• 한국항공우주학회지
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• 제47권1호
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• pp.59-65
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• 2019

본 연구에서는 직구동방식의 보이스 코일 모터를 이용한 유도무기 날개 작동기의 최적 설계를 진행하였다. ANSYS Maxwell 상용프로그램으로 전자기장 해석을 수행하여 토크 성능 및 보이스 코일 모터의 특성을 예측하였으며, 운용 각도 범위에서 날개에 작용하는 공력부하가 가장 큰 구간인 양끝단에 해당되는 각도에서 최적화 설계를 수행하였다. 또한, 작동기의 주요 설계 변수를 선정하고, 최적화 설계를 위하여 반응면 기법(Response Surface Method)을 사용하였다. 반응면은 2차 함수로 구성하였고 2차 반응면 구성에 널리 쓰이는 중심합성법을 바탕으로 수치실험점들을 선정하였다. 구성된 반응면의 적합성은 수정결정계수로 판단하였으며, 최종적으로 최적화로 구해진 토크값은 전자기장 해석을 통한 토크값과 거의 동일함을 확인하였다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.1060-1065
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• 2003

This paper contributes to development of a new chip mounting head system for flip chip. Recently, the LDM(Linear DC Motor) has been widely used, because it has particular merits than the rotary type motors. In this paper, we proposed a macro/micro positioning system for force control of a chip mounting system. In the proposed macro/micro system, the macro actuator provide the system with a gross motion while the micro device yields fine tuned motion to reduce the harmful impact force that occurs between very small sized electronic parts and PCB surface. In order to prove the effectiveness of the proposed macro/micro chip mounting system, we compared the proposed chip mounting head with the conventional chip mounting head equipped with a macro actuator only. A series of experiments were executed under the mounting conditions of various access velocities and PCB stiffness. As a result of this study, a satisfactory voice coil actuator as the micro actuator has been developed, and its performance meet well the specifications desired for the design of the chip mounting head system and show good correspondence between theoretical analysis and experimental results.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1998년도 추계학술대회 논문집 학회본부 C
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• pp.844-846
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• 1998

In this study, Brass endcap with 2, 3, 5, and 7mm contact surface and 0.6, 0.9, 1.2, 1.5mm conical cavity depths was fabricated by the punch die while keeping the cavity diameter constant 9.25mm then displacement characteristics of the cymbal actuators with each of brass endcap thickness were measured under an applied voltage $60V_{max}$. Dispacement increased with increasing contact surface and resonant frequency decreased with increasing contact surface, cymbal actuator with 7mm contact surface and 1.5mm endcap cavity depth exhibits $35.89{\mu}m$ displacement and 18.8kHz resonant frequency, displacement increased with increasing endcap cavity depth while contact surface was kept constant at 3mm and Below a endcap thickness of 0.2mm, Differences in displacement between 1.2mm and 1.5mm cavity depth appeared at $0.18{\mu}m$. that is, displacement of cymbal actuator with 1.2mm over cavity depth saturated nearly.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2005년도 춘계학술대회논문집
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• pp.668-673
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• 2005

This paper proposes a simple actuator with a spherical rotor for robot's eyeball, which has two degrees of freedom. It features that both permanent magnets and coils are equipped in a stator and the spherical rotor with steps on its surface is driven by reaction of Lorentz force acting on the fixed coils. Such a structure is helpful to design a simple actuator and particularly suitable for a spherical actuator. Based on the FEM analysis, design parameters such as the sizes of core and permanent magnet, the width of step, coil turns and maximum current, are determined so as to maximize the torque and rotating angle. For the experimental verification of the feasibility, a prototype is manufactured and its operating characteristicsareinvestigated.

• 제어로봇시스템학회논문지
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• 제16권7호
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• pp.661-667
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• 2010

This paper presents a failure diagnosis and accommodation strategy which is capable of tolerating faulty actuators of a submersible vehicle. The proposed method is mainly based on a sliding mode control technique. The primary ideas include a performance index to describe the effectiveness of actuators, and a controller reconfiguration strategy using the actuator effectiveness index. The actuator effectiveness proposed in this work is defined as the relationship between the sliding surface and the controlled system behavior. The resulting actuator effectiveness is then used in reconfiguring the controller in order to counteract for the deteriorated control performance in the presence of a faulty actuator. The effectiveness of the proposed method is demonstrated by means of numerical simulations with a submersible vehicle.

