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김기정(K. J. Kim),김헌영(H. Y. Kim),고형규(H. G. KO),신명호(M. H. Shin) 한국소성가공학회 2009 한국소성가공학회 학술대회 논문집 Vol.2009 No.10
Tubular torsion beam of high strength steel is going about in an automotive rear axle due to the advantage of light weight and efficient rear packaging capability. High strength tubular beam can be manufactured by the hydroforming in order to ensure dimensional accuracy, while a conventional stamping has been used for steel tubular beam. Internal pressure, feeding and their combination are the key factors of controlling the process. Based on the numerical simulation and try-outs, the optimized hydroforming process conditions for the high strength tubular beam were suggested.
수직 다관절 로봇의 동적 특성을 고려한 Gain Tuning 연구
김효곤(W. J. Chung),정원지(H. G. Kim),김기정(K. J. Kim),김규탁(K. T. Kim),서영교(Y. G. Seo),이기상(K. S.Lee) 한국정밀공학회 2005 한국정밀공학회 학술발표대회 논문집 Vol.2005 No.10월
This research studied 6-Axes Articulated Robot Manipulator’s gain Tuning in consideration of dynamic. First of all, search for proportional gain of velocity control loop by dynamic signal analyzer. Proportional gain of velocity control loop is connected to dynamic signal analyzer. Next Select free Proportional Gain value. And Select amplitude X of sinusoidal properly so that enough Velocity Feedback Signal may be paid as there is no group to utensil department. Next step, We can get Bode Diagram of Closed loop transfer function response examination in interested frequency. Integral calculus for gain of velocity loop is depended on integral calculus correction"s number. We can obtain open loop transfer function by integrator. And we can know bode diagram`s special quality from calculated open loop transfer function. With this, Velocity Control Loop"s Parameter as inner loop is controlled. Next in moving, when vibration occurs, it controls notch filter.And finally, we have to control feed-forward filter parameter for elevation of control performance.