• Transactions of the Korean Society of Mechanical Engineers A
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• v.25 no.2
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• pp.198-205
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• 2001

Recently, almost all hard disk drives employ the rotary actuator system. The performance of an HDD depends on the accuracy and speed of tracking motion. We study the dynamics of head-suspension assembly during track seek. We develop the numerical analysis program to study the dynamic characteristics of HDD suspension system considering the air bearing effects. The track seek simulation by using the developed program helps to estimate the effect of the suspension vibration on the air bearing dynamics. We calculate the behaviour of the air bearing for the given track seek profile and calculate the positioning error during track seek process due to the lateral deflection of the suspension.

• Journal of Institute of Control, Robotics and Systems
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• v.18 no.8
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• pp.768-773
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• 2012

Packet loss compensation techniques are increasingly important to stable remote control over wireless communication in WNCS (Wireless Networked Control Systems). Its time varying channels, limited bandwidth, interference, and poor signal not only leads to packet loss or latency, but also can negatively affect performance and system stability. This paper presents a compensation technique exploiting an EWMA (Exponentially Weighed Moving Average)-based value estimator to clarify the influence of packet loss on the overall WNCS behavior. As an example of actuator to be remotely controlled, a rotary-type inverted pendulum has been considered, and modeled. Performance evaluation results through Matlab/Simulink and Truetime co-simulation confirm the superiority of the proposed value estimation method over previous approaches.

• Proceedings of the KIEE Conference
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• 1996.11a
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• pp.15-18
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• 1996

In the case of need for reciprocating motion, the study for application of Linear Oscillating Actuator(LOA) is being accomplished. LOA is the simpler and more efficient than other linear apparatus using the rotary motor because LOA produce the thrust force without any converter such as cam, clutch, rack, pinion and belt, etc. We designed the flat moving core type LOA and manufactured for trial. This paper shows the structure and dynamic characteristics of LOA.

• Journal of Institute of Control, Robotics and Systems
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• v.11 no.2
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• pp.103-108
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• 2005

Loading/Unloading task in the real industry is performed by crane, but most of the loading/unloading task with the weight of 5kg∼30kg is done by human workers and this kind of work causes industrial disaster of workers. Therefore it is necessary to develop low cost loading/unloading manipulator system to prevent this kind of industrial accidents. This paper is concerned with the design and fabrication of 2 axis pneumatic manipulators using on/off solenoid valves and accurate position control without respect to the external load and low damping in the pneumatic rotary actuator. To overcome the change of external load, switching of control parameter using LVQNN (Learning Vector Quantization Neural Network) is newly applied, which estimates the external loads in the pneumatic cylinder. As an underlying controller, a state feedback controller using position, velocity and acceleration is applied to the switching control system. The effectiveness of the proposed control algorithms are demonstrated through experiments of pneumatic cylinder with various loads.

• Smart Structures and Systems
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• v.23 no.4
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• pp.319-327
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• 2019

Continuous rotating SMA actuators require motion conversion mechanisms, so their structure is relatively complex and difficult to realize the miniaturization. Here, a new type of continuous rotating actuator driven by SMA is proposed. It combines the movable tooth drive with SMA drive. The structure and working principle of the integrated movable tooth drive system is introduced. The equations of temperature, stress and strain of memory alloy wires, and the output torque of drive system are given. Using these equations, the temperature, the output forces of the SMA wires, and output torque of the drive system are studied. Results show that the compact drive system could give large output torque. To obtain large output torque plus small fluctuation, large eccentricity and small diameter of the SMA wire should be taken. Combined application of ventilation cooling and high current can increase the rotary speed of the drive system.

• International Journal of Aeronautical and Space Sciences
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• v.17 no.3
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• pp.442-453
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• 2016

A significant source of vibration in helicopters is the main rotor system, and it is a technical challenge to reduce the vibration in order to ensure the comfort of crew and passengers. Several types of passive devices have been applied to conventional helicopters in order to reduce the vibration. In recent years, helicopter manufacturers have increasingly adopted active vibration control systems (AVCSs) due to their superior performance with lower weight compared with passive devices. AVCSs can also maintain their performance over aircraft configuration and flight condition changes. As part of the development of AVCS software for light civil helicopter (LCH) applications, a test bench is constructed and vibration control tests and simulations are performed in this study. The test bench, which represents the airframe, is excited using a pair of counter rotating force generators (CRFGs) and a multiple input single output (MISO) AVCS that consists of three accelerometer sensors and a pair of CRFGs; a filtered-x least mean square (LMS) algorithm is applied for the vibration reduction. First, the vibration control tests are performed with uniform sensor weights; then, the change in the control performance according to changes in the sensor weight is investigated and compared with the simulation results. It is found that the vibration control performance can be tuned through adjusting the weights of the three sensors, even if only one actuator is used.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.38 no.3
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• pp.228-235
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• 2010

