• 대한기계학회:학술대회논문집
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• 대한기계학회 2007년도 춘계학술대회A
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• pp.897-902
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• 2007

The turnover-type sluice gate is typically actuated by the open circuit hydrauic system since the single-rod cylinder is used rather than the double-rod cylinder. However, here the closed circuit hydrauic system is applied for the operation of turnover-type sluice gate for the purpose of convenient operation. The closed circuit hydraulic system of turnover-type sluice gate is composed of a bi-directional pump, single-rod cylinders, pilot operated check valves, check valves and a counter balance valve. The usefulness of the closed circuit hydraulic system is verified for the several operational conditions by the computer simulations.

• Journal of Mechanical Science and Technology
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• 제16권11호
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• pp.1379-1394
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• 2002

In case of a single input single output (SISO) system with a nonlinear term, a signal compression method is useful to identify a system because the equivalent impulse response of linear part from the system can be extracted by the method. However even though the signal compression method is useful to estimate uncertain parameters of the system, the method cannot be directly applied to a unique system with hysteresis characteristics because it cannot estimate all of the two different dynamic properties according to its motion direction. This paper proposes a signal compression method with a pre-processor to identify a unique system with two different dynamics according to its motion direction. The pre-processor plays a role of separating expansion and retraction properties from the system with hysteresis characteristics. For evaluating performance of the proposed approach, a simulation to estimate the assumed unknown parameters for an arbitrary known model is carried out. A motion platform with several single-rod cylinders is a representative unique system with two different dynamics, because each single-rod cylinder has expansion and retraction dynamic properties according to its motion direction. The nominal constant parameters of the motion platform are experimentally identified by using the proposed method. As its application, the identified parameters are applied to a design of a sliding mode controller for the simulator.

• 로봇학회논문지
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• 제12권1호
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• pp.1-10
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• 2017

For dismantling heavy structure under special environment in radioactivity, there are many problems which should be tele-operated and feedback a cutting force for cutting a thick structure such as concrete. When operator dismantles a thick heavy concrete structure, it is in sufficient to judge whether robot is contacting or not with environment by using only vision information. To overcome this problem, force feedback and impedance model based bilateral control are introduced. The sliding mode control with sliding perturbation observer (SMCSPO) based bilateral control is applied and surveyed to a single rod hydraulic cylinder in this paper. The sliding mode control is used for robustness against a disturbance. The sliding perturbation observer is used for estimation of a reaction force such as cutting force. The bilateral control is executed using the information of reaction force estimated by SMCSPO. The contribution of this paper is that the estimation method and bilateral control of the single rod hydraulic cylinder are introduced and discussed by experiment.

• 유공압시스템학회:학술대회논문집
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• 유공압시스템학회 2010년도 춘계학술대회
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• pp.81-85
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• 2010

This paper deals with the issue of motion control of a single rod cylinder-load system using simple adaptive control (SAC) method. Prior to controller design, the experiment of open-loop response has been performed. Based on it, design parameters of transfer function are obtained. The effect of parallel feedforward compensator has been investigated by computer simulation, suppressing the oscillatory motion. Through experiments it is conformed that the SAC method gives good tracking performance compared to the PD control method.

• 한국항해항만학회지
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• 제31권6호
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• pp.485-490
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• 2007

부표시스템 침수체의 주요형상인 실린더에 원형 제어봉을 부착하여 2차원 단면의 유동특성에 대해서 수치해석을 수행하였다. 유속을 0.1m/s에서 0.5m/s로 변화시키면서 부표시스템 주위의 유동현상을 파악하고, 부표시스템의 효과적인 유동제어를 위해 실린더 (D=50mm)에 제어봉의 직경을 0.1D 에서 0.5D까지 부착하여 조류에 의한 압력분포를 조사하였다. 유동장내의 속도분포는 PIV 계측기법 중 2프레림 입자추적 법을 사용하여 수치해석의 정도를 높이고자 0.3m/s에서 비교 평가하였다. 실린더 주위의 압력분포는 0.2D의 제어봉을 부착하였을 경우, 유속의 변화에 관계없이 가장 양호한 경향을 보이는 것을 알 수 있었다.

