• Journal of computational fluids engineering
• /
• v.20 no.2
• /
• pp.81-87
• /
• 2015

For Underwater vehicles, Unwanted roll excursions are inevitable as they are caused by induced propeller torque, disturbances, and banking motion during turns. To estimate the manoeuvring performance of underwater vehicle, it is necessary to obtain the roll coefficient of body. This paper was covered estimation of roll coefficient of underwater vehicle using STAR-CCM+, commercial CFD(Computational Fluid Dynamics) code. The RANS equations for incompressible fluid flows was solved numerically by using a finite volume method. An MRF(Moving Reference Frame) Method was Also adopted for rotations of body. For the validation, the flow around a DARPA SUBOFF bare hull model was simulated and good agreement with experiments was obtained. And Pure roll coefficients were calculated and campared with the experimental data which were presented by Seoul National University. Finally, an underwater vehicle model with propeller was simulated and analyzed for estimation of roll coefficient variation caused by induced propeller torque.

• Journal of the Korean Society for Precision Engineering
• /
• v.10 no.3
• /
• pp.69-80
• /
• 1993

It is important to prevent roll failure in hot rolling process for reducing maintenance coat and production loss. Roll material and rolling conditions such as the roll force and torque have been intensively investigated to overcome the roll failures. In this study, a computer roll life prediction system under working condition is developed and evaluated on IBM-PC level. The system is composed and fatigue estimation models which are stress analysis, crack propagation, wear and fatigue estimation. Roll damage can be predicted by calculating the stress anplification, crack depth propagation and fatigue level in the roll using this computer model. The developed system is applied to a work roll in actual hot rolling process for reliability evaluation. Roll failures can be diagnosed and the propriety of current working condition can be determined through roll life prediction simulation.

• Journal of the Korean Society for Precision Engineering
• /
• v.2 no.3
• /
• pp.47-58
• /
• 1985

The study is concerned with the analysis of the required loads and torque in the Three-Roll Power Spinning Process by using the Method of Force Polygon Diagram. Experiments are carried out using pure lead billets at room temperature. The radial force, the axial force and the torque occurring during the process are calculated theoretically and are compared with the experimental data. An approximate load distribution is known by the Force Polygon Diagram.

• Journal of Institute of Control, Robotics and Systems
• /
• v.16 no.7
• /
• pp.688-694
• /
• 2010

This paper presents a gravity compensator for the manipulator of a service robot. The manipulator of a service robot is operated with low velocity for the safety reason in most cases. In this situation gravitational torques generated by the mass of links are often much greater than dynamic torques for motion. A gravity compensator can counterbalance the gravitational torques, thereby enabling to utilize relatively low power motors. In this paper the gravity compensation for the roll-pitch rotation is considered which is often used for the shoulder joints of the manipulator of a service robot or humanoid robot. A gimbals is implemented and two 1-dof gravity compensators are equipped at the base. One compensates the gravitational torque at the roll joint and another provides the compensational torque for the gimbals. Various analyses showed that the proposed compensator can counterbalance the gravitational torques of 87% at the pitch joint and 50% at the roll joint. It is verified from dynamic simulations that the proposed compensator effectively counterbalances the gravitational torques.

• Journal of KSNVE
• /
• v.7 no.4
• /
• pp.681-688
• /
• 1997

The purpose of engine mount system is to reduce the noise and vibration caused by engine vibration, and to decouple the roll and bounce mode at idle. To reduce the noise and vibration level in a vehicle, it is important to make the design optimization of engine mount system that consider the moment of inertia and inclination of mount rubber. As a result, according to the definition of Torque Roll Axis (TRA), the vibration axis at idle must be on the TRA or very close to it. In this paper, we studied the effect of the design optimization of engine mount system. And we have achieved good improvements in noise and vibration quality of F.R. vehicle.