This paper deals with an autonomous flight controller design problem for a tilt-rotor aircraft in rotary-wing mode. The inner-loop algorithm is designed using the output-based approximate feedback linearization. The model error originated from the feedback linearization is cancelled within allowable tolerance by using single-hidden-layer neural network. According to Lyapunov direct stability theory, the adaptive update law is derived to run the neural network on-line, which is based on the linear observer dynamics. Moreover, the outer-loop algorithm is designed to track the trajectory generated from way-point guidance. Especially, heading and flight-path angle line-of-sight guidance are applied to the outer-loop to improve accuracy of the landing tracking performance. The 6-DOF nonlinear simulation shows that the overall performance of the flight control algorithm is satisfactory even though the collective input response shows instantaneous actuator saturation for a short time due to the lack of the neural network and the saturation protection logic in that loop.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.48 no.9
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• pp.691-701
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• 2020

An actuator mixer design using convex optimization technique situation where the propulsion system of an electric VTOL UAV during vertical take-off and landing maneuvers is proposed. The attainable control set to analyze the impact from failure of each motor and propeller can be calculated and illustrated using the properties of the convex function. The control allocation can be defined as a convex function optimization problem to obtain an optimal solution in real time. The mixer is implemented using a convex optimization solver, and the performance of the control allocation methods is compared to the attainable control set. Finally, the proposed mixer is compared with other techniques with nonlinear sux degree-of-freedom simulation.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.2290-2295
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• 2005

In this paper, it is developed simulator system of 3 D.O.F parallel robot for educate of expertness. This simulator system is composed of three parts ? 3 D.O.F parallel robot, controller (hardware) and software. First, basic structure of the robot is 3 active rotary actuator that small geared step motor with fixed base. An input-link is connected to this actuator, and this input-link can connect two ball joints. Thus, two couplers can be connected to the input-link as a pair. An end-plate, which is jointed by a ball joint, can be connected to the opposite side of the coupler. A sub-link is produced and installed to the internal spring, and then this sub-link is connected to the upper and bottom side of the coupler in order to prevent a certain bending or deformation of the two couplers. The robot has the maximum diameter of 230 mm, 10 kg of weight (include the table), and maximum height of 300 mm. Hardware for control of the robot is composed of computer, micro controller, pulse generator, and motor driver. The PC used in the controller sends commands to the controller, and transform signals input by the user to the coordinate value of the robot by substituting it into equations of kinematics and inverse kinematics. A controller transfer the coordinate value calculated in the PC to a pulse generator by transforming it into signals. A pulse generator analyzes commands, which include the information received from the micro controller. A motor driver transfer the pulse received from the pulse generator to a step motor, and protects against the over-load of the motor Finally, software is a learning purposed control program, which presents the principle of a robot operation and actual implementation. The benefit of this program is that easy for a novice to use. Developed robot simulator system can be practically applied to understand the principle of parallel mechanism, motors, sensor, and various other parts.

• Structural Engineering and Mechanics
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• v.25 no.5
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• pp.501-518
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• 2007

In this work, a new approach is developed for dynamic analysis of a composite beam with an interply crack, based on finite element solution of partial differential equations with the use of the COMSOL Multiphysics package, allowing for fast and simple change of geometric characteristics of the delaminated area. The use of COMSOL Multiphysics package facilitates automatic mesh generation, which is needed if the problem has to be solved many times with different crack lengths. In the model, a physically impossible interpenetration of the crack faces is prevented by imposing a special constraint, leading to taking account of a force of contact interaction of the crack faces and to nonlinearity of the formulated boundary value problem. The model is based on the first order shear deformation theory, i.e., the longitudinal displacement is assumed to vary linearly through the beam's thickness. The shear deformation and rotary inertia terms are included into the formulation, to achieve better accuracy. Nonlinear partial differential equations of motion with boundary conditions are developed and written in the format acceptable by the COMSOL Multiphysics package. An example problem of a clamped-free beam with a piezoelectric actuator is considered, and its finite element solution is obtained. A noticeable difference of forced vibrations of the delaminated and undelaminated beams due to the contact interaction of the crack's faces is predicted by the developed model.