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권성원(Seongwon Gwon),이정훈(Jeong Hoon Lee),박종현(Jong Hyeon Park) 대한기계학회 2015 대한기계학회 춘추학술대회 Vol.춘계 No.-
In this paper, the variable foot trajectory for fast trot locomotion of quadruped robot and the roll and pitch balance control for posture stability of the robot are proposed. Since the body balance of quadruped robot is controlled by the angle between ground and body during touchdown, the angle of body in the roll and pitch directions are controlled for stable straight. The desired body trajectory for the tort is generated on the basis of the ground that is than compared with the actual body trajectory. The difference between the two trajectories is used to modify the body angle. The desired body trajectory is realized by considering a combination of the rate change of the angular and linear momenta at fast trot. Then, the tilted angle to be applied at balance of body in order to achieve the desired linear and angular momenta is determined by Impedance control. Dynamic simulations of fast trotting motion were performed using RecurDyn that show that the proposed control method can be used to achieve stable fast trotting for a quadruped robot on straight gait.
權聖遠(Sung-Won Kwon),鄭在甲(Jae-Kap Jung),李相和(Sang-Hwa Lee),金明壽(Myungsoo Kim) 대한전기학회 2008 전기학회논문지 Vol.57 No.6
A calculable potential transformer (PT) with nominal ratio error in wide range of -10 % to +10 % has been developed on basis of theoretical calculation of ratio error by the number of windings. The developed PT can be used to evaluate the linearity and accuracy of the PT comparator by comparing both the theoretical and experimental values of the PT which have exactly same ratio errors in nominal and calculated values. The PT has been applied for calibration and correction of the PT comparator up to wide ratio error range of -10 % to +10 %. This portable PT is very convenient to carry to the power industry for the on-site calibration of the PT comparator.
132 ㎸ 초정밀 전압변성기(PT) 개발 및 안정도 평가
권성원(Sung-Won Kwon),이상화(Sang Hwa Lee),정재갑(Jae Kap Jung),김문석(Mun-Seog Kim),김재영(Jae Young Kim),이성하(Sung-Ha Lee) 대한전기학회 2009 대한전기학회 학술대회 논문집 Vol.2009 No.7
High accurate and stable 132 ㎸ potential transformers (PTs) including 66 ㎸ & 22 ㎸ PT with stability of less than 0.0033 % for 13 month and with ratio error within ± 0.024 % at full rated voltage have been developed. The PTs are useful as the reference PT of the PT comparator system in the voltage range of 11 ㎸ to 132 ㎸ PT.
Development and Application of Pipeline Network Optimization Simulator
성원모,권오광,이정환,허대기,Sung Won-Mo,Kwon Oh-kwang,Lee Chung-Hwan,Huh Dae-ki, 한국가스학회 1997 한국가스학회지 Vol.1 No.1
본 연구에서는 실제현장에 활용할 수 있는 가스파이프라인 네트워크의 최적화 모델을 개발하기 위해 먼저 구조 설계에 있어서 네트워크 알고리즘 중 MCST(Minimum Cost Spanning Tree) 알고리즘을 도입하여 전반적인 구조를 결정하고, 기존 방법의 단점을 보완하기 위해 Constrained Derivative 방법을 적용하였다. 또한 모델 개발 시, 압축기$\cdot$밸브등의 갑작스런 운전상태의 변화와 파이프의 파열 둥으로 인한 유동저해 현상을 예측할 수 있는 파이프라인 해석모델과 연계할 수 있도록 고려하여 설계하였다. 각 절점과 간선간의 압력 및 유량, 즉 파이프라인 배관망에서 필요한 수요량을 적절히 공급할 수 있는 파이프라인 망의 직경과 길이를 최소의 비용으로 결정하는 복합형 파이프라인 네트워크 최적설계 모델을 개발하였다 개발된 모델을 전형적인 천연가스 파이프라인 네트워크에 적용하여 최적설계를 수행한 결과, 보다 작은 파이프 직경과 낮은 절점 압력으로도 각 절점에서의 수요량을 공급할 수 있도록 설계할 수 있었으며, 원래의 시스템과 비교하여 약 $40\%$정도의 비용 절감효과를 볼 수 있었다. 또한, 기존의 국내 수도권 배관망에 대해 본 모델을 적용하여 새로운 설계모형을 제안함으로써 초기설계나 향우 추가 확장되는 부분의 배관망에 대해서도 경제성을 고려하여 최소비용의 네트워크 구성을 할 수 있음을 확인하였다. This paper presents a hybrid network model(HY-PIPENET) implementing a minimum cost spanning tree(MCST) network algorithm to be able to determine optimum path and constrained derivative(CD) method to select optimum Pipe diameter. The HY-PIPENET has been validated with the published data of 6-node/7-pipe network. Networking system and also this system has been optimized with MCST-CD method. As a result, it was found that the gas can be sufficiently supplied at the lower pressure with the smaller diameters of pipe compared to the original system in 6-node/7-pipe network. Hence, the construction cost was reduced about $40\%$ in the optimized system. The hybrid networking model has been also applied to a complicated domestic gas pipeline network in metropolitan area, Korea. In this simulation, parametric study was peformed to understand the role of each individual parameter such as source pressure, flow rate, and pipe diameter on the optimized network. From the results of these simulations, we have proposed the optimized network as tree-type structure with optimum pipe diameter and source pressure in metropolitan area, Korea, however, this proposed system does not consider the environmental problems or safety concerns.
교류 저전압 표준용 교류-직류 변환기의 입력임피던스 평가기술 개발
權聖遠(Sung-Won Kwon),鄭在甲(Jae Kap Jung),李相和(Sang-Hwa Lee),金紋奭(Myungsoo Kim),金漢俊(Han Jun Kim) 대한전기학회 2008 전기학회논문지 Vol.57 No.2
An AC-DC transfer standard(TS) is used for the AC voltage standard in the range of 2 ㎷ to 1000 V below 1 ㎒. Micro-potentiometer(μPot) is used to evaluate the ac-dc transfer difference(ADD) of the TS below 200 ㎷ range. The ADD of the TS were changed by the loading effect caused from the input impedance change of the TS depend on frequency. An input impedance evaluation technique of the TS using μPot has been developed.