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건설기계용 하이브리드 전기 유압식 가변 파워트레인 시스템의 등가소비최소화전략에 관한 연구
김성탁(S. T. Kim),곽경신(K. S. Kwak),박서준(S. J. Park),도치크엉(D. T. Cuong),안경관(K. K. Ahn) 유공압건설기계학회 2021 유공압건설기계학회 학술대회논문집 Vol.2021 No.11
Recently, as fossil fuel depletion and environmental pollution problems have emerged internationally, the development of technologies for reducing exhaust gas and energy consumption is required in the construction and industrial heavy equipment fields. To solve these environmental pollution and fuel economy problems, research related to energy saving of construction equipment is being actively conducted, and a hybrid system including energy regeneration is one of the energy solutions in the spotlight. This study is a follow-up study of "Excavator system proposal and efficiency improvement using a hybrid hybrid hydraulic powertrain system". You can. To reduce the energy consumption of construction machinery, an equivalent consumption minimization strategy is proposed that calculates the control commands of the engine, motor/generator and hydraulic pump. Build an equivalent consumption minimization strategy with MATLAB Simulink & AMEsim and validate the results against simulation with a test bench to validate the energy saving efficiency of the proposed system.
복합형 하이브리드 유압 파워트레인 시스템을 이용한 굴삭기 시스템 제안 및 효율 향상에 관한 연구
박용수(Y. S. Park),윤진수(J. S. Youn),곽경신(K. S. Kwak),김성탁(S. T. Kim),박서준(S. J. Park),안경관(K. K. Ahn),D. T. Cuong 유공압건설기계학회 2020 유공압건설기계학회 학술대회논문집 Vol.2020 No.12
With the recent emergence of fossil fuel depletion and environmental pollution issues internationally, the construction and industrial heavy equipment sectors are required to develop technologies to reduce emissions and energy consumption. Currently, research on energy saving in construction machinery is being actively carried out to solve these problems, and hybrid systems, including energy recovery, are one of the most popular energy solutions. This study proposes a combined hybrid hydraulic system, including power distribution devices, and various operating modes to increase energy efficiency. And also builds simulation models through Amesim-Simulink Cosimulation. Afterwards, the control strategy is established using fuzzy control and optimized using genetic algorithms to maximize the energy efficiency of the system. The proposed system and control strategy are verified by experiment.
Active Contact Flange를 이용한 표면 가공 작업 도구 힘 제어에 관한 연구
윤진수(J. S. Yun),박용수(Y. S. Park),곽경신(K. S. Kwak),김성탁(S. T. Kim),박서준(S. J. Park),양순용(S. Y. Yang),안경관(K. K. Ahn),박진상 유공압건설기계학회 2020 유공압건설기계학회 학술대회논문집 Vol.2020 No.7
Active Contact Flange (Active Contact Flange) is a device installed between the robot arm end effector and the robot arm to maintain a constant force between the workpiece and the tool. ACF is able to maintain a constant force in the surface machining operation, which gives positive results for control. In the existing surface processing automation operation, the force and the position are controlled simultaneously, so performance degradation is predicted. In this paper, we propose an ACF device that can control unstable forces separately. ACF can be expected to have more positive effects in terms of economy, efficiency, and environment compared to hydraulic cylinders using hydraulic oil. Since there is non-linearity in the air, this paper controls the force using a suitable sliding mode control. In the case of the existing PID controller, it is simple and has excellent performance, but it is difficult to control the uncertainty of the disturbance due to the fixed gain. Therefore, the sliding mode controller was applied to increase the control performance of uncertainty in disturbance, and force control was performed. As a result, force control was implemented without using a servovalve, and it was confirmed that it is possible to maintain contact force for surface processing.
비례방향밸브를 이용한 공압 시스템의 힘제어에 대한 연구
박서준(S. J. Park),김성탁(S. T. Kim),곽경신(K. S. Gwak),안경관(K. K. Ahn) 유공압건설기계학회 2021 유공압건설기계학회 학술대회논문집 Vol.2021 No.11
In hydraulic and pneumatic systems, there are factors that become obstacles during control, such as nonlinearity, parameter uncertainty, and disturbance. Existing PID controllers are simple and have excellent performance, but their control performance varies due to disturbance caused by fixed gain and are not suitable for controlling nonlinearity and uncertainty. In this paper, to compensate for this, the control performance will be compared by applying control using sliding mode control to hardware. In addition, when a switching gain is selected large to compensate for uncertainty which is a disadvantage of sliding mode control, the chatting is observed and compensated for disturbance, so the gain is selected small, and the control performance is improved.
곽경신(K. S. Kwak),박서준(S. J. Park),김성탁(S. T. Kim),안경관(K. K. Ahn) 유공압건설기계학회 2021 유공압건설기계학회 학술대회논문집 Vol.2021 No.11
Electro-Hydraulic Actuator (EHA) is a servo-valve driven hydraulic cylinder system. EHA is commonly used in many industries such as manufacturing and control. In this paper, we propose an simple EHA system with a robust controller. A backstepping-based robust controller is used in this system which can properly compensate disturbance and modeling uncertainty. For compensation, we designed two linear ESO. The ESO can estimate not only the unmeasured system states and disturbances but also the modeling uncertainties. Furthermore, the controller guarantees a tracking transient performance in presence of time-variant nonlinearities. The simulation results are obtained to verify the high tracking performance nature of the proposed control strategy.