• 대한기계학회논문집A
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• 제27권4호
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• pp.567-576
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• 2003

In this study, a robust controller to control pressure in a pneumatic pressure vessel with a long transmission line is proposed. Frequency response of transmission line using compressible fluid is changed by the flowing state of the fluid. So, it a fixed gain controller designed based on a model supposed the flowing state to a specific state, the performance of the control system could be degraded because of the modelling error. The controller designed in this study is composed of two parts. One is a feedback controller to improve a feedback characteristics and to compensate the influence of the variation of transfer characteristics of a transmission line owing to the change of flowing state and the other is a feedforward controller to regulate command fallowing performance. The experimental results with the designed controller show that the robustness of the control system is achieved regardless of the change of the model or the transmission line. Therefore, the designed controller can be utilized for the Performance improvement of a Pressure control system with a long transmission line using compressible fluid.

• Journal of Welding and Joining
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• 제22권4호
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• pp.43-49
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• 2004

Conventional method for electrode force application in resistance spot welding(RSW) processes is to use pneumatic cylinder. However, due to its inherent problems in pneumatic power system such as compressibility of air and poor transient response characteristics, new electrode force system with servo control are recently introduced in RSW machine. This machine is called “servogun”. The purpose of this study is to evaluate performance of servogun in case of spot welding of aluminum alloy. Aluminum alloy(A5052) sheets are spot welded using pneumatic gun and servogun. Both results are compared by means of macro cross-section etching test and tensile shear strength test. Numerous previous research have reported nugget with many voids and cracks are not uncommon defects in spot welds with aluminum alloy. The experimental results show similar defects in case of pneumatic gun. In contrast, use of servogun considerably reduced generation of voids and cracks. In case of step-wise increased forging force at the end of welding cycle with servogun, crack-free and void-free nuggets have been observed. The performance of servogun has been also verified by series of tensile shear test. Higher strength values have been achieved with servogun in comparison to that of pneumatic gun.

• 드라이브 ㆍ 컨트롤
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• 제16권1호
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• pp.7-13
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• 2019

The objective of this study was to present a damped pneumatic suspension, a bike fork suspension, which can adapt itself to incoming road excitations is presented in this paper. It consists of a hydraulic damper and a pneumatic spring in parallel with a linear spring. The study also proposed a variable and switchable orifice, in the hydraulic damper, to select appropriate damping property. Hydraulic-pneumatic circuit model for the bike fork suspension was established based on AMESim, in order to predict its performance. In addition, elastic-damping characteristics of the fork such as spring constant and viscous damping coefficient were computed and compared, for validation, with those evaluated by experiment using the universal test machine. Through simulation analysis and test, it was established that the hydraulic-pneumatic circuit model is effective and practical for development of future MTB suspensions.

• 실천공학교육논문지
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• 제12권1호
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• pp.1-10
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• 2020

공압제어회로는 4차 산업혁명 시대에 공장 자동화를 구성하는 중요한 기본 요소이며 대학 수준에서 공압제어회로를 설계하고 제작하는 능력을 기르는 것은 매우 중요한 교육과정 중의 하나이다. 본 연구에서는 공압제어회로의 설계 및 제작 과목에 캡스톤 디자인 방법을 적용하기 위해 모둠별 협동학습을 도입하였다. 또한, 학생들의 학습 성취도를 살펴봄으로써 향후 이 결과를 바탕으로 실천공학 교육의 혁신에 기여 하고자 하였다. 공압제어회로 설계 및 제작에서 실험집단에는 모둠별 협동학습을 적용하고 비교집단은 전통적 강의법을 적용하여 해석 능력의 차이를 검정하였다. 모둠별 협동학습을 수행한 실험집단이 전통적인 강의로만 진행된 비교집단보다 학업 능력이 높게 나타났고 유의수준 p<0.05의 t-검정 결과에서도 두 집단간에 유의미한 차이가 있음을 확인하였다. 실험집단에는 13개의 설문조사 문항을 4개의 모둠별로 응답하게 하고 그 결과를 분석하였는데, 전체 평균 4.731의 높은 만족도를 나타내었다. 본 연구를 통하여 공압제어회로의 설계 및 제작 교과목은 통상적인 과목으로 운영할 때 보다 캡스톤 디자인 기법을 적용했을 때 학생들의 학습 성취도 향상에 매우 효과적이라는 결론을 얻었으며 향후 캡스톤 디자인의 교육과정 개발에 기초 자료로 활용될 수 있을 것으로 기대된다.

