• 대한전기학회논문지
• /
• 제39권1호
• /
• pp.92-106
• /
• 1990

Active compliance is often used in the control of robot manipulators for the implementation of complex tasks such as assembly, multi-finger fine motion, legged-vehicle adaptive control,etc. This technique balances the interactive force between the manipulator tip and its working environment with its position and velocity errors to achieve the operation of a damped spring. This paper investigates the effecft of passive compliance on system stability with regard to force feedback implementation for actively compliant motion. Usually it is understood that accurate position control require a stiff system. However, theoretical examination of control experiments on a legged suspension vehicle suggests that, if the control includes discrete-time force feedback, some passive compliance is necessssary at the legs of the vehicle for system stability. This can be an important factor to bl considered in manipulator design and control. A theoretical analysis, numerical simulation, and experimental result, confirming the above conclusion, are introduced in this paper.

• 한국자동차공학회논문집
• /
• 제23권6호
• /
• pp.633-641
• /
• 2015

The ROM (roll over mitigation) system is a next-generation suspension system that can improve vehicle-driving stability and ride comfort. Currently, mass-produced safety systems, such as ESC (electronic stability control) and ECS (electronic control suspension), enable measurements of longitudinal and lateral acceleration as well as yaw rate through inertial sensor clusters, but they lack direct measurements of the roll angle. Therefore, in this paper, a roll angle estimation algorithm from ESC system sensors and tire normal force has been proposed. Furthermore, this study presents a method for roll over mitigation force distribution between the front and rear of a ROM system. Performance and reliability of the roll angle estimation and roll over mitigation force distribution were investigated through simulations. The simulation results showed that the proposed control algorithm and strategy are reliable during vehicle rollovers.

• Journal of Magnetics
• /
• 제18권3호
• /
• pp.370-374
• /
• 2013

This paper introduces an innovative hybrid array consisting of both permanent and electro magnets. It will enable us to develop an active control mechanism for underdamped electro-dynamic suspension (EDS) Maglev systems. The proposed scheme is based on the Halbach array configuration which takes the major technical advantage from the original Halbach characteristics: a strongly concentrated magnetic field on one side of the array and a cancelled field on the opposite side. In addition, the unique feature of the proposed concept only differs from the Halbach array with permanent magnets. The total magnetic field of the array can be actively controlled through the current of the electro-magnet's coils. As a result, the magnetic force produced by the proposed hybrid array can also be controlled actively. This study focuses on the magnetic characteristics and capability of the proposed array as compared to the basic Halbach concept. The results show that the proposed array is capable of producing not only an equivalent suspension force of the basic Halbach permanent magnet array but also a controlled mode. Consequently, the effectiveness of the proposed array confirms that this study can be used as a technical framework to develop an active control mechanism for an EDS Maglev system.

• 한국정밀공학회지
• /
• 제20권7호
• /
• pp.91-98
• /
• 2003

In the field of precision manufacturing demanding high positioning performance, the mechanical friction in positioning device deteriorates the quality of the product and increases the cost of production for positioning devices. Therefore, we propose a contract-free linear actuator using active magnetic bearing. The structure and operating principle of the proposed system are explained, and the magnetic forces are analyzed by magnetic circuit theory to design magnetic bearings and linear actuator. With the derived equation of motion, the stability is identified. Experimental results are presented to show the feasibility.

• 대한전기학회논문지:전력기술부문A
• /
• 제48권5호
• /
• pp.593-600
• /
• 1999

This paper suggests a suboptimal control scheme of an active suspension system with an asymmetric hydraulic cylinder. In this paper a quarter car model including a nonlinear actuator dynamics is used. A feedback linearization technique is applied to obtain a linear model. An LQ regulator is designed with the linear model to keep robustness against sprung mass variation. The gain of the LQ regulator which depends on the damping coefficient of the damper is calculated by using an RBF neural network for real time application. The improvement achieved with our design is illustrated through comparative simulations.

• 한국정밀공학회지
• /
• 제23권1호
• /
• pp.105-112
• /
• 2006

The nonlinear damping force model is made to identify the properties of the ER (electro-rheological) fluid suspension damper. The instrumentation is carried out to measure the damping force of the ER damper. The higher order spectral analysis method is used to investigate the nonlinear frequency coupling phenomena with the damping force signal according to the sinusoidal excitation of the damper. The distinctive higher order nonlinear characteristics are observed. The nonlinear damping force model, which has the higher order velocity terms, is proposed with the result of higher order spectrum analysis. The higher order terms coefficients, which vary according to the strength of the electric field, are calculated using the least square method.

