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한종부,한형석,이종민,김성수 대한기계학회 2018 JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY Vol.32 No.7
An electromagnetic suspension (EMS) magnetic levitation (Maglev) vehicle runs between a guideway and electromagnet at a certain distance, usually called the "airgap". To maintain the vertical airgap, the electric current of the electromagnet must be controlled. A lateral restoring force is generated by a component force in the vertical direction but is not controlled. So, the EMS Maglev vehicle must be operated at appropriate speeds around curves to prevent contact with the track. This is particularly important at track sections with a small radius of curvature such as at a switch. The segmented switch system developed and employed in Korea is entirely made of steel, which may cause instabilities in the levitation system in the presence of an airgap due to its greater susceptibility to vibration compared to concrete. Therefore, it is necessary to evaluate the stability of levitation using computational simulation when the maglev vehicle ran over a segmented switch. In this paper, a dynamic model of a Maglev vehicle was developed based on multibody dynamics that accounts for the flexibility of the segmented switch track. Using the developed analytical model, levitation stability and operational safety simulations were carried out.
밭농업로봇의 자율주행 제어 알고리즘 검증을 위한 다물체동역학 시뮬레이션
한종부,양견모,신훈섭,이종일,이석재,김대희,송수환,서갑호 제어·로봇·시스템학회 2019 제어·로봇·시스템학회 논문지 Vol.25 No.10
The purpose of this study was to develop a detailed dynamics model for the development of an agricultural robot and its autonomous driving algorithm that can be used under off-load conditions. We first developed a dynamics model of the robot by using the multibody dynamics method. Then, we designed a yaw moment and velocity tracking controller to move along the furrow in the working area of the robot, and an attitude control algorithm of the chassis to maintain the horizontal road gradient and surface roughness. Finally, using these two models, we carried out a co-simulation for the evaluation of the control algorithms. The real environment of an agricultural robot is composed of soil, gravel, and grass, so the road surface may get deformed by the wheels of the robot and may experience various roughness changes due to the weather. In this study, using the developed co-simulation model, we analyzed the dynamic response of the robot to various road properties such as height and friction coefficient.
유압액추에이터 사양분석을 위한 수중궤도차량의 다물체동역학 모델링 및 해석 연구
한종부,박대길,이영준,김성순,여태경 한국산학기술학회 2023 한국산학기술학회논문지 Vol.24 No.1
수중로봇은 수중을 유영하는 부유식 로봇과 지면과 접촉하여 구동하는 차량형태로 개발되어오고 있다. 부유식은로봇 몸체에 부착된 수중 추진기 방식으로 구동하지만, 차량형태는 유압방식의 모터를 채택하고 있다. 또한 일반적으로차량형태의 로봇은 수중환경에 적합하도록 트랙방식의 주행방식을 사용한다. 그러므로 트랙차량 로봇의 설계단계에서적절한 용량의 유압모터 선정이 필요하다. 본 논문에서는 트레일링 암 서스펜션이 포함된 트랙형 수중로봇의 구동기 선정에 관한 연구를 다루었다. 트랙형 수중로봇은 수중의 불규칙한 노면을 주행하기 위하여 적절한 구조 설계와 구동기선정이 필요하다. 일반적으로 로봇의 구동기는 정적 또는 동적 해석 방법을 이용하여 구동기 최대 힘을 분석하여 결정하고 있다. 해석적 방법으로 본 논문에서는 DAFUL 상용소프트웨어를 이용하여 다물체동역학 기반의 상세한 수중로봇 동역학 모델을 개발하였다. 수중트랙차량은 서스펜션 구조의 하부캐리지와 작업기 및 작업툴이 포함된 상부캐리지로 구성되었다. 개발된 동역학 모델을 이용하여 차량속도 0.5 m/s 주행의 평지, 범프, 경사로 주행 해석을 수행하였다. 해석결과를 통하여 서스펜션과 트랙 구동기에 작용하는 최대 반력과 토크를 분석 하였다.
다물체동역학 기반의 수중트랙차량 디지털 트윈 모델링 연구
한종부,박대길,여태경,정종대,이영준 제어·로봇·시스템학회 2022 제어·로봇·시스템학회 논문지 Vol.28 No.5
In the field of underwater robots, Remotely Operated Vehicle (ROV) operators are seriously affected by the possibility of remote control by dust generated during submarine work. Thus, research on Cyber-Physical Operation Systems (CPOSs) as been conducted to improve remote controllability. The CPOS consists of a real-time physical engine, real-time visualization with VR, and Human-in-the-loop simulation. The purpose of this paper is to study the digital twin modeling of a real-time physics engine for a CPOS. Accordingly, a thorough analysis of an ROV's dynamic modeling based on multibody dynamics and their controller, which includevelocity and attitude control, was conducted. Additionally, a virtual sensor model of multibeam echosounder (MBES) to be integratedwith the digital twin model was developed and co-simulated. .
