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풍력발전기 진단 및 청소를 위한 로봇의 모델링 및 자세제어
공진영(Jin-Young Kong),이재순(Jae-Soon Lee),강연식(Yeon-Sik Kang),조백규(Baek-Kyu Cho) 제어로봇시스템학회 2014 제어·로봇·시스템학회 논문지 Vol.20 No.9
Wind turbines are in the limelight in the alternative energy industry. However, they face frequent and various problems during operation. We focused on the supervising of the blades of a wind turbine. In this paper, we present the design of a maintenance robot that takes the size of wind turbine blades into consideration, so the general form of the robot is a square with four wires fixed to its vertices and to the nacelle. After the robot is placed near the nacelle, it moves along the blades. We also designed an attitude control algorithm for the robot to maintain its balance. Our control algorithm for the robot consists of roll and pitch attitude controllers and a height controller. Each controller was designed independently and then superposed together. We used simulations to verify our control algorithm.
공진영(Kong Jin-Young),강희진(Kang Hee-Jin),천병식(Chun Byung-Sik) 한국철도학회 2007 한국철도학회 학술발표대회논문집 Vol.- No.-
The cut slope sliding which has been frequently encountered in Pohang area has been reported due to the rapid reduction of shear strength in mudstone after being exposed to the air. Mudstone has characteristics that it has high enough strength and stiffness in a dry condition, but the strength and stiffness decrease in a wet condition with groundwater infiltration. The case study in this paper shows that mudstone which had enough strength in a boring stage has lost the strength after installing PRD steel pipe pile inducing an insufficient bearing capacity, which has been ascertained by the static load test. Test construction has been performed to investigate the most favorable method for increasing a pile bearing capacity in mudstone with various methods such as MSG (Micro Silica Grouting) around the tip and side of a pile, the perimeter grouting combined with Micro pile reinforcement, and concrete filling after tip reinforcing grouting. From the test construction, MSG has been turned out to be the most favorable method for increasing a pile bearing capacity in mudstone, which has been confirmed by the static load test.