method which spin the wheel at the specific speed and measure the non-uniformity. Then, we propose the real-time measurement error correction method which uses the obtained non-uniformity information. This method calculate the speed candidates from the elapsed-time method's counts and non-uniformity information, and choose the closest speed to the real speed. Through simulation, we show that proposed method measure the exact speed regardless of non-uniformity, and fast wheel speed control is possible.

• Journal of the korean Society of Automotive Engineers
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• v.9 no.1
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• pp.49-56
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• 1987

This study is a part f the research on the coupled vibration of train wheel with stepped thickness and rail. The research was conducted for the purpose of examining the dynamic characteristics of train wheel which considered the effect of rotatory inertia and preventing the vibrations of the high speed railway. The In-plane compressive stresses were computed by the rotation of train wheel and the reaction depending on the condition of rolling. The equation of transverse vibration of the train wheel was obtained by Lagrange's equation. As a result of study, it is known that the effect of rotatory inertia and the increment of thickness ratio, h over bar decrease frequency but the increment of radius ratio, r over bar increase frequency.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.44 no.9
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• pp.806-813
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• 2016

For satellite attitude control and maneuver, normally four reaction wheels are used through pyramid configuration. However, if satellite's moment of inertia is large or available reaction wheels' capability is small, we can consider using five reaction wheels. In this case, we should think the arrangement of wheels and their operation method. Active SAR satellite requires high agile maneuver about roll axis to achieve looking angle change. In this research, we study the operation method of five reaction wheels configuration for fast roll maneuver.

• Journal of the Korean Society for Precision Engineering
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• v.23 no.1 s.178
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• pp.145-151
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• 2006

Wheel bearing unit has been exclusively applied to car wheel supporting device. The seal for wheel bearing is required to have both high sealing effects and low reaction forces because wheel bearing are operated on adverse environmental conditions such as mud and splash water. High sealing effects are for the protection of bearing ball wear from dust influx. In order to ensure high sealing effects, it is a easiest way to increase contact force which are affected by geometric characteristics, material properties and interferences between seal and inner bearing but induces higher wear phenomena. Interferences in all variables are most important factor to determine the performance of wheel bearing. In this study, optimization of interference amount was performed with finite element analysis with commercial code ABAQUS. For the sake of finite element analysis, tensile tests of rubber material were conducted and governing equation of nonlinear behavior was achieved. Hock-up bearing was manufactured with optimized interference amount. Results of torque and mud spray tests using this bearing unit are performed. Less torque and moisture influx of bearing with optimized interference amount is evidence to validity of this study.

• Bulletin of the Korean Space Science Society
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• 1997.04a
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• pp.28.1-28
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• 1997

• Transactions of the Korean Society of Mechanical Engineers
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• v.11 no.1
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• pp.63-73
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• 1987

This study is a part of the research on the coupled vibration of train wheel with the stepped thickness and rail. The research was conducted for the purpose of examining the dynamic characteristics of train wheel at the running state and preventing the vibrations of the high speed railway. The stress at the boundary surface of web and rim, .sigma.$_{c}$, was analyzed in consideration of the uniform In-plane compressive stress depending on the conditions of rolling and the In-plane compressive stress depending on the rotation of train wheel. Then the equation of transverse vibration of the annular plate with the stepped thickness was analyzed by Rayleigh-Ritz's method. As a result of study, it was known that the rotational speed increase the natural frequency slightly and the acceleration level highly while the reaction force between train wheel and rail decrease the natural frequency linearly and the critical buckling is generated at n=1.

• Journal of the Korean Society of Industry Convergence
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• v.19 no.2
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• pp.81-87
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• 2016

This paper presents a new approach to control of stable motion of single wheel driving robot system of a pitch that is controlled by an in-wheel motor and a roll that is controlled by a reaction wheel. This robot doesn'thave any actuator for a yaw axis control, which makes the derivation of the dynamics relatively simple. The Lagrange equations was applied to derive the dynamic equations of the one wheel driving robot to implement the dynamic speed control of the mobile robot. To achieve the real time speed control of the unicycle robot, the sliding mode control and optical regulator are utilized to prove the reliability while maintaining the desired speed tracking performance. In the roll controller, the sigmoid-function based robust controller has been adopted to reduce the vibration by the situation function. The optimal controller has been implemented for the pitch control to drive the unicycle robot to follow the desired velocity trajectory in real time using the state variables of pitch angle, angular velocity, angle and angular velocity of the driving wheel. The control performance of the control systems from a single dynamic model has been illustrated by the real experiments.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2004.11a
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• pp.695-698
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• 2004

STSAT RWA (Reaction Wheel Assembly) micro-vibration is measured using KISTLER dynamic plate that can provide the time signals of three orthogonal forces and torques simultaneously up to 400Hz. In the post-processing, measured data are evaluated with respect to the wheel spin rate in both time and frequency domains, and the static/dynamic unbalances are evaluated from the extracted first harmonic component. Also the friction torque profile at each wheel speed is estimated from the measured data. Several higher order harmonic components are observed, that comes from its rotor shape as well as the wheel bearing characteristics. One of the most peculiar characteristics of this wheel is that the dynamic properties of two radial unbalance components are much different from each other as the RWA mounting configuration on a spacecraft is different from conventional RWA mounting configuration. Rocking mode is not appeared below 400Hz for all operating speed because the wheel size is very small. The post-processed results will be used for jitter analysis of STSAT due to RWA micro-vibration.

• Journal of the Korean Society for Aviation and Aeronautics
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• v.18 no.4
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• pp.30-37
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• 2010

This paper deals with attitude determination and parameter estimation problems for a lunar module. For this we first derive equations of motion for the lunar module by considering allocation locations (configurations) of reaction thruster and a reaction wheel assembly. The lunar module is assumed as a rigid body. In order to include the effect of fuel sloshing on the dynamics of the lunar module, we model it as a spherical pendulum for a simple analysis. For estimating angular rates and moment of inertia of the module, we employ an extended Kalman filter and the least mean square algorithms, respectively. Finally we construct a dynamical model for the lunar module by combining all these elements.

• Journal of Institute of Control, Robotics and Systems
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• v.20 no.5
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• pp.537-542
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• 2014

This paper proposes a control system to keep the balance of a unicycle robot. The robot consists of the disk and wheel, for balancing and driving respectively, and the tile angle is measured and used for balancing by the IMU sensor. A PID controller is designed based on a non-model based algorithm to prove that it is possible to control the unicycle robot without any approximated linear system model such as the sliding mode control algorithm. The PID controller has the advantage that it is simple to design the controller and it does not require an unnecessary complex formula. In this paper, assuming that the pitch and roll axis are dynamically decoupled, each of the two controllers are designed separately. A reaction wheel pendulum method is used for the control of the roll axis, that is, for balancing and an inverted pendulum concept is used for the control of the pitch axis. To confirm the performance of the proposed controllers using MATLAB Simulink, the dynamic equations of the robot are derived.