• Journal of the Institute of Electronics Engineers of Korea SC
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• v.44 no.3
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• pp.64-69
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• 2007

Motion control of the system is a position control of motor. Motion control of an uncertain robot system is considered as one of the most important and fundamental research directions in the robotics. Some distinguished works using linear control, adaptive control, robust control strategies based on computed torque methodology have been reported. However, it is generally recognized within the control community that these strategies suffer from the following problems : the exact robot dynamics are needed and hard to implement, the adaptive control cannot guarantee the performance during the transient period for adaptation under the variation, the robust control algorithms such as the sliding mode control need information on the bounds of the possible uncertainty and disturbance. And it produces a large control input as well. In this dissertation, a motion control for the unmanned intelligent robot system using disturbance observer is studied. This system is affected with an impact vibration disturbance. This paper describes a stable motion control of the system with the consideration of external disturbance. To obtain the stable motion independently against the external disturbance, the disturbance rejection is strongly required. To address the above issue, this paper presents a Disturbance OBserver(DOB) control algorithm. The validity of the suggested DOB robust control scheme is confirmed by several computer simulation results. And the experiments with a motor system is performed to give the validity of applicability in the industrial field. This results make the easier implementation of the controller possible in the field.

• Transactions of the Korean Society of Mechanical Engineers B
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• v.36 no.1
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• pp.31-36
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• 2012

Military vehicles, compared to conventional vehicles, require higher driving performance, quieter operation, and longer driving distances with minimal fuel supplies. The series hybrid electric vehicle can be driven with no noise and has high initial startup performance, because it uses only a traction motor that has a high startup torque to drive the vehicle. Moreover, the fuel economy can be improved if the vehicle is hybridized. In series hybrid electric vehicles, the electric generation system, which consists of an engine and a generator, supplies electric energy to a battery or traction motor depending on the vehicle driving state and battery state of charge (SOC). The control strategy determines the operation of the generation system. Thus, the fuel economy of the series hybrid electric vehicle relies on the control strategy. In this study, thermostat, power-follower, and combined strategies were compared, and a 37% improvement in the fuel economy was implemented using the combined control strategy suggested in this study.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.12 no.7
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• pp.2925-2930
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• 2011

A vehicle fuel economy is very important issue in the view of fuel cost and environmental regulation. The fuel economy is much improved according to the development of electric, electronic and mechanical technology, but up to now the measurement of it tests the given mode(LA-4, FTP-75, etc) within computer simulation program and engine dynamometer. This fuel economy is different with it of real road. The one of main reason is not considered the gradient of the road. To estimate the effects of fuel economy at highway with gradient in this paper, we measure the amount of fuel consumption and calculate the fuel economy of it with running the Youngdong highway with high gradient. Also this paper analysis and compares the fuel economy with gradient and without gradient when the vehicle runs the same driveway. Then we calculate the total energy created the difference of fuel consumption amount of the two cases and calculate the consumpted energy by tire driving force from the torque and power of engine in the simulation. This paper verifies the relation of the driving force and the total energy by creating the difference of fuel consumption amount. This paper also proposes the method of fuel economy improvement despite of gradient at the result.

• Transactions of the Korean Society of Mechanical Engineers B
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• v.38 no.11
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• pp.951-956
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• 2014

Steady-state thermal analysis was performed on a thermal equivalent circuit to determine the heat generation during operation of an interior permanent magnet synchronous motor (IPMSM). New machines must be compact and light and produce high torque density under extreme environmental conditions. Thermal analysis of an IPMSM is particularly important because excessive heat generated from the core and magnet reduces the IPMSM's output and has adverse effects on the durability. Therefore, steady-state thermal analysis of an IPMSM was performed for changes in the design variables using a thermal equivalent circuit. The changed variables were the axis length and thickness of the housing. The results of this method were compared with those of the finite element method to verify the accuracy and reliability.

• Journal of Advanced Navigation Technology
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• v.16 no.6
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• pp.1123-1133
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• 2012

This study configuration Vector Control System which is stable and has outstanding Dynamic Characteristics in Very Low Speed Region and Low Speed Region, and proposes Instantaneous Speed Observer and Very Low Speed Control method and vector control system of the speed estimation a using Reduced-Dimensional State Observer. The Observer proposed in this system, by appling Reduced-Dimensional State Observer to Load-Torque estimation and using for speed estimation, implements system composition simply and is capable of accurate Instantaneous Speed estimation in Very Low Speed Region. Also, this study reduces influence by System Noise and suggests an induction motor speed control system which is effective in Load Disturbance, modeling error, estimation noise and so on without changing pole of an Observer.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.37 no.7
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• pp.937-943
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• 2013