• 조명전기설비학회논문지
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• 제18권4호
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• pp.68-72
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• 2004

본 논문에서는 선형 액추에이터의 권선부에 구형파 전압을 인가시 권선부의 표면에 나타나는 온도의 변화에 대해서 고찰하였다. 또한 테일러급수로부터 구할 수 있는 유한차분 방정식을 유도하였고, 이를 바탕으로 직선형 피스톤 액추에이터의 권선에서 일어나는 온도 변화에 대한결과를 고찰하였다. 그 결과 액추에이터 표면의 온도가 주위온도에 비해 시간에 따라 증가하는 에너지 표출 현상을 확인하였으며 이를 바탕으로 선형 액추에이터의 동작시 온도 특성을 실제 시스템에 고려하여 적용할 수 있는 실험적 자료를 도출할 수 있었다. 이에 관한 결과는 액추에이터 뿐만 아니라 권선을 사용하는 전동기나 변압기와 같은 전기기기와 전자기력을 이용하는 분야에 참고자료로 활용될 수 있으리라 사료되며, 앞으로는 여러 조건 하에서 권선의 내부와 외부에서 일어나는 온도 및 동작 특성의 정밀한 해석 결과를 구하기 위해 좀더 구체적인 계산 방범과 개선이 필요하다.

• 제어로봇시스템학회논문지
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• 제6권6호
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• pp.514-521
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• 2000

In this study, a surface generating system with a bundle of wires, which can reproduce a certain range of surface roughness of the objects without direct machining process, is implemented. The system consists of a bundle of wires, a PZT actuator, a vertical table system actuated linearly along two perpendicular axes, and an image processing system. Through the development of the operational software for all of those subsystems by a common language(Visual C＋＋) of the implemented system, the complete process except arrangement of a bundle of wires are automated. Lastly, through the experiments of generating the flat surface of some virtual object and then of measuring the reproduced surface roughness, it is confirmed that the implemented system has excellent performance.

• Tribology and Lubricants
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• 제14권4호
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• pp.15-22
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• 1998

Recently, the importance of variable displacement piston pump is increasing in industrial world. Especially, most consumers require various range of pressures and flow rates. Pressure compensator is a system controlling flow rate in piston pump at low cost and, therefore, satisfies the need of consumers. However, the system has serious problems, such as response and leakage. The response and leakage are affected by clearance between actuator piston and cylinder, roughness of surface, and spool overlap. In this paper, these effects are investigated experimentally, and optimal clearance and chamfer is obtained. While diameter of cylinder is fixed and diameter of actuator piston is changed in this experiment, response and leakage are measured. Also parameters such as roughness and processing accuracy are changed for piston of fixed clearance. Experimental setup modelled into several parts of actuator piston, cylinder, spool, and swash plate. Input pressure is changed by function generator and proportional valve. The result of this experiment shows that leakage increases very much in proportion to the increase of clearance, and especially leakage occurs enormously when clearance is more than 0.002. The response is not good because as clearance increases leakage increases and as clearance decreases viscous damping effect increases. Accordingly, it is found out that optimal clearance range exists for tile response, within about 0.0012∼0.0014, at this time. Futhermore, the better roughness and geometrical accuracy of actuator piston are, the smaller are leakage and friction. The paper informs that response and leakage are influenced by and geometrical accuracy of actuator piston, roughness of surface, and the clearance between actuator piston and cylinder, and that optimal design of actuator piston in the pressure compensator is possible.

• 대한기계학회논문집A
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• 제35권10호
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• pp.1171-1178
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• 2011

본 논문은 동적 시스템인 구동기의 강건설계를 수행한 결과를 제시한다. 구동기를 구성하는 부품들의 변량은 구동기의 성능에 변량을 유발한다. 따라서 부품들의 변량에 둔감한 구동기의 성능을 확보하기 위해 구동기에 대해서 강건설계를 수행하였다. 구동기를 구성하는 부품들을 전달함수로 표현하여 시뮬링크 모델로 구축하였으며, 시뮬링크 모델을 이용하여 설계 변수 조합에 따른 구동기의 응답을 얻었다. 또한 반응표면법을 적용하여 구동기의 응답을 설계 변수들의 2차 함수로 근사화하였다. 구동기응답을 출력으로 하는 근사화된 모델에 확률적 설계방법을 적용하여 강건한 구동기의 성능을 위한 최적 설계변수를 결정하고 기존 설계와 비교한 결과를 제시하였다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1997년도 한국자동제어학술회의논문집; 한국전력공사 서울연수원; 17-18 Oct. 1997
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• pp.139-142
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• 1997

In this paper, a robust controller is proposed to achieve an accurate tracking for an uncertain nonlinear plant with actuator dynamics. The extent of parameter uncertainty can be quantified by using linear parameterization technique. A switching controller is proposed to guarantee the global asymptotic stability of the plant. In order to eliminate the chattering caused by the switching controller, a smoothing controller is designed using the boundary layer technique around the sliding surface and guarantees the uniform ultimate boundedness of the tracking error.