수중 로봇의 가상 물리 운용 시스템 검증을 위한 HILS 구축
한종부,이영준,박대길,여태경 대한기계학회 2023 大韓機械學會論文集A Vol.47 No.10
Cyber physical operation systems (CPOS) involve overcoming low remote handling of operators who depend only on camera for control of underwater robots. The main aim of CPOS is real-time update of sensor data such as sonar, fiber optic gyro (FOG), Doppler velocity log (DVL), and virtual sensor on virtual reality (VR) system for clear sight information to the operator. We aim to develop a physical engine that is based on real-time multibody dynamics and the sonar handling technique in VR engine. In this study, we focus on developing a hardware in-the-loop simulation (HILS) that consists of time physical engine and certain parts of underwater robot. The HILS system consists of real-time physical engine of the robot, motion platform, manipulator, towing carriage, seabed topography, and sonar scanning system. The real-time of proposed software process of CPOS is validated using the HILS system.
전자석의 비선형 부상력을 고려한 자기부상열차의 동특성 해석
한종부(Jong Boo Han),김기정(Ki Jung Kim),이종민(Jong Min Lee),한형석(Hyung Suk Han) 대한기계학회 2011 대한기계학회 춘추학술대회 Vol.2011 No.5
For an EMS-type Maglev vehicle, the levitation force is actively controlled by changing the voltage of electromagnet to maintain the air gap within an allowable range. The levitation force of an electromagnet is a non-linear function of current and air gap, and shows a saturation point beyond which it cannot increase when it reaches a high level. Therefore, a dynamics analysis of the Maglev vehicle that considers non-linear characteristics is needed to predict running stability. However, in preceding studies, the linear model, which may be obtained by using linear approximations of the levitation force for excursions around the nominal equilibrium point, has been used. In this paper, the relationship between the measured non-linear characteristics of levitation and guidance force and independent variables of current and air gap is processed by the interpolation method resulting 3-dimensional spline surface. By doing so, a non-linear levitation model was developed, and dynamic analysis was carried out. With the proposed model, the vertical and lateral air gap could be simulated to evaluate the running stability.
U 자형 전자석을 사용하는 자기부상열차의 횡진동 저감 연구
한종부(Jong-Boo Han),김기정(Ki-Jung Kim),한형석(Hyung-Suk Han),김성수(Sung-Soo Kim) 대한기계학회 2012 大韓機械學會論文集A Vol.36 No.11
도시형 자기부상열차는 U 자형 전자석만을 사용하여 부상공극을 일정하게 유지하며 주행한다. U자형 전자석은 그 형상 특성으로 인하여 전자석 위치에 따라 안내력을 동시에 갖기 때문에 능동적 횡공극 제어가 없이도 차량을 레일에 따라 안내할 수 있는 장점을 갖는다. 그러나 횡공극을 제어하기 않기 때문에 횡진동이 증가하여 승차감 및 주행안정성에 악영향을 미칠 수 있다. 본 논문에서는 능동제어가 없이도 횡진동을 저감시키기 위한 방법으로 횡댐퍼 적용 효과에 대한 분석이 이루어진다. 이를 위하여 자기부상열차의 횡방향 고유진동특성을 우선 해석하고, 횡방향 댐퍼를 설치했을 때의 진동저감 효과 분석이 이루어진다. 정확한 횡진동 예측을 위하여 자기부상열차의 3 차원 다물체 동역학 모델을 사용하였다. 본 논문의 결과를 통해서 자기부상열차의 횡진동 저감을 위한 횡댐퍼 채택 제안에 활용하고자 한다. For an electromagnetic suspension (EMS)-type urban Maglev train using U-shaped electromagnets, both the vertical and the lateral air gaps for levitation are maintained only by the electromagnet. The train can run over curved rails without active lateral air gap control because the U-shaped electromagnet simultaneously produces both a levitation force and a guidance force, which is dependent on the levitation force. Owing to the passive control of the lateral air gap, the lateral vibration could exceed the limits of the lateral air gap and acceleration. In this study, dynamic analysis of a Maglev train is carried out, and the effectiveness of a lateral damper for vibration reduction is investigated. To more accurately predict the lateral vibration, a Maglev vehicle multibody model including air-sparing, guideway irregularities, electromagnets, and their controls is developed.
한종부(Jong-Boo Han),김진균(Jin-Gyun Kim),김성수(Sung-Soo Kim) 대한기계학회 2017 대한기계학회 춘추학술대회 Vol.2017 No.11
The floating reference frame formulation is widely used for analysis of flexible multibody dynamics in the industry because the various model order reduction (MOR) techniques can be applied. The MOR techniques represent a deformation field through eigenvalue analysis, and then a set of the selected eigenvector is used for the reduced system. In this process, it is very important to select the boundary conditions and dominant modes of a flexible body. That is usually dependent upon the engineer’s experience. In this paper, we proposed a method for selecting deformation field for flexible multibody analysis using dynamic correction modes. To verify the usefulness of the proposed method, the numerical simulation of a double pendulums is carried out.