• 제어로봇시스템학회논문지
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• 제6권4호
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• pp.327-332
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• 2000

In this paper, a new multi-fingered robot hand using ultrasonic motors and its control system are developed. The developed robot hand has four fingers and fifteen articulated joints. The distal joint of each finger is directly driven by ultrasonic motor and all joints except the distal joint has low transmission gear mechanism with the motor. The developed robot hand has several advantages in size compared to a hand using conventional DC motors, and in performance compared to a hand using tendons to drive joints. A VME-bus based hand control system and ultrasonic motor driver are also developed. The performance of the hand is confirmed by using the developed control system in real-time.

• Journal of Electrical Engineering and Technology
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• 제5권3호
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• pp.451-461
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• 2010

Electric vehicles (EVs) require fast torque response and high drive efficiency. This paper describes a control scheme of fuzzy direct torque control of permanent magnet synchronous motor for EVs. This control strategy is extensively used in EV application. With direct torque control (DTC), the electromagnetic torque and stator flux can be estimated using the measured stator voltages and currents. The estimation depends on motor parameters, except for the stator resistance. The variation of stator resistance due to changes in temperature or frequency downgrades the performance of DTC, which is controlled by introducing errors in the estimated flux linkage vector and the electromagnetic torque. Thus, compensation for the effect of stator resistance variation becomes necessary. This work proposes the estimation of the stator resistance and its compensation using a proportional-integral estimation method. An electronic differential has been also used, which has the advantage of replacing loose, heavy, and inefficient mechanical transmission and mechanical differential with a more efficient, light, and small electric motors that are directly coupled to the wheels through a single gear or an in-wheel motor.

• 한국정밀공학회지
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• 제33권11호
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• pp.927-935
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• 2016

A gerotor is suitable for miniature manufacturing because it has a high discharge per cycle and a simple structure, while also being widely used as lubrication oil of engines and the hydraulic source of automatic transmission. In the automobile industry, it has been necessary to continuously improve the flow rate and noise of internal gear pumps for better fuel efficiency through optimal gerotor design. In this study, to obtain an optimal gerotor with an ellipse-elliptical involute-ellipse combined lobe shape, an automatic program was developed for calculating performance parameters and drawing a gerotor profile. An oil pump was assembled with the optimal gerotor together with the port used at the actual field and CFD analysis was performed on this assembly using Ansys-CFX. A performance test for the oil pump was carried out and showed good agreement with the results obtained from the theoretical analysis and the CFD analysis.

• 한국소음진동공학회논문집
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• 제21권10호
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• pp.951-959
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• 2011

In this study, an OTM(on-the-move) antenna which is mounted on ground vehicles and is used for mobile communication between vehicle and satellite while moving was addressed. Since LOS(line-of-sight) of antenna should direct satellite consistently while vehicle moving to guarantee high satellite communication quality, active antenna LOS stabilization is a core technology for OTM antenna. Stabilization of a satellite tracking antenna which consists of 2-DOF gimbals, an elevation gimbal over an azimuth gimbal, was considered in this study. In consideration of driving mechanism which consists of gear train and flexible driving shafts, a two-mass-system dynamic model coupled with vehicle motion was presented. An internal PI-control loop + outer PI-control loop structure has been suggested in order to damp the torsional vibration and stabilize control system. The classical pole-placement method was applied to design control gains. In addition, a vehicle motion compensation control beside of the feedback control loop has been suggested to improve LOS stabilization performances. The feasibility of the proposed control design was verified along with some experimental results.

• 대한산업공학회지
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• 제26권3호
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• pp.257-264
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• 2000

This research suggested a method by which the driver space can be designed to best accommodate the driver's anthropometric characteristics. Three-dimensional manikins and a variable seating buck were developed and used for this study. Manikins were designed with 18 links comprising the 95th percentile male and 5th percentile female data. The seating buck was built to create various driving environments using the distance and the height between the H-point(hip pivot) of the seat and the AHP(accelerator heel point), the angle of the back rest, the angle of the steering wheel, the vertical distance of the steering wheel, and the location of the T.G.S.(transmission gear shift) knob. Measurements of each variable were collected with a coordinate measuring machine by positioning the 3-D manikin under various combinations of the design factors of the seating buck, which was constructed based on mid-size domestic passenger cars. The data were then converted to the joint angles of the driver. The combination of the measurements for an optimal driving environment is suggested by applying sets of the joint angles at which the driver feels comfortable.

• Journal of Biosystems Engineering
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• 제25권4호
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• pp.257-264
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• 2000

A tractor attached TMR(model 430) mixer has been developed in a previous study. However, the mixer was found to be improved through field applications in its capacity, manufacturing cost, ergonomic design and power-train requirement. The TMR mixer was modified into a model TMR500, approved by Institute of Agricultural Mechanization, as follows : 1. Roughage cutting system was seperated from the mixer, resulting in the 33% reduction of manufacturing cost. 2. Enlarged hopper capacity enabled to feed 60 heads at a batch. 3. Hydraulically controlled gate system saved ergonomic man power. 4. Power transmission system was changed from a chain-sprocket system(27:1) to the gear-train reduction system(38.6:1) to satisfy the recommended use of 540rpm PTO input.

