• ETRI Journal
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• v.41 no.6
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• pp.838-849
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• 2019

We present a permanent magnet-based spherical wheel motor that can be used in omnidirectional mobility applications. The proposed motor consists of a ball-shaped rotor with a magnetic dipole and a hemispherical shell with circumferential air-core coils attached to the outer surface acting as a stator. Based on the rotational symmetry of the rotor poles and stator coils, we are able to model the rotor poles and stator coils as dipoles. A simple physical model constructed based on a torque model enables fast numerical simulations of motor dynamics. Based on these numerical simulations, we test various control schemes that enable constant-speed rotation along arbitrary axes with small rotational attitude error. Torque analysis reveals that the back electromotive force induced in the coils can be used to construct a control scheme that achieves the desired results. Numerical simulations of trajectories confirm that even without explicit methods for correcting the rotational attitude error, it is possible to drive the motor with a low attitude error (<5°) using the proposed control scheme.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2003.06a
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• pp.1083-1086
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• 2003

Recently, the study on bearingless motors which integrate both motor and magnetic bearing function in one stator is very active, as many machines have high rotational speed, high precision, smaller size and lighter weight. In this paper, we propose a novel rotary actuator including function of axial bearing using Lorentz force as a preceding research for development of a bearingless motor. As using Lorentz force, this type has some merits such as the linearity of control force, freedom from flux saturation and high efficiency unlike conventional rotary actuators using a reluctance force. This type is cotrolled independently in levitation and rotational directions respectively. It shows by mathematical expression of levitation force and torque in the proposed rotary actuator. And also, the levitation force is generated by magnetic interaction between the magnetic materials and the rotational torque is generated by Lorentz force. Finally. for verification of this proposed system, a prototype is made and some experiments will be performed in the near future.

• Journal of Wind Energy
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• v.3 no.1
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• pp.61-67
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• 2012

The loading test of wind turbine pitch and yaw bearings have been conducted using special test rig designed for the test of large slewing bearings. Test type was fatigue test that applied fatigue load to each bearing and followed the defined test process. Measurement data during test were rotational torque and raceway temperature, and inspected key components by disassembling the bearing after all test finished. As a results, the raceway temperature during test did not exceed the operational temperature range of lubricant and rotational torque was reduced as the bearing's rotational cycle increased. In the inspection of key components, some plastic deformation and flaking were detected at some raceway sections while other components such as ball, spacer and seal remain indefective conditions.

• The KSFM Journal of Fluid Machinery
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• v.9 no.2 s.35
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• pp.7-12
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• 2006

This study is to develop a system of electric power generation utilizing the wind resources available in the domestic wind environment. We tested drag-type vortical wind turbine models, which have two different types of blades: a flat plate and circular arc shape. Through a performance test, conditions of maximum rotational speed were found by measuring the rpm of wind turbine. The rotational speed was measured by a tachometer in a wind tunnel and the tunnel wind speed was by using a pilot-static tube and a micro manometer. The performance test for a prototype was accomplished by calculating power, power coefficient, torque coefficient from the measurement of torque and rpm by a dynamometer controller From the measurements for miniature turbine models with two different blades, the circular arc shape was found to Produce a maximum rotational speed for the same wind velocity condition. Based on this result, the prototype with the circular arc blade was made and tested. We found that it produces 500W at the wind velocity of 10.8 m/s and the power coefficient was 20%.

• Journal of the Korean Institute of Electrical and Electronic Material Engineers
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• v.11 no.9
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• pp.752-757
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• 1998

Rotational Magnetization-vector measurements have been performed on a polycrystalline $Y_1Ba_2Cu_3O_{7-\delta}$ sample in field-cooled condition at 4.2 K. The experimental results show that vortex flux density(B) consists of 3 groups :(1) a weak pinning part ($B_w$) which stays at a fixed angle relative to the magnetic field f(H) ; (2) a strong pining part($B_s$) which rotates rigidly with the sample and has same magnitude with the sample rotation, and(3) and intermediated pining part ($B_i$) which rotates rigidly with the sample, but whose magnitude changes with the sample rotation Our results have been explained in terms of a distribution in the strength of the vortex pinning torque and a repulsive intervortex torque.

