• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2005년도 춘계학술대회논문집
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• pp.572-575
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• 2005

A novel pneumatic artificial muscle actuator (PAM actuator), which has achieved increased popularity to provide the advantages such as high strength and high power/weight ratio, low cost, compactness, ease of maintenance, cleanliness, readily available and cheap power source, inherent safety and mobility assistance to humans performing tasks, has been regarded during the recent decades as an interesting alternative to hydraulic and electric actuators. In order to realize satisfactory control performance, a variable damper Magneto Rheological Brake (MRB), Is equipped to the Joint of the manipulator. Superb mixture of conventional PID controller and a phase plane switching control method brings us a novel controller. This proposed controller is appropriate for a kind of plants with nonlinearity, uncertainties and disturbances. The experiments were carried out in practical PAM manipulator and the effectiveness of the proposed control algorithm was demonstrated through experiments, which had proved that the stability of the manipulator can be improved greatly in a high gain control by using MRB with phase plane switching control method and without regard for the changes of external inertia loads.

• 한국추진공학회:학술대회논문집
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• 한국추진공학회 2007년도 제29회 추계학술대회논문집
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• pp.198-203
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• 2007

본 연구의 목표는 air core의 길이 조절이 가능한 스월인젝터의 음향학적인 감쇠기능을 통해 고주파 연소불안정을 억제하는 것이다. air core(길이, 형상, 부피)와 인젝터의 위치에 대한 음향학적인 감쇠 효과는 선행 연구를 통해 실험되었다. 이러한 결과들을 바탕으로 다중 인젝터들의 효과에 대한 연구를 진행하였다. 실험 결과로부터 각 모드의 배(anti-node)에 장착된 인젝터들의 수의 증가로 감쇠효과가 증가하는 것을 확인하였다. 또한 각 모드들의 배(anti-node)에 장착되어 동조된 인젝터들이 동시에 개별적인 모드 감쇠 성능을 보일 수 있음을 확인했다.

• 한국시뮬레이션학회논문지
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• 제23권3호
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• pp.33-40
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• 2014

드리프터는 국산화개발에 어려움을 겪고 있는 장비이며, 외국선진사의 제품을 데드카피 하여도 시제품의 성능이 뒤떨어지는 현상이 발생하여 왔다. 본 논문은 천공기의 핵심부품인 드리프터의 해석모델을 활용하여 성능격차를 유발하는 요소를 분석하는 사례를 보여준다. 진행절차는 다음과 같다. 우선, 타격시험을 수행하여 해석모델의 신뢰성을 확보한다. 그리고 해석모델을 활용하여 외국선진사 제품과 시제품의 성능비교그래프를 도출한다. 마지막으로 해석모델의 변수를 분석하여 성능격차를 유발하는 인자에 접근한다. 사용된 소프트웨어는 독일 ITI사에서 개발된 SimulationX이다.

• 한국해양공학회지
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• 제29권4호
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• pp.283-290
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• 2015

This paper presents the results of a numerical study on the towing characteristics of a barge under various wind conditions. First, stability criteria, including the wind force, were derived based on the linear motion equations of a towed vessel. The effect of the wind force on the towing stability was investigated using stability criteria. Next, towing simulations were carried out using a nonlinear time-domain simulation method. In this case, the towline was modeled as a simple spring-damper, and the wind force was computed using the wind coefficient from CFD calculations. Simulations were conducted for a barge under a constant towing speed and constant wind speed conditions. The effect of the wind direction on the slewing motion was also observed. In addition, a series of numerical simulations using variable wind speeds were performed for the present barge with and without a skeg.

• 제어로봇시스템학회논문지
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• 제8권3호
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• pp.199-207
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• 2002

In this paper, a self-tuning gain-scheduled skyhook control for semi-active suspension systems is investigated. The dynamic characteristics of a continuously variable damper including electro-hydraulic pressure control valves is analyzed. A 2-d.o.f. time-varying quarter-car model that permits variations in sprung mass and suspension spring coefficient is considered. The self-tuning skyhook control algorithm proposed in this paper requires only the measurement of body acceleration. The absolute velocity of the sprung mass and the relative velocity of the suspension deflection are estimated by using integral filters. The skyhook gains are gain-scheduled in such a way that the body acceleration and the dynamic tire force are optimized. An ECU prototype is discussed. Experimental results using a 1/4-ear simulator are discussed. Also, a suspension ECU prototype targeting real implementation is provided.

• Wind and Structures
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• 제13권3호
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• pp.235-256
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• 2010

The aeroelastic stability of bridge decks equipped with multiple tuned mass dampers is studied. The problem is attacked in the time domain, by representing self-excited loads with the aid of aerodynamic indicial functions approximated by truncated series of exponential filters. This approach allows to reduce the aeroelastic stability analysis in the form of a direct eigenvalue problem, by introducing an additional state variable for each exponential term adopted in the approximation of indicial functions. A general probabilistic framework for the optimal robust design of multiple tuned mass dampers is proposed, in which all possible sources of uncertainties can be accounted for. For the purposes of this study, the method is also simplified in a form which requires a lower computational effort and it is then applied to a general case study in order to analyze the control effectiveness of regular and irregular multiple tuned mass dampers. A special care is devoted to mistuning effects caused by random variations of the target frequency. Regular multiple tuned mass dampers are seen to improve both control effectiveness and robustness with respect to single tuned mass dampers. However, those devices exhibit an asymmetric behavior with respect to frequency mistuning, which may weaken their feasibility for technical applications. In order to overcome this drawback, an irregular multiple tuned mass damper is conceived which is based on unequal mass distribution. The optimal design of this device is finally pursued via a full domain search, which evidences a remarkable robustness against frequency mistuning, in the sense of the simplified design approach.

