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소형 자율 수중 운동체의 비연성 제어기 설계 및 HILS 기법을 이용한 성능 평가
현철,Chul, Hyun 한국군사과학기술학회 2013 한국군사과학기술학회지 Vol.16 No.2
In this paper, decoupled controller design for Autonomous Underwater Vehicle(AUV) and its simulated performance test results and Hardware In the Loop Simulation(HILS) results are presented. Control system design is done using the PD control scheme. Stability analysis and step response of closed loop system under uncertain parameter condition are also presented. The results of full coupled nonlinear model simulation show the well applicability of the designed controller. From the results of HILS, we can verify performance of real time processing and implemented hardware for AUV.
현철 경성대학교 환경문제연구소 2000 環境硏報 Vol.10 No.1
Soil is ecological and healthful material. Specially loess among soil is more effective. The producing places of loess are common under the mountain surface. The purpose of this study is to investigate development of concrete adding soil as admixture. This study shows characteristics of compressive strength, fluidity, autogenous shrinkage and abaibatic temperature rise according to the replacement ratios of loess powder and W/C ratio through experiment. In this study, It is reported that the concrete of mixing ratio 5% of loess is most effective. The results obtained are as follows, 1)In case of normal temperature curing and mixing ratio 5% of loess, the compressive strength of concrete is similar to the case without loess. Generally, compressive strength of concrete decrease according to increase of mixing ratio of loess. 2)In case of normal temperature curing and mixing ratio 5% of loess, the fluidity of concrete is nearly equal to the case without loess. Generally, fluidity of concrete decrease according to increase of mixing ratio of loess. 3)In case of W/C ratio 40% and mixing ratio 5% of loess, the autogenous shrinkage of concrete is similar to the case without loess. But in case of W/C ratio 35%, autogenous shrinkage of concrete grow according to increase of mixing ratio of loess. 4)It is proved that abaibatic temperature rise of concrete considerably decrease with increase of mixing ratio of loess.
현철봉(Zhefeng Xuan),김태렬(Tailie Jin),구남서(Nam Seo Goo),배병운(Byung-Woon Bae),김태흔(Tae-Heun Kim),고한서(Han Seo Ko),윤기원(Ki-Won Yoon) 한국항공우주학회 2013 韓國航空宇宙學會誌 Vol.41 No.1
집적형 하이브리드 구동장치는 적층형 압전재료(압전스택)를 이용한 마이크로 펌프에서 토출되는 유체로 피스톤을 구동시키는데 크기는 작으면서도 큰 구동력과 높은 속도를 동시에 출력할 수 있는 새로운 개념의 통합 구동장치로서 현재 소형화 및 고출력을 요구하는 항공 우주, 유도무기 등 다양한 분야에서 광범위하게 연구되고 있다. 본 연구에서는 이러한 하이브리드 구동장치의 구동원리 및 성능 시험에 대해 소개하였다. 우선 구동장치의 주 동력인 압전 스택의 성능 시험을 수행함으로써 압전 스택의 구동전력과 구동시간에 따른 성능 변화를 관찰하였고 다음 구동장치의 성능 시험을 통해 구동장치의 최대 이송속도와 최대 구동력을 측정하였다. 구동장치의 최대 이송속도는 53.3 ㎜/s로, 최대 구동력은 240.7 N으로, 최대 일률은 3.2 W로 측정되었다. The piezoelectric-based hydraulic actuator is a hybrid device consisting of a hydraulic pump driven by piezoelectric stacks that is coupled to a conventional hydraulic cylinder via a set of fast-acting valves. Nowadays, such hybrid actuators are being researched and developed actively in many developed countries by requirement of high performance and compact flight system. In this research, operation principle and performance testing of the hybrid actuator were introduced. Output velocities have been measured in both loaded case and not loaded case and the blocking force also has been measured in external loaded case. The maximum velocity of the actuator is 53.3 ㎜/s, blocking force is 240.7 N and corresponding power output is 3.2 W.