• 로봇학회논문지
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• 제14권4호
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• pp.348-356
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• 2019

The backdrivable servovalve is a desirable component for force and interaction control of hydraulic actuation systems because it provides direct force generation mechanical impedance reduction by its own inherent backdrivability. However, high parametric uncertainty and friction effects inside the hydraulic actuation system significantly degrade its advantage. To solve this problem, this letter presents a disturbance-adaptive robust internal-loop compensator (DA-RIC) to generate ideal interactive control performance from the backdrivable-servovalve-based system. The proposed control combines a robust internal-loop compensator structure (RIC) with an explicit disturbance estimator designed for asymptotic disturbance tracking, such that the controlled system provide stable and ideal dynamic behavior for impedance control, while completely compensating the disturbance effects. With the aid of a backdrivable servovalve, we show that the proposed control structure can be implemented based on a simplified nominal model, and the controller enables implementation without accurate knowledge of the target system parameters and disturbances. The performance and properties of the proposed controller are verified by simulation and experiments.

• 한국정밀공학회지
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• 제12권2호
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• pp.79-86
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• 1995

Frequency response method is used to design hydraulic servo systems and improve its performance. In this study a method is proposed to get simply the frequency response of the electro-hydraulic servo system which use PWM controlled high-speed on-off valves. Firstly, the describing function of the PWM element is derived and tested. It is found that the character- istic of PWM element could be approximated to a saturation characteristic in the range of allowable frequency. And the dynamic characteristic of the valve-cylinder system could be negligible. The working characteristic of high-speed on-off valve is considered as time delay. So simulation is performed in the basis of the reconstructed block diagram. And this method is verified by experiments.

• 한국소음진동공학회논문집
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• 제21권1호
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• pp.18-23
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• 2011

With hydraulic noise test facility, a variety of tests were performed to investigate the pulsation pressure generation mechanism and its transmission characteristics and to derive the noise control methodology. Many experiments were carried out by changing average pressure, flow rate, pump speed, hose length and MCV spool condition. From the test results, the correlations between pulsation pressure and other design parameters, such as static pressure, flow rate and MCV spool opening area and length of hose, were found out. And also each contribution factors were evaluated from the regression analysis. By changing hose length, the pulsation pressure resonance phenomenon was investigated. In order to find out the pulsation pressure reduction measures pulsation pressure analysis, such as pulsation pressure of hydraulic pump itself and pulsation pressure of hydraulic system, by using AMESim were studied. In addition hydraulic silencer was developed based on the Helmholtz resonator. And its performance was evaluated by installing the silencer at the excavator.

• Structural Engineering and Mechanics
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• 제60권1호
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• pp.91-110
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• 2016

Tube hydroforming (THF) under pulsating hydraulic pressures is a novel technique that applies pulsating hydraulic pressures that are periodically increased to deform tubular materials. The deformation behaviours of tubes in pulsating THF may differ compared to those in conventional non-pulsating THF due to the pulsating hydraulic pressures. The equivalent stress-strain relationship of metal materials is an ideal way to describe the deformation behaviours of the materials in plastic deformation. In this paper, the equivalent stress-strain relationships of SS304 tubes in pulsating hydroforming are determined based on experiments and simulation of free hydraulic bulging (FHB), and compared with those of SS304 tubes in non-pulsating THF and uniaxial tensile tests (UTT). The effect of the pulsation parameters, including amplitude and frequency, on the equivalent stress-strain relationships is investigated to reveal the plastic deformation behaviours of tubes in pulsating hydroforming. The results show that the deformation behaviours of tubes in pulsating hydroforming can be well described by the equivalent stress-stain relationship obtained by the proposed method. The amplitude and frequency of pulsating hydraulic pressure have distinct effects on the equivalent stress-strain relationships-the equivalent stress becomes augmented and the formability is enhanced with the increase of the pulsation amplitude and frequency.

• 유공압시스템학회논문집
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• 제4권3호
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• pp.7-12
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• 2007

This paper presents an energy saving hydrostatic pressure exchanger for sea water desalination equipment. In a reverse osmosis(RO) system for desalinating sea water, more than 70 percent of the supplied sea water, brines which were impassable through RO membrane are bypassed, resulting in high energy losses. In this paper, a hydrostatic pressure exchanger consisting of an embedded water hydraulic piston motor and a water hydraulic piston pump was proposed and investigated in order to recover the energy of the bypassed brines. The pressurized brines are supplied to the embedded water hydraulic piston motor as power sources and the water hydraulic piston pump is driven by the output torque of the embedded water hydraulic piston motor as well as electric motor. Consequently, the energy of the bypassed brines can be recovered. To examine the electric energy saving characteristics of the hydrostatic pressure exchanger, a simulation model was constructed using commercial software and experiments were conducted. Through the results of simulation and experiment, the feasibility of the electric energy saving effect of the proposed hydrostatic pressure exchanger was investigated.

• 한국기계가공학회지
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• 제18권7호
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• pp.14-21
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• 2019

Large-diameter hydraulic devices such as the hydraulic reservoir in aircraft that serves to balance the hydraulic pressure in the various hydraulic devices in the cabin and to store hydraulic oil are operated by the internal piston systems. However, since this operates in an environment with high temperature and humidity, it may cause the inner surface to flake during its operation. Therefore, an anodizing surface treatment is applied to improve the corrosion resistance, abrasion resistance, and smooth operation. However, anodizing increases the surface roughness. Accordingly, the polishing process that improves the surface roughness after anodizing is important. However, the existing polishing process is performed manually, which results in an inefficient process. Therefore, in this study, we selected the optimum polishing conditions for effective polishing using the experimental design to improve the polishing process for the $Al_2O_3$ film that forms after anodization. Through experiments, we confirmed that the surface uniformity after polishing was superior as the feed rate was slower when the same polishing time had been applied.

