• 한국정밀공학회지
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• 제19권4호
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• pp.202-208
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• 2002

An electro-hydraulic manipulator using hydraulic actuators has many nonlinear elements, and its parameter fluctuations are greater than those of an electrically driven manipulator. So it is relatively difficult to realize not only stable contact work but also accurate force control for the autonomous assembly tasks using hydraulic manipulators. In this report, we applied a compliance control which is based on the position control by a disturbance observer for our manipulator system. And a reference trajectory modification method is proposed in order to achieve accurate force control even though the stiffness and position of environment change. Experimental results show that highly robust force tracking by a 6-link electro-hydraulic manipulator could be achieved under various environment conditions.

• 한국공작기계학회:학술대회논문집
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• 한국공작기계학회 1999년도 추계학술대회 논문집 - 한국공작기계학회
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• pp.411-416
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• 1999

The measurement of unsteady flow rate is of vital importance to clarify and improve the dynamic characteristics in pipeline, hydraulic components and system. There is also demand for a real time flow sensor of ability to measure unsteady flow rate with high accuracy and fast response to realize feedback control of flow rate in fluid power systems. In this paper, we propose an approach for estimating unsteady flow rate through a pipeline and components under high pressure condition. In the method, unsteady flow rate is estimated by using hydraulic pipeline dynamics and the measured pressure values at two distant points along the pipeline. The distributed parameter model of hydraulic pipeline is applied with consideration of frequency dependent viscosity friction and unsteady velocity distribution at a cross section of a pipeline. By using the self-checking functions of the method, the validity is investigated by comparison with the measured and estimated pressure waveforms at the halfway section on the pipeline. The results show good agreement between the estimated flow rate waveforms and theroetical those under unsteady laminar flow conditions. the method proposed here is useful in estimating unsteady flow rate through an arbitray cross section in hydraulic pipeline and components without installing an instantaneous flowmeter.

• Geomechanics and Engineering
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• 제23권5호
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• pp.419-429
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• 2020

To investigate the effect of spatial variability on hydraulic properties of unsaturated soils, a numerical model is set up which can simulate seepage process in an unsaturated heterogeneous soil. The unsaturated heterogeneous soil is composed of matrix sand embedded with a small proportion of clay for simulating the heterogeneity. Soil-water characteristic curve and unsaturated hydraulic conductivity curve of the unsaturated soil are expressed by Van Genuchten model. Hydraulic parameters of the matrix sand are considered as random fields. Different autocorrelation lengths (ACLs) of hydraulic parameter of the matrix sand and different proportions of clay are assumed to investigate the influence of spatial variability on the equivalent hydraulic properties of the heterogeneous soil. Four model sizes are used in the numerical experiments to investigate the influence of scale effects and to determine the sizes of representative volume element (RVE) in the numerical simulations. Through a number of Monte Carlo simulations of unsaturated seepage analysis, the means and the coefficients of variations (COVs) of the equivalent hydraulic parameters of the heterogeneous soil are calculated. Simulations show that the ACL and model size has little influence on the means of the equivalent hydraulic parameters, but they have a large influence on the COVs of the equivalent hydraulic parameters. The size of an RVE is mainly affected by the ACL and the proportion of heterogeneity. The influence of spatial variability on the hydraulic parameters of the heterogeneous unsaturated soil can be used as a guidance for geotechnical reliability analysis and design related to unsaturated soils.

• Tribology and Lubricants
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• 제2권2호
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• pp.20-26
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• 1986

The paper presents an analytical investigation of the unbalance vibrations of a pump rotor. The analysis applies to rotor-bearing-seal-impeller systems which consist of rigid disks, distributed parameter rotor elements and discreate bearings, seals, and impellers. The dynamic hydraulic force of bearing, seal and impeller elements are represented by four stiffness coefficients arid four damping coefficients. Numerical results are presented for unbalance response associated with various kinds bearing, and with effects of seal and impeller forces.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1991년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 22-24 Oct. 1991
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• pp.1133-1138
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• 1991

A control of nonlinear system is motivated by the fact that all real plants are nonlinear systems and model identification introduces parameter errors. The purpose of this study is to design a Discrete Variable Structure Controller(DVSC) for single-rod hydraulic cylinder system. The model contains uncertain parameters which we known to lie upper and lower bounds. In the design of DVSC, the boundary layer concept was adopted to reduce cattering. The DVSC was evaluated through digital computer simulation and compared with a VSC (analog controller).