• Tribology and Lubricants
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• v.33 no.6
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• pp.269-274
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• 2017

Currently, fuel efficiency becomes one of critical issues for automotive industries as concerns about environmental and energy problems grow. In an automatic transmission of an automobile, a drag torque due to a viscous drag of a fluid between friction and clutch plates is one of factors that degrade fuel economy. In this work, the drag torque characteristics of a wet clutch was experimentally investigated with respect to rotational speed, temperature of automatic transmission fluid (ATF), and gap between friction and clutch plates. The experimental results showed that drag torque increases to a certain level, and then decrease to the steady state value with increasing rotational speed. This behavior may be associated with two-phase flow of air and ATF at gap between friction and clutch plates. Also, it was found that the maximum drag torque value decreased as ATF viscosity decreases with increasing temperature. However, it was shown that the point at which the maximum drag torque occurs was not significantly affected by the ATF temperature. In addition, maximum drag torque was found to decrease as the gap between friction and clutch plates increased from 0.1 mm to 0.2 mm. Furthermore, it was observed that the generation of maximum drag torque was delayed as the gap increased. The outcomes of this work are expected to be helpful to gain a better understanding of drag torque characteristic of a wet clutch, and may therefore be useful in the design of wet clutch systems with improved performance.

• Proceedings of the Korean Society for Agricultural Machinery Conference
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• 2000.11c
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• pp.819-826
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• 2000

This study was performed to develop a measurement system of tractor field performance for plow and rotary operations. Measurement system for tractor consisted of torque sensors to measure torque of drive axles and PTO axle, speed sensors to measure rotational speed of drive axles and engine, microcomputer to control data logger, and data logger as I/O interface system. The measurement system was installed on four-wheel-drive tractor. Four-element full-bridge type strain gages were used for torque measurement of drive axles and optical encoders were used to measure speeds of drive axles and engine. Slip rings were mounted on the rotational axles. Signals from sensors were inputted to data logger that was controlled by microcomputer with parallel communication. Sensors were calibrated before the field tests. Regression equations were found on completion of the calibrations. The field experiment was performed at paddy fields and uplands. Rotary and plow were used when the tractor was operated in the field. Travelling speeds of the tractor were 1.9 km/h, 2.7 km/h, 3.7 km/h, 5.5 km/h, 8.2 km/h, and 11.8 km/h. Operating depths of implements were maintained approximately 20cm during the tests. Torque data of drive axles were different at each location during plow and rotary operations. Results showed that torque of rear axles were greater than those of front axles. Total torque were 6860 - 11064 Nm at the upland and 7360 - 14190 Nm at the paddy field for plow operations. It was found that torque at the paddy field were about 20% greater than those at the upland for plow operations. Torque data showed that rotary operations required less power than plow operation at the paddy field and the upland. Torque measurements at each axle for rotary operations were only 8 - 16% of plow operations in the upland and 15 - 20% in the paddy field.

• Korean Journal of Agricultural Science
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• v.47 no.4
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• pp.1147-1158
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• 2020

The purpose of this study was to measure the engine torque and rotational speed of a 67 kW class agricultural tractor according to tire type during plow tillage and to analyze the gear strength of the driving shift for the tractor. A field test was performed under the condition with a single tire (Test A) and dual tires (Test B) to increase the ground width of the rear tires. A load monitoring system was developed, and the engine torque and rotational speed were measured using controller area network (CAN) communication. The engine torque and rotational speed during plow tillage were calculated as the equivalent torque and speed using Palmgren Miner's rule. As a result, the equivalent torque and speed in Test A and Test B were 181.0 Nm and 1,913 rpm and 206.1 Nm and 2,130 rpm, respectively. As the ground width of the rear tire was increased, the bending stress in Test B was about 9.9 to 10.5% higher than that of the Test A, and the contact stress was about 4.6 to 4.9% higher than that of the Test A. Under all conditions, the safety factor for the bending and contact stress was 1 or more. Thus, the driving shift gears for the dual tire type are considered safe.

• Transactions of the Korean Society of Mechanical Engineers
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• v.8 no.6
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• pp.584-590
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• 1984

This study is to develop a program, with which the motion of the system can be simulated in view of kinematics and dynamics, and then evaluate functional capabilities of many robots in order to select the most suitable one for any given working conditions. According to the theory of Denavit & Hartenberg, rectangular coordinate is set at each joint in the robot of six joints, as this one is the major concern, and transformation matrices are derived between any two coordinates. The necessary displacement of each joint for executing a given a work is obtained from the position and posture transformation and the in-stantaneous velocity of the joint is got from given velocity distribution of the path. The necessary torque of each joint is finally calculated by Newton-Euler Method. This simulation program is applied to a robot with six rotational joints, Rotational angle and torque to time which has a given motion trajectory are figured and also torque to r.p.m.

• KSCE Journal of Civil and Environmental Engineering Research
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• v.31 no.3C
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• pp.103-108
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• 2011

In this study, the limitations of large strain resonant column and torsional shear tests apparatus are described and solutions to the limitations are also described. The limitations are rotational distance, limited torque, and measurable deformation system, respectively. To resolve the rotational distance, the bottom platen was modified. And the four-armed drive plate was modified into eight-armed drive plate and the drive coil connection was changed to obtain powerful torque.