• 제어로봇시스템학회:학술대회논문집
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• 1989.10a
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• pp.7-12
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• 1989

This paper describes the design and development of a PWM electronic controller for a high performance Pneumatic Actuation System. The task includes the design of a closed center valve circuit for minimum gas consumption, the selection of optimum values for key parameters in the PWM circuit, and the design of lag-lead compensation circuit. These were carried out through specific experiments using a prototype pneumatic actuation system. The final performance obtained with the actuation system confirmed the successful design of the developed PWM electronic controller.

• 제어로봇시스템학회:학술대회논문집
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• 1995.10a
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• pp.219-222
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• 1995

This paper presents a control law of multiple actuation servo systems. Multiple actuation systems have an ability to solve some difficult engineering problems; Coulomb friction, backlash, and disturbance. This fact is shown by basic experiments as well as theoretical analysis. The proposed control strategy remarkably improves the performance comparing with conventional single actuation systems.

• Smart Structures and Systems
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• v.18 no.1
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• pp.139-154
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• 2016

This paper is concerned with the dynamics of hyperelastic solids and structures. We seek for a smart control actuation that produces a desired (prescribed) displacement field in the presence of transient imposed forces. In the literature, this problem is denoted as displacement tracking, or also as shape morphing problem. One talks about shape control, when the displacements to be tracked do vanish. In the present paper, it is assumed that the control actuation is provided by imposed eigenstrains, e.g., by the electric field in piezoelectric actuators, or by thermal actuators, or via analogous physical effects, such as magneto-striction or pre-stress. Structures with a controlled eigenstrain-type actuation belong to the class of smart structures. The action of the eigenstrains can be conveniently characterized by actuation stresses. Our theoretical derivations are performed in the framework of the theory of small incremental dynamic deformations superimposed upon a statically pre-deformed configuration of a hyperelastic solid or structure. We particularly ask for a distribution of incremental actuation stresses, such that the incremental displacements follow exactly a prescribed trajectory field, despite the imposed incremental forces are present. An exact solution of this problem is presented under the assumption that the actuation stresses can be tailored freely and applied everywhere within the body. Extending a Neumann-type solution strategy, it is shown that the actuation stresses due to the distributed control eigenstrains must satisfy certain quasi-static equilibrium conditions, where auxiliary body-forces and auxiliary surface tractions are to be taken into account. The latter auxiliary loading can be directly computed from the imposed forces and from the desired displacement field to be tracked. Hence, despite the problem is a dynamic one, a straightforward computation of proper actuator distributions can be obtained in the framework of quasi-static equilibrium conditions. Necessary conditions for the functioning of this concept are presented. Particularly, it must be required that the intermediate configuration is infinitesimally superstable. Previous results of our group for the case of shape control and displacement tracking in linear elastic structures are included as special cases. The high potential of the solution is demonstrated via Finite Element computations for an irregularly shaped four-corner plate in a state of plain strain.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.34 no.12
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• pp.82-89
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• 2006

This paper describes the development results of electrohydraulic actuation system which performs the attitude and trajectory control of pitch and yaw motion using thrust vector control for high altitude launching vehicle operated in high vacuum environment (altitude higher than 300 km). As compared with electrohydraulic actuation system for low altitude launch vehicle which operated under altitude of stratosphere, the intensified development requirements, newly adopted design and manufacturing technologies, newly developed test equipments and test results are summarized in this paper. The development test and evaluation of actuation system were successfully accomplished. The developed actuation system will be installed on KSLV-I after finishing verification of interface and integration compatibility with related other systems.

• Journal of Institute of Control, Robotics and Systems
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• v.6 no.4
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• pp.320-326
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• 2000

The real-time simulator of a pneumatic actuation system that is composed of differential PWM signal generator, charge solenoid valve, discharge solenoid valve, actuator, load, and rotational potentiometer is developed using a DSP board and a PC. The simulator receives the control signals from the external controller through the A/D converter, updates the state and output variables of the Pneumatic actuation system responding to the input signals every sampling time, and sends out the output signals through the D/A converter in real time. The user can observe the displacements, velocities, pressures, and mass flows representing the operation of pneumatic actuation system through the PC monitor in real time. Also the user can see the moving images between the pistons and rotating arm realistically in real time. The accuracy of the real-time simulator is verified by the good agreement of the real-time simulation results and the experimental results of the pneumatic actuation system.