• 제어로봇시스템학회:학술대회논문집
• /
• 1993.10a
• /
• pp.793-798
• /
• 1993

In this study the attitude control of the KOREASAT is investigated. The KOREASAT is a geostationary satellite and its 3 attitude angles, namely, roll, pitch and yaw angles, are stabilized by using the 3-axis stabilization technique. In the pitch control loop, the pitch attitude angle received from the earth sensor is processed in the attitude processing electronics by using PI type control logic, and the control command is sent to the momentum wheel assembly to generate the control torque by varying the wheel rate. The roll/yaw attitude control is performed by activating a magnetic torquer or by firing appropriate thrusters. The magnetic torquer interacts with the earth magnetic field to produce the control torque, and the thrusters are used to control the larger roll attitude errors. In this study dynamic modelling of the satellite is performed. And the earth sensor, the momentum wheel, and the magnetic torquer are mathematically modelled. The 3-axis attitude control logic is implemented to make the closed-loop system and simulations are carried out to verify the implemented control laws.

• Journal of Institute of Control, Robotics and Systems
• /
• v.21 no.4
• /
• pp.301-308
• /
• 2015

In this paper, we propose an LTBC (Low Tension and Load Balance Control) scheme to improve a coiling shape control by reduction the tension fluctuation by the torque disturbance in the down coiler process of hot strip mills. The proposed controller is a combination of an LTC to control the overload at load-on in the mandrel and an LBC to regulate the load balance of the upper and bottom pinch roll. A tension calculation model is suggested with the concept of the tension deviation. The effectiveness of the proposed control scheme is verified from simulation under a disturbance of the pinch roll torque. Using a field test, we show that the performance of the shape and tension control is improved by the LTBC control.

• Journal of the Korean Society of Propulsion Engineers
• /
• v.15 no.2
• /
• pp.29-35
• /
• 2011

The behaviors of combustion-induced internal flows of SRM equipped with fin-slot grain and submerged nozzle are very complex and diverse. Cold air-flow tests for 2D and 3D scale models of SRM have been done in order to specify the visualization method to analyze particular internal flow patterns such as roll-torque inducing flow. Swirl flow induced by asymmetric vortical tubes also has been visualized through employing various light source and recording directions.

• 제어로봇시스템학회:학술대회논문집
• /
• 1997.10a
• /
• pp.325-328
• /
• 1997

In this paper the modeling and control of a twin roll strip caster is investigated. Mathematical models for the strip casting process are obtained by analyzing five critical areas such that the molten steel level in the pool, solidification process, roll separating force and torque, roll dynamics including hydraulic actuators, and roll drive system. A two-level control strategy is proposed. At lower level, three local subsystems are independently feedback-controlled by suitable local controllers which perform well to the behaviors of each subsystem. They are a variable structure control of the molten steel level in the pool, an adaptive predictive control of the roll gap which is directly related to the strip thickness, and an $H^{\infty}$ control of the roll drive system. At higher level, all reference signals to the lower level subsystems are generated by an optimal controller in the perspective of regulating the strip thickness and roll separating force. Simulations are provided..

• Journal of the Korea Academia-Industrial cooperation Society
• /
• v.18 no.2
• /
• pp.71-76
• /
• 2017

The roll damping problem in the design of ships and offshore structures remains a challenge to many researchers due to the fluid viscosity and nonlinearity of the phenomenon itself. In this paper, the study on viscous roll damping of a circular cylinder was carried out using forced oscillations. The roll moment generated by forced oscillation using a torque sensor was measured for each forced oscillation period and compared with the empirical formula. Although the magnitude of the measured torque from the shear force was relatively small, the results were qualitatively similar to those obtained from the empirical formula, and showed good agreement with the quantitative results in some oscillation periods. In addition, the flow around the circular cylinder wall was observed closely through the PIV measurements. Owing to the fluid viscosity, a boundary layer was formed near the wall of the circular cylinder, and a minute wave was generated by periodical forced oscillations at the free surface through the PIV measurement. In this study, the suitability of the empirical formula for the roll moment caused by viscous roll damping was verified by model tests. The wave making phenomenon due to the fluid viscosity around the wall of a circular cylinder was testified by PIV measurements.