• 전기학회논문지
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• 제66권7호
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• pp.1059-1065
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• 2017

In this paper, the energy harvester with a piezoelectric materials is modeled as the electric equivalent circuit, and performances of a standard DC method and a Parallel-SSHI method are verified through experiment under variable force and load conditions. Piezoelectric generator consists of mass, damper and spring constant, and it is modeled by electrical equivalent circuit with RLC components. Standard DC and Parallel-SSHI are used as power conversion methods, and standard DC consists of full-bridge rectifier and smoothing capacitor. Parallel-SSHI method is composed of L-C resonant circuit, zero-crossing detector and full-bridge rectifier. In case of simulation under $100k{\Omega}$ load condition, the harvested power is $500{\mu}W$ in Standard DC and $670{\mu}W$ in Parallel-SSHI, respectively. In experiment, the harvested power under $100k{\Omega}$ load condition is $420{\mu}W$ in standard DC and $602{\mu}W$ in Parallel-SSHI. Harvested power of Parallel-SSHI is improved by approximately 40% more than that of standard DC method.

• 대한기계학회논문집A
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• 제38권6호
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• pp.619-627
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• 2014

본 논문은 등가정하중을 이용하여 제어시스템을 포함한 구조물의 설계를 위한 최적화 방법을 제안한다. 지난 연구는 구조물과 제어시스템 최적설계를 독립적으로 분리하여 수행하였고, 구조물과 제어시스템을 동시에 최적화하여도 제어시스템의 제어변수는 정상상태에서만 최적화하여 성능을 향상시켰다. 하지만 제어변수는 모든 시간영역에서 최적화해야 한다. 즉, 제어시스템의 해석은 과도상태에서 수행해야 한다. 본 연구에서는 새로운 등가정하중을 이용하여 제어변수를 포함하는 제어시스템 구조물의 최적설계를 위한 방법을 제시하였다. 등가정하중은 동적하중이 구조물에 작용할 때 발생하는 임의 시간에서의 변위장과 동일한 변위장을 만들어내는 정하중을 의미한다. 이렇게 계산된 등가정하중을 이용하여 설계영역에서 선형정적응답 최적설계를 진행한다. 몇 가지 예제를 통해 새로운 등가정하중을 적용한 동적응답 최적설계방법의 유용성을 확인하였다.

• Journal of Mechanical Science and Technology
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• 제19권3호
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• pp.778-791
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• 2005

A novel pneumatic artificial muscle actuator (PAM actuator), which has achieved increased popularity to provide the advantages such as high strength and high power/weight ratio, low cost, compactness, ease of maintenance, cleanliness, readily available and cheap power source, inherent safety and mobility assistance to humans performing tasks, has been regarded during the recent decades as an interesting alternative to hydraulic and electric actuators. However, some limitations still exist, such as the air compressibility and the lack of damping ability of the actuator bring the dynamic delay of the pressure response and cause the oscillatory motion. Then it is not easy to realize the performance of transient response of pneumatic artificial muscle manipulator (PAM manipulator) due to the changes in the external inertia load with high speed. In order to realize satisfactory control performance, a variable damper-Magneto­Rheological Brake (MRB), is equipped to the joint of the manipulator. Superb mixture of conventional PID controller and a phase plane switching control method brings us a novel controller. This proposed controller is appropriate for a kind of plants with nonlinearity, uncertainties and disturbances. The experiments were carried out in practical PAM manipulator and the effectiveness of the proposed control algorithm was demonstrated through experiments, which had proved that the stability of the manipulator can be improved greatly in a high gain control by using MRB with phase plane switching control method and without regard for the changes of external inertia loads.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.1983-1989
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• 2005

Industrial robots are powerful, extremely accurate multi-jointed systems, but they are heavy and highly rigid because of their mechanical structure and motorization. Therefore, sharing the robot working space with its environment is problematic. A novel pneumatic artificial muscle actuator (PAM actuator) has been regarded during the recent decades as an interesting alternative to hydraulic and electric actuators. Its main advantages are high strength and high power/weight ratio, low cost, compactness, ease of maintenance, cleanliness, readily available and cheap power source, inherent safety and mobility assistance to humans performing tasks. The PAM is undoubtedly the most promising artificial muscle for the actuation of new types of industrial robots such as Rubber Actuator and PAM manipulators. However, some limitations still exist, such as the air compressibility and the lack of damping ability of the actuator bring the dynamic delay of the pressure response and cause the oscillatory motion. In addition, the nonlinearities in the PAM manipulator still limit the controllability. Therefore, it is not easy to realize motion with high accuracy and high speed and with respect to various external inertia loads in order to realize a human-friendly therapy robot To overcome these problems a novel controller, which harmonizes a phase plane switching control method with conventional PID controller and the adaptabilities of neural network, is newly proposed. In order to realize satisfactory control performance a variable damper - Magneto-Rheological Brake (MRB) is equipped to the joint of the manipulator. Superb mixture of conventional PID controller and a phase plane switching control using neural network brings us a novel controller. This proposed controller is appropriate for a kind of plants with nonlinearity uncertainties and disturbances. The experiments were carried out in practical PAM manipulator and the effectiveness of the proposed control algorithm was demonstrated through experiments, which had proved that the stability of the manipulator can be improved greatly in a high gain control by using MRB with phase plane switching control using neural network and without regard for the changes of external inertia loads.