• Journal of the Korea Academia-Industrial cooperation Society
• /
• v.14 no.10
• /
• pp.4665-4671
• /
• 2013

Engine mounting system is the most responsible system for NVH performance of vehicle. The vibration at idle shake, road shake, Key ON/OFF, gear shift tuned by the engine mount position and stiffness. Previously described Engine mounting system theory investigated and summarized in this paper. Decoupling of the Power train rigid mode and Reducing the angle between Torque-Roll-Axis and Elastic-roll-Axis is starting point of optimization. Multi-optimization analysis was performed because of variety simulation case and FE-model. Eventually, Find the best mount location and the stiffness has improved the performance of the vehicle NVH.

• Journal of KSNVE
• /
• v.7 no.4
• /
• pp.681-688
• /
• 1997

The purpose of engine mount system is to reduce the noise and vibration caused by engine vibration, and to decouple the roll and bounce mode at idle. To reduce the noise and vibration level in a vehicle, it is important to make the design optimization of engine mount system that consider the moment of inertia and inclination of mount rubber. As a result, according to the definition of Torque Roll Axis (TRA), the vibration axis at idle must be on the TRA or very close to it. In this paper, we studied the effect of the design optimization of engine mount system. And we have achieved good improvements in noise and vibration quality of F.R. vehicle.

• 제어로봇시스템학회:학술대회논문집
• /
• 1993.10a
• /
• pp.793-798
• /
• 1993

In this study the attitude control of the KOREASAT is investigated. The KOREASAT is a geostationary satellite and its 3 attitude angles, namely, roll, pitch and yaw angles, are stabilized by using the 3-axis stabilization technique. In the pitch control loop, the pitch attitude angle received from the earth sensor is processed in the attitude processing electronics by using PI type control logic, and the control command is sent to the momentum wheel assembly to generate the control torque by varying the wheel rate. The roll/yaw attitude control is performed by activating a magnetic torquer or by firing appropriate thrusters. The magnetic torquer interacts with the earth magnetic field to produce the control torque, and the thrusters are used to control the larger roll attitude errors. In this study dynamic modelling of the satellite is performed. And the earth sensor, the momentum wheel, and the magnetic torquer are mathematically modelled. The 3-axis attitude control logic is implemented to make the closed-loop system and simulations are carried out to verify the implemented control laws.

• Journal of the Korean Society for Aeronautical & Space Sciences
• /
• v.43 no.7
• /
• pp.648-656
• /
• 2015

Active SAR satellite's main maneuver is roll axis maneuver to change SAR antenna direction. In addition, yaw steering is required to minimize the doppler centroid variation. Thus, it is resonable to assign the torque/momentum capacity mostly to roll axis and then yaw axis. In this case, the pitch axis shows low agility performance. However, due to orbit maintenance, large angle maneuver about pitch axis is sometimes required. In this paper, we study the pitch axis maneuver time reduction through sequential rotation about roll and yaw axis. Since these two axes have high agility performance than pitch axis, maneuver time reduction is possible when large angle rotation about pitch axis is required.

• Journal of the Korean Society for Aeronautical & Space Sciences
• /
• v.37 no.7
• /
• pp.669-677
• /
• 2009

In general, the pitch momentum biased system that induces inherently nutational motion in roll/yaw plane, has been adapted for geosynchronous communications satellites. This paper discusses the method of roll attitude control using yaw axis momentum management method for a low earth orbit(LEO) satellite which is a pitch momentum biased system equipped with only two reaction wheels. The robustness of wheel momentum management method with PI-controller is investigated comparing with wheel torque control method. The transfer function of roll/yaw axis momentum management system that is useful for attitude controller design is derived. The disturbance effect of roll/yaw axis momentum management system for attitude control is investigated to identify design parameters such as magnitude of momentum bias and to get the insight for controller design. As an example, the PID controller design result of momentum management system for roll/yaw axis control is provided and the simulation results are presented to provide further physical insight into the momentum management system.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
• /
• 2000.06a
• /
• pp.1907-1911
• /
• 2000