• 한국산학기술학회논문지
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• 제15권11호
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• pp.6446-6451
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• 2014

공압모터는 저렴한 가격, 가벼운 무게, 용이한 조립, 중량대비 힘, 위험한 지역에서도 안전한 내부 구조와 더블어 매우 가혹한 환경에서도 작동하기 때문에 여러 분야의 응용에 매우 매력적이다. 이러한 장점에도 불구하고, 공압모터는 빠르고 정확한 응답을 필요로 하는 용도에 있어서 그 사용을 제한하는 여러 가지 바람직하지 않은 특성을 나타낸다. 이러한 바람직하지 않은 특성은 공기의 높은 압축성과 공압모터 구동시스템에 존재하는 비선형성에 기인한다. 본 논문에서는 공압모터의 회전각 제어시 강성을 높이기 위해 3-루프 기반 슬라이딩 모드 제어기를 제안하였으며 계단 응답과 외란 부하에 대한 응답 특성을 기존 PID 제어기와 비교 하였다. 공압모터 위치제어에 적용하여 본 결과 공압모터의 위치제어 정밀도는 ${\pm}0.05mm$ 이내로 제어할 수 있으며 부하에 대한 강성은 기존 PID제어기 보다 3.5배 향상됨을 보였다.

• 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.

• 공학교육연구
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• 제19권2호
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• pp.3-7
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• 2016

A flow control system was designed and fabricated to control the flow rate of liquid through the pipe. This control system was composed of hardwares and software, hardwares as controller, gate valve, orifice meter and data aquisition board and software as National instruments Labview program. Control of flow rate was executed by adjusting the pneumatic valve located at the center of pipe line based on the control signal generated by LabView PID control algorithm, which converts analog signal measured by pressure difference of orifice to digital signal to adjust pneumatic valve. For the controller setup Ziegler-Nichols tuning technique was applied and control performances were investigated for not only the disturbance but also the set point changes. Developed system showed good control performances in flow control enough to use as teaching tool of feedback control theory and practice in university, and also as industrial application.

• 한국정밀공학회지
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• 제34권1호
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• pp.59-63
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• 2017

We present a multi-sample array device based on a pneumatic system. Solenoid valves were used to control a micro valve in a pneumatic system. The use of a compressor together with a vacuum pump ensured that one outlet could supply both compression and vacuum pressure. The multi-sample array device was fabricated using conventional photolithography and PDMS casting. The device was composed of a multiplexer, sample array, and rinsing. The multiplexer could control four sample solutions injecting into the sample array chamber. Sample solution not arrayed was removed by DI-water from the rinsing inlet. To prevent trapping of microbubbles in the channel during injection of sample solution into the device, surfactant was added in PDMS solution to serve as a hydrophilic surface treatment. As a result, the device could be used as a sample array for 64 cases, using four samples and three columns of three chambers.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1991년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 22-24 Oct. 1991
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• pp.1104-1109
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• 1991

Recently, Pneumatic Actuation System (PAS) has been used increasingly as a high performance fin-control servo actuation systems because of the special advantages of pneumatic units: primarily their low cost, small size, light weight, and tolerance to broad temperature extremes. In this study, a nonlinear model of PAS is derived through the detailed analysis of the major components in the typical system. The model includes nonlinear flow-pressure relationships of the flow through the solenoid valve openings and orifices, PWM algorithm for driving two solenoid valves as a closed-center 3-way valve for minimum gas consumption, solenoid valve dynamics, saturation, and friction. Simulation results are compared with the experimental ones for square and sinusoidal inputs to see the validity of the model. Independent of the shape and magnitude of the input signals, both results are in good agreements with minor difference.

• 한국정밀공학회지
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• 제10권2호
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• pp.14-21
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• 1993

Pneumatic actuators have greater power to weight ratio than electric ones, but they have been rarely used as robotic actuators because of poor accuracy resulted from nonliearity of air. On the other hand, electric servo motors have glld controllability, but they have poor power to weight ratio. For the heavy load handling robot a combined actuating method was developed for vertical and horizontal axes of RISTBOT-ll which handles up to 250kgf load. In this paper, the control method is implemented and analyzed for the manufactured heavy load handling robot.