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Unified Approach for Force/Position Control in the Vehicle Body Sanding Process
Nguyen, Chi Thanh,Lee, Jae Woo,Yang, Soon Yong The Korean Society for Fluid Power and Constructio 2017 드라이브·컨트롤 Vol.14 No.3
This study presents a methodology for simulating a unified approach that controls interaction force between tool and objective by using a synthesis method of robot interacting control law for stabilizing the transient process of motion. Root locus is used to analyze stabilization of motion deviation characteristics. Based on responses of motion deviation, contact force is derived to satisfy exponential stability and we generate control input with respect to motion trajectories and interaction force. Moreover, simulation is applied to experimental application of a Cartesian robot driven by two stepper motors, and the noise of feedback signals is considered as presence of system inaccuracies, and the unified approach of interaction force control is examined precisely.
Controller Design for a Nozzle-flapper Type Servo Valve with Electric Position Sensor
Istanto, Iwan,Lee, Ill-yeong,Huh, Jun-young,Lee, Hyun-cheol The Korean Society for Fluid Power and Constructio 2019 드라이브·컨트롤 Vol.16 No.1
The control performance of hydraulic systems is basically influenced by the performance of electrohydraulic servo valve incorporated in a hydraulic control system. In this study, a control design was proposed to improve the control performance of a servo valve with a non-contact eddy current type position sensor. A mathematical model for the valve was obtained through an experimental identification process. A PI-D control together with a feedforward (FF) control was applied to the valve. To further improve the dynamic response of the servo valve, an input shaping filter (ISF) was incorporated into the valve control system. Finally, the effectiveness of the proposed control system was verified experimentally.
Oh, Kwangseok,Yi, Kyong Su,Seo, Jaho,Kim, Yongrae,Lee, Geunho The Korean Society for Fluid Power and Constructio 2017 드라이브·컨트롤 Vol.14 No.3
This study presents an online estimation of an excavator's rotational inertia by using recursive least square with forgetting. It is difficult to measure rotational inertia in real systems. Against this background, online estimation of rotational inertia is essential for improving safety and automation of construction equipment such as excavators because changes in inertial parameter impact dynamic characteristics. Regarding an excavator, rotational inertia for swing motion may change significantly according to working posture and digging conditions. Hence, rotational inertia estimation by predicting swing motion is critical for enhancing working safety and automation. Swing velocity and damping coefficient were used for rotational inertia estimation in this study. Updating rules are proposed for enhancing convergence performance by using the damping coefficient and forgetting factors. The proposed estimation algorithm uses three forgetting factors to estimate time-varying rotational inertia, damping coefficient, and torque with different variation rates. Rotational inertia in a typical working scenario was considered for reasonable performance evaluation. Three simulations were conducted by considering several digging conditions. Presented estimation results reveal the proposed estimation scheme is effective for estimating varying rotational inertia of the excavator.
홍정희,마이크 데이,Hong, Jeong-Hee,Day, Mike The Korean Society for Fluid Power and Constructio 2012 드라이브·컨트롤 Vol.9 No.2
In order to improve the life and reliability of fluid components used in the Automotive, Hydraulics and Aerospace industries, the cleanliness of the system parts and components before their assembly into the system is being addressed. The measurement of components and parts cleanliness is related to contaminant collection, analysis and data reporting and ISO Standards are continually being developed to control procedures. This Paper explains the processes in these standards and explains how similar procedures have been adapted to suit the requirements of the above Industries. It also gives guidance and recommendations on the implementation of these standards, so that the best use can be made of them.
Ahn, Doo Sung,Lee, Ill Yeong,Kim, Hyun Ho The Korean Society for Fluid Power and Constructio 2015 드라이브·컨트롤 Vol.12 No.4
Hydraulic manipulators have been widely used in many different fields due to their high force/torque to inertia ratio. The increased speed of hydraulic manipulators requires solutions to problems ranging from mechanical design to the need to determine a robot model suitable for model-based control. As a solution, this paper presents the integration of SolidWorks with Simscape for designing and controlling hydraulic manipulators. The integration provides a platform for the rapid control prototyping of a hydraulic robot without the need to build actual prototypes. The mechanical drawings of a manipulator are first created using Solidworks and are then imported into Simscape, where the manipulator is represented by connected block diagrams based on the principle of physical modeling. Simulation examples for a 3D manipulator made by KNR SYSTEM INC are verified to show the effectiveness of the presented platform.
Review of Energy Saving Technology of Hybrid Construction Machine
Yu, YingXiao,Jeong, Eunjin,Ahn, Kyoung Kwan The Korean Society for Fluid Power and Constructio 2018 드라이브·컨트롤 Vol.15 No.4
This study focuses on the energy saving of construction machinery, especially excavators and wheel loaders coming on a backdrop of energy shortage and environment pollution. Due to the problem of the low energy efficiency and the pollution of conventional hydraulic excavators, hybrid hydraulic excavators were developed to solve this challenge. Firstly, this paper discusses the different configurations of the hybrid hydraulic excavator and recent research trend of hybrid hydraulic excavator is reviewed. Secondly, the productions and research of the construction machine companies were analyzed and finally, the future challenges of hybrid technology to the hydraulic excavator were discussed.
Dynamic Modeling and Observer-based Servomechanism Control of a Towing Rope System
Tran, Anh Minh D.,Kim, Young Bok The Korean Society for Fluid Power and Constructio 2016 드라이브·컨트롤 Vol.7 No.4
This paper presents a control-oriented dynamical model of a towing rope system with variable-length. In this system, a winch driven by a motor's torque uses the towing rope to pull a cart. In general, it is a difficult and complicated process to obtain an accurate mathematical model for this system. In particular, if the rope length is varied by operating the winch, the varying rope dynamics needs to be considered, and the key physical parameters need to be re-identified... However, real time parameter identification requires long computation time for the control scheme, and hence undesirable control performance. Therefore, in this article, the rope is modeled as a straight massless segment, with the mass of rope being considered partly with that of the cart, and partly as halfway to the winch. In addition, the changing spring constant and damping constant of the towing rope are accounted for as part of the dynamics of the winch. Finally, a reduced-order observer-based servomechanism controller is designed for the system, and the performance is evaluated by computer simulation.