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1988년도 한국자동제어학술회의논문집(국내학술편); 한국전력공사연수원, 서울; 21-22 Oct. 1988
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• pp.299-304
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• 1988

This paper describes the application of the variable structure control(VSC) concept for the position control of electro-hydraulic servomtor system. The basic philosopy of VSC is that the structure of the feedback control is altered as the state crosses discontinuity surfaces in the state surface with the result that certain desirable properties are achieved. The switching of the control function yields total(or selective) invariance to system parameter variations and disturbances, and closed loop eigen value placement in time-varing and uncertain systems.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2011년도 춘계학술대회 논문집
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• pp.77-78
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• 2011

• 한국해안해양공학회지
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• 제18권2호
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• pp.147-153
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• 2006

본 연구에서는 s-소단 경사식 방파제에서의 처오름 특성을 검토하기 위하여 수리모형실험을 수행하였다. 소단의 높이와 폭을 변화시켜가며 파형경사 및 쇄파계수의 변화에 따른 처오름높이 계측결과를 분석하였다. 그 결과 소단의 폭과 높이가 증가될수록 처오름높이는 감소함을 알 수 있었으며, 파형경사와 쇄파계수의 변화에 따른 처오름높이의 변화는 크지 않음을 알 수 있었다.

• 한국환경과학회지
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• 제17권7호
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• pp.783-793
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• 2008

The purpose of this study is to analyze the sensitivity of the RMA2 model parameters reflecting the flow characteristics of stream junction and thus understand the hydraulic characteristics of the channel confluence flow. This study dealt with the input parameters of the RMA-2 model, a two-dimensional numerical analysis model widely used for researches both at home and abroad. The parameters of the RMA-2 model are roughness coefficient, turbulent diffusion coefficient, Coriolis forces latitude, Density, and mesh size. This study those parameters estimated from actual heavy rainfall, and varied the parameter size by (-)30%${\sim}$+30% to review the characteristics of the flow characteristics of the channel section. Weobserved that when the ratio of the channel width was relatively small, the smaller the approaching angle was, the farther from the junctions became the generating place of the maximum flow velocity, however, when the ratio of the channel width was relatively large, the larger the approaching angle was, the farther the generating place of the maximum flow velocity from the junctions became. In particular, the distance between junctions and the place where the maximum flow velocity generated showed an absolute correlationover 90% of the relative channel width, but an inverse relationwas found when the distance to the place where the flow velocity generated was shortened as relative the channel width between the main channel and tributary increased.

• Journal of Advanced Marine Engineering and Technology
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• 제37권8호
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• pp.886-892
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• 2013

고압호스 조립체는 건설기계, 선박, 항공기, 산업기계, 공작기계 및 자동차 등의 각종 유압장치에 널리 유압배관으로 사용된다. 이는 유연성이 필요한 부분에 유체동력($P^*Q$)으로 전달해야 함으로서, 고장이 발생할 경우는 유압시스템 전체가 작동이 불가능함으로서 신뢰성이 매우 중요한 부품이다. 가속 수명 시험 데이터는 와이블분포 분석을 통해서 형상 모수를 추종 하였다. 본 시험연구에서는 실제 가속수명시험 조건의 충격압력과 반복 굽힘을 변화시켜 시험시간을 감소시켰다. 가속수명시험 모형은 GLL(generalized linear)모형을 사용하였으며, 충격압력과 반복 굽힘에 대한 가속지수는 각각 6.64와 4.46으로 확인되었다. 또한 시험 결과에 대한 분석결과 형상모수(${\beta}$)는 6.19이며, 실제 사용조건인 35 MPa과 굽힘 반경 R100 mm를 적용하였을 경우 척도모수(${\eta}$)는 $1.035{\times}108$사이클로 확인되었다.