An independently driven electric corner module cannot be applied to an actual vehicle without some difficulty, because of vehicle safety problems in the case of malfunctions and degraded ride and handling performance owing to the increase in the unsprung mass. In this study, a simulator is developed to evaluate the vehicle driving performance in order to solve ride and handling problems. Component modeling of a small-sized electric vehicle with an independently driven electric corner module is performed using MATLAB/Simulink. The vehicle is modeled by using CarSim, which can be used to analyze the vehicle maneuvers with 27 DOFs. The control algorithm for the improvement of vehicle driving safety and ride and handling performance is validated by using the developed simulator.

• Tribology and Lubricants
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• v.28 no.4
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• pp.167-172
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• 2012

The turbo pump of a liquid rocket engine is composed of three main parts: the oxidizer pump, fuel pump, and turbine. Liquid oxygen ($LO_X$) is the working fluid in the cryogenic environment in the oxidizer pump, but tests are usually performed using liquid nitrogen ($LN_2$), which has a boiling point similar to that of $LO_X$ but is comparatively safer and easier to use for the test. In this study, a bearing test rig is developed and its performance is evaluated using a cryogenic ball bearing with $LN_2$ as the working fluid. Verifying the performance of the bearing test rig is crucial for ensuring correct working of the turbo pump unit in the liquid rocket engine. A stable test rig for the bearing in a cryogenic environment makes the bearing technology enhance its reliability. The test results show that the system operates stably and the requirement of performance time of 500 s is met. The test results of temperature, motor speed, and torque are discussed. The developed cryogenic bearing test rig is expected to help in widening knowledge and expanding research on ball bearings in the future.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.46 no.1
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• pp.59-67
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• 2018

In this paper, the test facility for coaxial propellers at low Reynolds developed and validated by measured data. The test equipment was designed to measure the hovering performance of propellers according to distances between the upper/lower propellers. Thrust, torque, rotational speed, vibration, and amperage of upper and lower propellers can be measured separately. The data acquisition system was built to collect signals of sensors, and LabVIEW software was used to control the motor and collect the signal. The hover performance tests of single propellers were preceded for the facility validation, and then the performance values of coaxial propellers were measured according to distances and diameter differences between the upper/lower propellers. The results showed that the high efficiency is achieved at 20%~30% distance between the upper propeller and lower one. The configuration that the upper propeller has shorter diameter than the lower one has the highest efficiency than other configuration.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2002.05a
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• pp.369-372
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• 2002

In this research, a vision system for detecting tool breakage which is hardly detected by such indirect in-process measurement method as acoustic emission, cutting torque and motor current was developed and embedded into a PC-NC system. The vision system consists of CMOS image sensors, a slit beam laser generator and an image grabber board. Slit beam laser was emitted on the tool surface to separate the tool geometry well from the various obstacles surrounding the tool. An image of tool is captured through two steps of signal processing, that is, median filtering and thresholding and then the tool is estimated normal or broken by use of change of the centroid of the captured image. An air curtain made by the jetting high-pressure air in front of the lens was devised to prevent the vision system from being contaminated by scattered coolant, cutting chips in cutting process. To embed the vision system to a Siemens PC-NC controller 840D NC, an HMI(Human Machine Interface) program was developed under the Windows 95 operating system of MMC103. The developed HMI is placed in a sub window of the main window of 840D and this program can be activated or deactivated either by a soft key on the operating panel or M codes in the NC part program. As the tool breakage is detected, the HMI program emit a command for automatic tool change or send alarm to the NC kernel. Evaluation test in a high speed tapping center showed the developed system was successful in detection of the small-radius tool breakage.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.12 no.3
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• pp.1085-1090
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• 2011

To assure the safety of rolling stock, it is important to perform the fatigue analysis of reduction gear unit in rolling stock considering a variation of velocity and traction motor capability. This paper presents fatigue analysis of the damage of reduction gear unit of railway vehicle under variable amplitude loading(VAL) based on quasi-static fatigue analysis using finite element model and linear Miner's rule. The VAL for the simulation was constructed from the tractive effort curve and train run curves of railway vehicle under commercial operation condition using MSC.ADAMS dynamic analysis. The finite element model for evaluating the carburizing effect on the gear surface was used for predicting the fatigue life of the middle gear based on strain-life based approach. The results showed that the frequent high starting torque due to a quick start as well as increasing numbers of stops at station would decrease the fatigue life of reduction gear unit.