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표면개질한 소수성 막을 이용한 menthol/water 혼합물의 분리
한상오,송근호,이광래 江原大學校 産業技術硏究所 2002 産業技術硏究 Vol.22 No.A
The surface of tube-type alumina substrate was modified with a silane coupling agent in order to modify the membrane surface with hydrophobicity. Contact angle of water drops on modified membrane was greater than 90˚. The modified membrane was tested in pervaporation and vapor permeation for the recovery of menthol from dilute menthol/water mixture. With increasing menthol concentration in the feed at 45℃, permeation rate of menthol in pervaporation and vapor permeation increased from 0.039(g/㎡hr) to 0.144(g/㎡hr) and from 0.077(g/㎡hr) to 0.297(g/㎡hr) respectively. When feed concentration is 0.005(g/L) at 45℃, separation factor for menthol in pervaporation and vapor permeation is 20.7 and 40.5 respectively.
개선된 교차축 연동제어기를 이용한 리니어 모터의 위치제어
한상오(Sangoh Han),허건수(Kunsoo Huh) 대한기계학회 2010 大韓機械學會論文集A Vol.34 No.3
리니어 모터는 동력전달장치가 필요 없는 직접구동 방식으로 접촉 식의 비선형 효과를 크게 줄일 수 있고 구조 또한 간단하다. 그러나 리니어 모터는 동력전달장치를 제거함으로 인해 파라미터 변화와 외란 등에 둔감한 동력전달장치의 장점을 잃게 되어 모델의 불확실성이나 외란에 민감할 뿐만 아니라 마찰과 리플의 특성에 쉽게 영향을 받는다. 본 논문은 리니어 모터의 두 축을 대상으로 위치제어에 악영향을 주는 대표적인 비선형 함수인 마찰력과 리플력을 추정하여 이를 보상하며 개선된 교차 축 연동제어기를 통해 축 간의 윤곽정밀도를 향상시켰다. 기존의 연구된 제어기들은 위치추종과 윤곽추종을 위해 개별적인 제어기를 설계하였으나 제안된 제어기는 하나의 안정한 제어기로 두축의 위치정밀도와 윤곽정밀도를 동시에 향상시켰다. 제안된 비선형 적응제어기는 모의실험을 통하여 기존의 제안된 교차 축 연동제어기와 비교검증을 함으로써 제안된 제어시스템의 성능을 검증하였다. Linear motors are easily affected by load disturbances, force ripples, friction, and parameter variations because there are no mechanical transmissions that can reduce the effects of model uncertainties and external disturbance. In this study, a nonlinear adaptive controller to achieve high-speed/high-accuracy position control of a two-axis linear motor is designed. The operation of this controller is based on a cross-coupling algorithm. Nonlinear effects such as friction and force ripples are estimated and compensated for. An enhanced cross-coupling algorithm is proposed for effectively improving the biaxial contour accuracy while achieving closed-loop stability. The proposed controller is evaluated by performing computer simulations.
한상오(Sangoh Han),윤장열(Jangyeol Yoon),황태훈(Taehun Hwang),정태영(Taeyoung Chung) 한국자동차공학회 2011 한국자동차공학회 학술대회 및 전시회 Vol.2011 No.11
Lateral forces acting at tire are known to be closely related to the tractive ability, braking characteristics, handling stability, and maneuverability of ground vehicles. However, it is not feasible in the operating vehicles to measure the tire forces directly because of cost of sensors, limitations in sensor technology, interference with the tire rotation, and harsh environment. In this paper, in order to the tire force monitoring system, a monitoring model is proposed including the Dugoff’s tire model. Based on the monitoring model, tire force monitoring system is designed to estimate the lateral tire force acting at each tire. A proposed SKFMEC (Scaled Kalman Filter with Model Error Compensator) method is developed utilizing the conventional EKF(Extended Kalman Filter) method. Simulation results demonstrate the robustness for the lateral driving maneuver.
한상오(Sangoh Han),이동휘(Donghwi Lee),허건수(Kunsoo Huh) 한국자동차공학회 2010 한국자동차공학회 부문종합 학술대회 Vol.2010 No.5
Information of longitudinal and lateral velocity in a vehicle is very useful in many active safety applications such as vehicle stability control, yaw stability control and rollover prevention. In this study, the SKFMEC (Scaled Kalman Filter with Model Error Compensator) technique including the Dugoff’s tire model is designed to estimate longitudinal and lateral velocities. The performance of the proposed estimation method is evaluated through simulations and various field tests. Simulation results and Experimental results demonstrate the robustness for the high acceleration and critical driving maneuvers.
한상오(Sangoh Han),이동휘(Donghwi Lee),허건수(Kunsoo Huh) 한국자동차공학회 2009 한국자동차공학회 학술대회 및 전시회 Vol.2009 No.11
Information of lateral velocity and side slip angle is very useful in many active safety applications such as yaw stability control and rollover prevention. In this paper, a sliding mode observer is designed to estimate the lateral velocity. The side slip angle is estimated using the recursive least square with the disturbance observer and the pseudo integral. The estimated parameters in the combined models are updated recursively to minimize the discrepancy between the models and the physical plant. The performance of the proposed estimation methods is evaluated through field tests.
한상오(Sang Oh Han),김인근(In Keun Kim),허건수(Kun Soo Huh) 대한기계학회 2010 大韓機械學會論文集A Vol.34 No.12
겐트리형 리니어 모터의 주행 축은 동기화가 필수적이며 그렇지 못할 경우에는 위치의 어긋남이나 불안정한 동작으로 인해 동기오차가 발생하며 이는 고속·고정밀 선형운동에 악영향을 미친다. 또한 두 리니어 모터의 축은 로터리 모터와 달리 동력 전달장치를 제거함으로 인해 모델의 불확실성이나 외란에 민감할 뿐만 아니라 마찰과 리플의 특성에 쉽게 영향을 받는다. 본 논문은 겐트리형 리니어 모터의 주행 축을 대상으로 위치제어에 악영향을 주는 대표적인 비선형 함수인 마찰력과 리플력을 추정하여 보상하며 두 축간의 동기오차를 줄이기 위해 동기제어 알고리즘을 설계하였다. 제안된 비선형 적응제어기는 모의실험을 통하여 성능을 검증하였다. For high-speed/high-accuracy position control of a gantry-moving-type linear motor, we propose a nonlinear adaptive controller including a synchronization algorithm. Linear motors are easily affected by force ripple, friction, and parameter variations because there is no mechanical transmission to reduce the effects of model uncertainties and external disturbances. Synchronization error is also caused by skew motion, model uncertainties, and force disturbance on each axis. Nonlinear effects such as friction and ripple force are estimated and compensated for. The synchronization algorithm is used to reduce the synchronous error of the two side pillars. The performance of the controller is evaluated via computer simulations.