• 한국소음진동공학회:학술대회논문집
• /
• 한국소음진동공학회 2006년도 춘계학술대회논문집
• /
• pp.974-978
• /
• 2006

To improve the riding comfort and to increase the speed of high-speed railway, it needs active suspension system for railway more and more. In Korea, Korean Train Express (KTX) was opened to commercial traffic 2years ago. Korea High-speed Railway (HSR 350x) is being developed and succeeded 350km/h test run. With the increase of the speed, the vibration control of the high-speed railway becomes important to meet high ride quality. In this paper, we suggest the install of lateral damper to HSR 350x. The result shows better ride quality.

• 한국식물학회:학술대회논문집
• /
• 한국식물학회 1985년도 워크샵 및 심포지엄 북한산국립공원의 식생
• /
• pp.23-33
• /
• 1985

Plant cell culture is emerging to express bioactive foreign proteins because it has several advantages in that it is safe, economical, genetically stable and eukaryotic expression system comparing with other expression systems. However several limitations such as slow growth rate, low expression level and lack of well established down stream process need to be answered. As a preliminary approach to produce the immunologically interested molecules through the plant cell culture, we tested if granulocyte-macrophage colony stimulating factors (GM-CSFs) from both murine (mGM-CSF) and human (hGM-CSF) are produced as a biologically active form through plant cell culture. The murine and human GM-CSF genes were cloned into the plant expression vector, pBI121, and Ti-plasmid mediated transformation of tobacco leaves was conducted using Agrobacterium tumefaciens harboring both recombinant GM-CSF (rGM-CSF) genes. Cell suspension culture was established from the leaf-derived calli of transgenic tobacco plant. Northern blot analysis indicated the expression of the introduced mGM-CSF gene in both transgenic plant and cell suspension cultures. In addition, the biological activities of both murine and human GM-CSF from plant cell culture were confirmed by measuring the proliferation of the GM-CSF dependent FDC-PI and TF-1 cells, respectively.

• Structural Engineering and Mechanics
• /
• 제46권4호
• /
• pp.549-569
• /
• 2013

A passive control using flaps will be an alternative solution for flutter stability and buffeting response of a long suspension bridge. This method not only enables a lightweight economic stiffening girder without an additional stiffness for aerodynamic stability but also avoid the problems from the malfunctions of control systems and energy supply system of an active control by winglets and flaps. A time domain approach for predicting the coupled flutter and buffeting response of bridge deck with flaps is investigated. First, the flutter derivatives of bridge deck and flaps are found by experiment. Next, the derivation of time domain model of self-excited forces and control forces of sectional model is reported by using the rational function approximation. Finally, the effectiveness of passive flap control is investigated by the numerical simulation. The results show that the passive control by using flaps can increase the flutter speed and decrease the buffeting response. The experiment results are matched with numerical ones.

• International Journal of Automotive Technology
• /
• 제5권2호
• /
• pp.77-88
• /
• 2004

Narrow commuter vehicles can address many congestion, parking and pollution issues associated with urban transportation. In making narrow vehicles safe, comfortable and acceptable to the public, active tilt control systems are likely to playa crucial role. This paper focuses on the development of an active direct tilt control system for a narrow vehicle that utilizes an actuator in the vehicle suspension. A simple PD controller can stabilize the tilt dynamics of the vehicle to any desired tilt angle. However, the challenges in the tilt control system design arise in determining the desired lean angle in real-time and in minimizing tilt actuator torque requirements. Minimizing torque requirements requires the tilting and turning of the vehicle to be synchronized as closely as possible. This paper explores two different control design approaches to meet these challenges. A Receding Horizon Controller (RHC) is first developed so as to systematically incorporate preview on road curvature and synchronize tilting with driver initiated turning. Second, a nonlinear control system that utilizes feedback linearization is developed and found to be effective in reducing torque. A close analysis of the complex feedback linearization controller provides insight into which terms are important for reducing actuator effort. This is used to reduce controller complexity and obtain a simple nonlinear controller that provides good performance.