• Smart Structures and Systems
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• v.13 no.4
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• pp.547-565
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• 2014

This paper investigates the design of a perfect point load actuator based on flat triangular piezoelectric patches. Applying a difference of electric potential between the electrodes of a triangular patch leads to point loads at the tips and distributed moments along the edges of the electrodes. The previously derived analytical expressions of these forces show that they depend on two factors: the width over height (b/l) ratio of the triangle, and the ratio of the in-plane piezoelectric properties ($e_{31}/e_{32}$) of the active layer of the piezoelectric patch. In this paper, it is shown that by a proper choice of b/l and of the piezoelectric properties, the moments can be cancelled, so that if one side of the triangle is clamped, a perfect point load actuation can be achieved. This requires $e_{31}/e_{32}$ to be negative, which imposes the use of interdigitated electrodes instead of continuous ones. The design of two transducers with interdigitated electrodes for perfect point load actuation on a clamped plate is verified with finite element calculations. The first design is based on a full piezoelectric ceramic patch and shows superior actuation performance than the second design based on a piezocomposite patch with a volume fraction of fibres of 86%. The results show that both designs lead to perfect point load actuation while the use of an isotropic PZT patch with continuous electrodes gives significantly different results.

• Journal of Drive and Control
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• v.13 no.3
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• pp.1-7
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• 2016

A cold gas blow-down hydraulic actuation system is widely used in missiles that require an actuation system with a fast response time under a limited space with a short operating time and large loads on the actuators. The system consists of a pneumatic part that supplies the regulated high-pressure gas to a reservoir, and a hydraulic part that supplies pressurized hydraulic oil to the actuators by the pressurized gas in the reservoir. This paper proposes a mathematical model to analyze and simulate the pneumatic part of an actuation system that supplies the operating power to the actuators. The mathematical model is based on the ideal gas equation and also considers the models for heat transfer. The model is applied to the pressure vessel and the gas part of the reservoir, and the model for the pneumatic part is established by connecting the two models for the parts. The model is validated through a comparison of the simulation results with the experimental results. The comparison shows that the suggested model could be useful in the design of the pneumatic part of a cold gas blow-down type hydraulic actuation system.

• Structural Engineering and Mechanics
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• v.42 no.5
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• pp.677-699
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• 2012

This article studies the secondary resonances of a clamped-clamped microresonator under combined electrostatic and piezoelectric actuations. The electrostatic actuation is induced by applying the AC-DC voltage between the microbeam and the electrode plate that lies at the opposite side of the microbeam. The piezoelectric actuation is induced by applying the DC voltage between upper and lower sides of piezoelectric layer. It is assumed that the neutral axis of bending is stretched when the microbeam is deflected. The drift effect of piezoelectric layer (the phenomenon where there is a slow increase of the free strain after the application of a DC field) is neglected. The equations of motion are solved by using the multiple scale perturbation method. The system possesses a subharmonic resonance of order one-half and a superharmonic resonance of order two. It is shown that using the DC piezoelectric actuation, the sensitivity of AC-DC electrostatically actuated microresonator under subharmonic and superharmonic resonances may be tuned. In addition, it is shown that the tuning domain of the microbeam under combined electrostatic and piezoelectric actuations at subharmonic and superharmonic conditions is larger than the tuning domain of microbeam under only the electrostatic actuation.

• Aerospace Engineering and Technology
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• v.6 no.2
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• pp.164-170
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• 2007

In this paper, the development results of electromechanical TVC actuation system is described in the aspect of design, analysis, manufacturing and test. The kinds of prime power for TVC actuation system is classified by the variety of propulsion system of launch vehicle. The electric power by battery is the sole candidate for prime power of TVC actuation system at the view point of feasible domestic infra technologies for the present. The characteristic analysis study is performed between electromechanical and electrohydraulic actuation system with respect to power efficiency, performance and weight efficiency. The electromechanical actuation system has superiority of power and weight efficiency according to less opportunity of power conversion process.

• Journal of the Korean Society for Precision Engineering
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• v.33 no.7
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• pp.579-586
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• 2016

This paper describes kinematic analysis of a 6-degrees-of-freedom (DOF) ultra-precision positioning stage based on a flexure hinge. The stage is designed for processes which require ultra-precision and high load capacities, e.g. wafer-level precision bonding/assembly. During the initial design process, inverse and forward kinematic analyses were performed to actuate the precision positioning stage and to calculate workspace. A two-step procedure was used for inverse kinematic analysis. The first step involved calculating the amount of actuation of the horizontal actuation units. The second step involved calculating the amount of actuation of the vertical actuation unit, given the the results of the first step, by including a lever hinge mechanism adopted for motion amplification. Forward kinematic analysis was performed by defining six distance relationships between hinge positions for in-plane and out-of-plane motion. Finally, the result of a circular path actuation test with respect to the x-y, y-z, and x-z planes is presented.