In this paper, classical vibration theories are summarized to design engine mount system of passenger vehicles. The vibrational characteristics of powertrain system and its equation of motion are introduced. Based upon the equation, the concept of the center of gravity, the principle inertia axis, the elastic center, and the elastic axis are defined and some new concepts are suggested. The theory of mode decoupling and the relationship between TRA (Torque Roll Axis) and roll mode are also reexamined to support the design concept of engine mount systems.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
• /
• 1996.10a
• /
• pp.330-337
• /
• 1996

The purpose of engine mount system is to reduce the noise and vibration caused by engine vibration, and to decouple the roll and bounce mode at idle. To reduce the noise and vibration level in a vehicle, it is important to make the design optimization of engine mount system that considered the moment of inertia and inclination of mount rubber. As a result, according to the definition of Torque Rool Axis (TRA), the vibration axis at idle must be on the TRA or very close to it. In this paper, we studied the effect of the design optimization of engine mount system. And we have a good NVH performance.

• Journal of the Korean Society for Precision Engineering
• /
• v.31 no.10
• /
• pp.913-922
• /
• 2014

This paper describes design of a robotic above-knee prosthetic leg which is powered by electrical motors. As a special feature, the robotic prosthetic leg has enough D.O.F.s. For mimicking the human leg, the robotic prosthetic leg is composed of five joints. Three of them are called 'active joint' which is driven by electrical motors. They are placed at the knee-pitch-axis, the ankle-pitch-axis, and the an! kle-roll-axis. Every 'active joint' has enough torque capacity to overcome ground reaction forces for walking and is backlashless for accurate motion generation and high-performance balance control. Other two joints are called 'passive joint' which is activating by torsion spring. They are placed at the toe part and designed by Crank-rocker mechanism using kinematic design approach. In order to verify working performance of the robotic prosthetic leg, we designed a gait trajectory through motion capture technique and experimentally applied it to the robot.

• The Journal of Korea Robotics Society
• /
• v.10 no.4
• /
• pp.186-192
• /
• 2015

This paper proposes a robust balance and driving control for omni-directional ball robot(generally called ball-bot) with two axis mecanum wheel. Slip between ball and mecanum wheel actuator inevitably occurs along diagonal axis due to its instantaneous strong torque. In order to reduce and saturate slip, exact distance calculation scheme especially for rotational movement is essential. So this research solved Euler-Lagrange dynamics for proposed two axis ball robot based on practical mechanical modeling. Robust balance control was carried out by PID controller according to the pitch and roll angles of ball robot by using sensor fusion between AHRS and wheel encoder. Proposed PID controller enhances stability by reducing steady state error and settling time. Proposed slip control algorithm for omni-directional ball robot has been demonstrated by experiments for balance control and arbitrary driving control.

• Transactions of the Korean Society of Automotive Engineers
• /
• v.6 no.1
• /
• pp.163-181
• /
• 1998

In this study, the objective is determine the optimal design variable of engine mount system using the rubber mount of bush-type which is usually utilized in passive control to minimize vibrations of vehicle body or transmission from engine into body. The engine model adopted in this study is 4-cylinder, 4-stroke gasoline engine support- ed by 4-points. The system is modelled in 10 d.o.f.-rigid body motion of the engine & transmission in 6 d.o.f., elastic motion of vehicle body in 4 d.o.f.(1st torsional, 1st vertical and 1st & 2nd lateral bending vibration mode). To consider the elastic motion of vehicle body, find the eigenvalues and mode shapes of vehicle body by nodal testing and then determine the modal masses and stiffnesses of the body. The design variables of the engine mount system are locations, stiffness and damping coefficients of the rubber mounts(28 design variables). In case of considering the torque-roll axis for the engine, the design variables of the mount system are reduced to 22 design variables. The objective functions in optimal design process are considered by three cases, that is, 1) transmitted forces through engine mounts, 2) acceleration components of generalized coordinates for the vibration of vehicle body, 3) acceleration of specified location(where gear box) of body. three case are analyzed and compared with each other.