• Journal of Institute of Control, Robotics and Systems
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• v.21 no.11
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• pp.1027-1033
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• 2015

For the attitude control of spacecraft, two variable-speed control moment gyros are proposed as main actuators in the article. Since a variable-speed control moment gyro (VSCMG) makes two control torques (gyroscopic torque and reaction torque), two VSCMGs are sufficient for controlling 3-axes attitude. Additionally, there are no singular conditions for two non-parallel VSCMGs. Since gyroscopic torque is usually much greater than reaction torque, the control performances of approximately 3 axes may not be the same. However, several missions can be accomplished by controlling two axes. For such missions, a selective axes control method is proposed. The method selects two axes for a certain task and controls the attitude of the selected axes. For the remaining axis, angular speed is controlled for stabilization. A hardware-in-the-loop simulation has been used to test VSCMG modules and to verify the proposed method. Two VSCMGs can be alternative actuators for small satellites.

• Korean Journal of Applied Biomechanics
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• v.17 no.3
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• pp.69-80
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• 2007

The purpose of this study was to investigate the difference of ground reaction forces of swimming athletes during their starting motion and to find out the most effective starting motions which were used in swimming athletes. The subjects were 9 male and 8 female high school swimming athletes who were athletic career over 7 years and used three starting motions in competition. The ground reaction forces were measured from each athletes performing three starting motion each of the open grap starting motion, closed grap starting motion and track starting motion. For the measurement, the force platform of AMTI company was utilized, and the analysis on measured ground reaction forces were used of Biosoft(Ver. 1.0). The items measured were stance time, Fz max deceleration force and Fz max deceleration force time, Fz mid stance force and Fz mid stance force time, Fz max acceleration force and Fz max acceleration force time, Torque maximum and Torque maximum time, Torque average, Excursion along Y axis of center of pressure of foot, Excursion along X axis of center of pressure of foot, Length of center of pressure of foot, Average velocity of center of pressure of foot. The data measured by the closed grap starting motion, open grap starting motion and track starting motion were analyzed by one-way repeated ANOVA. The results were as follows ; 1. The Fz max deceleration force time, Fz mid stance force, Fz max acceleration force, Torque maximum and Torque maximum time, Excursion along Y axis of center of pressure of foot, Average velocity of center of pressure of foot were significantly fast and large in the closed grap starting motion then open grap starting motion and track starting motion. 2. The Excursion along Y axis of center of pressure of foot was significantly long in the closed grap starting motion then open grap starting motion and track starting motion.

• Transactions of the Korean Society of Mechanical Engineers
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• v.19 no.3
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• pp.605-614
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• 1995

In the automatic transmission using planetary gear there exists nonlinearities due to the finite difference between gear ratios, which yield torque hole during shift and influence on the ride quality and life of clutch. Based on the reaction carrier and converter turbine speed sliding functions are defined. Nonlinear closed-loop control laws are derived using them. Computer simulation shows that the closed loop design is better than the open loop design and semi-closed loop design.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.39 no.10
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• pp.935-945
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• 2011

We study X-axis or Y-axis high agile attitude control method, using four reaction wheels and two control moment gyros. Since normal satellites use same actuators, researchers design an attitude controller first, and then allocate torque commands to each actuator. However, our satellite uses both control moment gyros and reaction wheels, whose torque output differences are very large. Therefore, we cannot apply normal attitude controller design procedure. In this paper, we solve this problem by combining actuator torque command and attitude controller. Through numerical simulations, we show that our method enables satellite high agility.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.21 no.2
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• pp.252-260
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• 1997

In this paper, a friction compensation method using a disturbance observer is proposed for an impedance control of pneumatic manipulator. It is assumed that the generated torque by a pneumatic actuator can be estimated based on the pressure signals and the discharge volume. In order to improve the dynamic characteristics of the pneumatic actuator driven by meter out method, we construct the inner torque control system by feeding back the generated torque. In order to reduce the influence of disturbances comprising friction torque and parameter variations of plant, the impedance control system is constructed with a disturbance observer which estimates the disturbances based on the generated torque of pneumatic actuator, the angular velocity and the reaction torque. From some experiments, it is confirmed that the proposed control system is effective to improve the robustness for the friction torque in the impedance control of a pneumatic manipulator.

• Journal of the Korean Society for Precision Engineering
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• v.28 no.10
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• pp.1181-1188
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• 2011

A control system for stabilizing a small robot or inverted pendulum using twisted gyro wheel is proposed. Conventional stabilizer using inertial wheel employs action-reaction force/torque to control a pendulum, which can generate relatively small torque and short period of output. In this paper, a novel actuation method using twisted gyro torque in 3-dimentional space was proposed to stabilizing a pendulum by twisting the assembly including a rotating gyro wheel. In addition, two special control functions for this type of twisted gyro wheel were designed. One is the function of self-adjusting the mass center of the robot and the other is the torque reloading configuration for continuous torque generation. The proposed system was verified by experimental result and simulation. The designed twisted gyro wheel control system can be easily packed in a small size module and installed in a humanoid robot or inverted pendulum type mechanism.

• Journal of Astronomy and Space Sciences
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• v.28 no.4
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• pp.311-317
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• 2011

Momentum changing actuators like reaction wheels and control moment gyros are generally used for spacecraft attitude control. This type of actuators produces force and torque disturbances. These disturbances must be reduced since they degrade the quality of spacecraft attitude control. Major disturbances are mainly due to static and dynamic imbalances. This paper gives attention to the reduction of the static and dynamic imbalance. Force/torque measurement system is used to measure the disturbance of the test reaction wheel. An identification method for the location and magnitude of the imbalance is suggested, and the corrections of the imbalance are performed using balancing method. Through balancing, the static and dynamic imbalance is remarkably reduced.

• Polymer(Korea)
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• v.25 no.6
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• pp.848-854
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• 2001

The crystallization behavior of poly (ethylene terephthalate) (PET) /ethylene-methyl acrylate-glycidyl methacrylate copolymer (E-MeA-GMA) blend was studied. The extent of reaction and the reaction rate between PET and E-MeA-GMA were measured with torque rheometer, FT-IR and SEM. The effects of the grafting reaction on the crystallization behavior were investigated with DSC and time-resolved light scattering (TR-LS) techniques. The morphological change at the lamellar level was also examined by using a small angle X-ray scattering (SAXS) method.

• Journal of Power System Engineering
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• v.12 no.2
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• pp.55-61
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• 2008

This paper discusses the advantages of using Fourier-based periodic excitation and of combining internal and external models in dynamic robot parameter identification. Internal models relate the joint torques or forces with the motion of the robot; external models relate the reaction forces and torques on the bedplate with the motion data. This combined model allows to combine joint torque/force and reaction torque/force measurements in one parameter estimation scheme. This combined model estimation will yield more accurate parameter estimates, and consequently better predictions of actuator torque, which is shown by means of a simulated experiment on a CRS A465 industrial robot.

• Journal of Electrical Engineering and Technology
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• v.11 no.6
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• pp.1628-1633
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• 2016

This paper derives an effective shape of the ferromagnetic pole pieces (low-speed rotor) for the reduction of transmission torque ripple in a magnetic-geared machine based on a Box-Behnken design (BBD). In particular, using a non-linear finite element method (FEM) based on 2-D numerical analysis, we conduct a numerical investigation and analysis between independent variables (selected by the BBD) and reaction variables. In addition, we derive a regression equation for reaction variables according to the independent variables by using multiple regression analysis and analysis of variance (ANOVA). We assess the validity of the optimized design by comparing characteristics of the optimized model derived from a response surface analysis and an initial model.