• 해양환경안전학회:학술대회논문집
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• 해양환경안전학회 2007년도 춘계학술발표회
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• pp.169-174
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• 2007

부표시스템 침수체의 주요형상인 원형실린더에 제어봉을 부착하여 2차원 단면의 유동특성에 대해서 수치해석을 수행하였다. 유속을 0.1m/s에서 0.5m/s로 변화시키면서 부표시스템 주위의 유동현상을 파악하고 부표시스템의 효과적인 유통제어를 위해 실린더 (D=50mm)에 제어봉의 직경을 0.1D 에서 O.5D 까지 부착하여 조류에 의한 영향을 조사하였다. 유동장내의 속도분포는 PIV계측기법 중 2 프레림 입자추적법을 사용하여 수치해석의 정도를 높이고자 0.3m/s에서 비교 평가하였다. 실린더 주위의 압력분포는 0.2D 의 제어봉을 부착하였을 경우, 유속의 변화에 관계없이 가장 양호한 경향을 보이는 것을 알 수 있었다.

• 한국해양공학회지
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• 제30권5호
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• pp.405-414
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• 2016

This paper presents an internal oil leakage detection problem for a hydraulic single-rod cylinder. We derive the dynamics of the hydraulic cylinder as a state space model, and then design a T—S fuzzy model-based fault detection observer. We adopt an H_∞ observer design scheme so that the observer is robust against disturbance and relatively sensitive to the leakage fault. Sufficient design conditions are derived in the form of linear matrix inequalities. A numerical example is provided to verify the proposed techniques.

• 한국자동차공학회논문집
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• 제4권6호
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• pp.52-64
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• 1996

This paper presents an active position control of a single-rod cylinder system featuring an electrorheological(ER) fluid-based valve. The ER fluid consisting of silicone oil and chemically treated particles is firstly composed and its Bingham property is tested as a function of imposed electric field. A multi-channel plate type of ER valve is then designed and manufactured on the basis of the field-dependent Bingham model. Performance test of the ER valve is undertaken by evaluating pressure drop with respect to the number of electrode as well as the intensity of the electric field. Subsequently, the ER valve-cylinder system is constructed and its governing equation of motion is derived. A neural control scheme for position control of the cylinder is formulated by incorporating proportional-plus-derivative(PD) controller and implemented. Experimental results of both regulating and tracking control responses are presented in order to demonstrate the efficacy of the proposed ER valve-cylinder control system.

• 드라이브 ㆍ 컨트롤
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• 제13권2호
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• pp.1-9
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• 2016

In this paper, an elementary force fighting problem was investigated. The problem is encountered when a double-rod type EHA(electro-hydrostatic actuator) is combined with a single-rod type EHA to build a redundant actuator system with synchronized motion. When the rod-side chambers of the two different types of EHAs have the same effective piston areas and are simultaneously pressurized by an external load, the two EHAs behave identically, sharing the external load equally. However, when the piston head-side chamber of the single rod type EHA, having a larger effective area than the rod-side chamber, is pressurized by the external load, an abnormal force fighting between the two EHAs occurs, unless their pump speeds are properly decoupled. In this study, the output drive forces of each EHA were obtained from the cylinder pressure signals and applied to the position control for each EHA to maintain the balance between their pump speeds. Adding minor force difference feedback loops to the position control, the force fighting phenomena could be eliminated and steady state synchronization errors were reduced. The power consumption of the pumps also could be remarkably reduced, avoiding unnecessarily high load pressures to the pumps.

• 대한기계학회논문집A
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• 제35권11호
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• pp.1483-1490
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• 2011

전동기 일체형 유압액추에이터(EHA)는 전기모터와 직결되어 구동되는 유압펌프를 이용하여 유압 피스톤의 변위나 속도를 제어할 수 있도록 모듈화된 유압기기로 효율이 높고 독립된 동력원을 갖는 장점으로 인하여 항공기의 전자구동시스템에 적용되어 왔다. 최근에는 다양한 형태의 유압시스템이 적용되고 있는 건설중장비 분야에서 엔진과 전기모터를 결합한 하이브리드 기술이 개발됨에 따라 EHA의 활용범위가 확대될 것으로 예상된다. 본 연구에서는 편로드 유압실린더를 갖는 EHA가 적용된 유압시스템을 대상으로 펌프작동에 따른 유압실린더의 기동 및 정지특성을 고찰하기 위하여 EHA 내부 유압회로의 기능을 파악하고 동특성 모델을 유도하였으며 파일럿작동 체크밸브의 크래킹압력을 분석하여 개방 및 폐쇄특성을 예측하였으며 시뮬레이션을 통하여 분석된 결과를 검증하였다.