• 드라이브 ㆍ 컨트롤
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• 제18권3호
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• pp.8-15
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• 2021

A rear axle steering (RAS) system is attached to the rear of medium and large commercial vehicles that transport large cargo. The existing RAS systems are driven by electro-hydraulic actuator (EHA), and most commercialized EHAs consist of electric motors, hydraulic pumps, relief valves, prefill valves and cylinders. The prefill valve required for such EHAs is a type of check valve with extremely low cracking pressure that should not allow RAS to have noise or vibration, and the prefill valve prevents system negative pressure as well as unstable operation. Most papers on this topic rely on experiments to predict valve performance, and theoretically detailed modeling of valves or pipelines is performed, but it is very rare to evaluate hydraulic vibration characteristics by analysing everything from hydraulic pumps to valves comprehensively. In this study, we proposed an experimental circuit that can predict the performance of the prefill valve. The study also analysed the pressure-flow pulsation that is transmitted to the valve through the pipeline, and how the transmitted pressure-flow pulsation affects the valve vibration.

• Nuclear Engineering and Technology
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• 제56권4호
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• pp.1385-1397
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• 2024

Bentonite is a recommended material for the multiple barriers in the final disposal of low-level radioactive waste (LLW) to prevent groundwater intrusion and nuclear species migration. However, after drying-wetting cycling during the repository construction stage and ion exchange with the concrete barrier in the long-term repository, the bentonite mechanical behaviors, including swelling capacity and hydraulic conductivity, would be further influenced by the groundwater intrusion, resulting in radioactive leakage. To comprehensively examine the factors on the mechanical characteristics of bentonite, this study presented scenarios involving MX-80 and KV-1 bentonites subjected to drying-wetting cycling and accelerated ion migration. The experiments subsequently measured free swelling, swelling pressure, and hydraulic conductivity of bentonites with intrusions of seawater, high pH, and low pH solutions. The results indicated that the solutions caused a reduction in swelling volume and pressure, and an increase in hydraulic conductivity. Specifically, the swelling capability of bentonite with drying-wetting cycling in the seawater decreased significantly by 60%, while hydraulic conductivity increased by more than three times. Therefore, the study suggested minimizing drying-wetting cycling and preventing seawater intrusion, ensuring a long service life of the multiple barriers in the LLW repository.

• Journal of Biosystems Engineering
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• 제14권4호
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• pp.229-241
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• 1989

The purposes of this study were to develop an electronic-hydraulic draft control system for tractor implements, to investigate the control performance of the system and the possibility of adaptation to the conventional tractor. Experiments were carried out to investigate the responses of the system to the step and sinusoidal inputs in draft control. The effects of control mode, hydraulic flow rate, reference deadband, and proportional constant on control performance of the system were investigated. Moreover, the effects of filtering signals from draft sensor were also investigated. The following conclusions were derived from the study; 1. In draft control, there were hunting problems in controlling the implement without filtering the draft signals. Filtering was performed by a control program of electronic controller and the control performance and stability of the system were improved significantly. 2. For the draft control system operated on on-off control mode, draft was controlled within ${\pm}27-{\pm}55kg_f$ to the reference draft when the hydraulic flow rates were 5-15 l/min. For the draft control system operated on PWM control, draft was controlled within ${\pm}27kg_f$ to the reference draft regardless of hydraulic flow rates. 3. In the frequency responses of the draft control system, control performance on PWM control mode was not better than on on-off control mode because of characteristics of hydraulic valve and drafe sensor. As the hydraulic flow rates increased for the system operated on on-off control mode, the corner frequency of amplitude attenuation increased, but the corner frequency of phase-angle change remained nearly the same. But, the system was unstable beyond the frequency of 3.1 rad/s. 4. The electronic-hydraulic hitch control system developed in this study showed superior control performance, stability and convenience compared to conventional mechanical-hydraulic hitch control system. It is considered to be a superior replacement for the conventional mechanical-hydraulic hitch control system.

• Ocean Systems Engineering
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• 제5권4호
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• pp.279-299
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• 2015

Suction anchors are widely adopted and play an important role in mooring systems. However, how to reliably predict the failure mode and ultimate pullout capacity of the anchor in sand, especially by an easy-to-use theoretical method, is still a great challenge. Existing methods for predicting the inclined pullout capacity of suction anchors in sand are mainly based on experiments or finite element analysis. In the present work, based on a rational mechanical model for suction anchors and the failure mechanism of the anchor in the seabed, an analytical model is developed which can predict the failure mode and ultimate pullout capacity of suction anchors in sand under inclined loading. Detailed parametric analysis is performed to explore the effects of different parameters on the failure mode and ultimate pullout capacity of the anchor. To examine the present model, the results from experiments and finite element analysis are employed to compare with the theoretical predictions, and a general agreement is obtained. An analytical method that can evaluate the optimal position of the attachment point is also proposed in the present study. The present work demonstrates that the failure mode and pullout capacity of suction anchors in sand can be easily and reasonably predicted by the theoretical model, which might be a useful supplement to the experimental and numerical methods in analyzing the behavior of suction anchors.