• 대한안전경영과학회지
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• 제20권4호
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• pp.1-6
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• 2018

Recently, bicycle has means of effective healthy transportation, and riding the bicycles is considered as popular recreational and sporting activities. Also, the saddle, steering system, driving device and braking device are researched briskly because of consumer's need for driving performance and comfort. Especially, the importance of a cassette responsible for transmission function by transmitting power to the drive shaft through the chain is very focused. The writer conducted structural analysis for the sprocket of each level using the ANSYS widely used for the analysis. Speed shifting performance was enhanced by minimization / simplification of shifting point through a sort of tooth profile of the cassette. By partitioning a clear value type and other shifting point, it has been modified to enable smooth speed-shifting. In addition, as titanium precision forming process, this study studied the molding technique by blanking and dies forging for mass production of the cassette. so it could be expected that the entire drive train would utilize that in the future. The stamping process capability for thin materials for the mass production of the sprockets is applicable to producing automobile parts, so lightweight component production is likely to be possible through that, for the safety of driving.

• 한국자기학회지
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• 제25권3호
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• pp.92-100
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• 2015

전기자동차는 구동방식에 따라 인휠(in-wheel) 방식과 인라인(in-line) 방식으로 구분될 수 있다. 인휠 방식 전기자동차는 기존의 자동차에서 사용하였던 변속기, 축, 차동기어 등을 제거 할 수 있기 때문에 구조가 간단해지고 차체를 경량화하여 효율을 증대시킬 수 있는 장점이 있다. 본 논문에서는 파라미터 맵(parameter map)을 이용한 차량용 인휠 전동기의 설계 방법을 제시하고, 연속정격 5 kW급 전동기를 설계하여 제작 및 성능 검증을 한다. 우선 차량의 요구 성능을 만족하는 인휠 전동기의 용량을 결정하기 위해 차량의 총무게, 기어 효율, 바퀴의 등가반경, 등판각도 등을 고려한 차량동특성해석을 수행한다. 이것을 통해 전동기 용량을 결정하고, 전동기 형상 및 치수를 결정하기 위한 초기설계를 진행한다. 그리고 요구 성능을 만족하는 전동기 파라미터를 결정하기 위해 파라미터 맵을 이용한 파라미터 설계를 수행한다. 파라미터 맵을 통해 전동기 파라미터를 결정한 후 마지막으로 무부하역기전력의 왜형율(Total Harmonic Distortion, 이하 THD), 코깅토크(cogging torque), 토크리플(torque ripple) 등의 개선을 위해 최적설계를 수행한다. 최종 설계 모델에 대해 제작을 하였으며, 성능 검증 및 제시한 설계방법의 신뢰도 검증을 위해 부하시험을 진행한다.

• 대한기계학회논문집A
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• 제39권12호
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• pp.1237-1244
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• 2015

제로터(Gerotor) 오일펌프는 구조가 간단하고 1 회전당 토출량이 많기 때문에 소형화에 유리하며, 자동차의 엔진 윤활유 공급원 및 자동 변속기의 유압원으로 널리 사용되고 있다. 최근 자동차 산업에서는 연비향상 및 소음저감이 가장 중요한 문제로 대두되는데, 내접형 기어펌프 측면에서는 제로터의 치형설계 및 포트형상 설계를 통하여 이를 대처하고 있다. 이에 본 논문에서는 유량맥동이 매우 작은 값을 가지도록 조합된(타원 1-타원형 인벌루트-타원 2) 외부로브 형상에 대하여 치형의 기구학적 조건을 만족하는 식을 유도하여 내부로브 형상을 창출하였으며, 이에 대한 첨점 및 루프가 발생하지 않는 설계인자 범위를 결정하였다. 또한 설계인자의 변화가 치형의 형상 및 성능인자(유량, 유량맥동)에 미치는 영향을 파악하여 최적의 치형을 구하고자 하였다.

• 전력전자학회논문지
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• 제11권3호
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• pp.274-283
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• 2006

Permanent Magnet Synchronous Motor(PMSM)는 볼스크류, 기어 및 타이밍 벨트를 이용하여 NC, 가공기, 로봇 및 공장 자동화를 포함하여 산업 시스템 전반에 널리 사용되고 있다. 이러한 PMSM과 부하의 결합으로 구성된 시스템은 동력의 전달에 있어서, 고유의 공진 주파수를 가지며 공진 주파수 대역에서의 기계계의 응답 특성은 매우 불안정하고, 기계 시스템의 손상을 일으키게 된다. 본 논문에서는 PMSM을 이용한 직선 운동 시스템에서 기계적인 결합에 의한 기구부의 진동을 억제하기 위하여 진동 주파수를 자동으로 검출하여, 진동의 원인이 되는 토크 지령 신호를 억제하는 적응형 노치 필터를 포함하는 속도 제어 시스템을 제안한다. 하지만, 기계적인 진동 주파수와 주파수의 대역은 전동기에 결합된 결합 기구 및 부하에 따라서 변동하는 특성을 가지고 기계적인 진동의 크기도 진동원이 되는 신호에 따라 변동하므로, 이를 적응형 노치 필터부에서 이를 진단하여 진동 주파수를 자동으로 억제함으로써 안정적인 운전이 가능하도록 설계된다. 본 논문에서 제안된 기계적인 진동을 억제하기 위한 적응형 노치 필터의 성능은 시뮬레이션 및 실험을 통하여 검증하였다.