Soon-Young Yang

Remote control system of industrial field robot

Hydraulic excavators are the representative of field robot and has been used in various fields of construction. Since the excavator operates in the hazardous working circumstance, operators of excavator exposed in harmful environment. Therefore, automation and remote control system have been investigated to protect from the hazardous working environment. In this paper, a hydraulic simulation program and a remote control system were developed based on 1.5 ton excavator which is a kind of field robot. The simulator was made by the AMESim, hydraulic modeling environment. And the method to construct the remote control system is proposed. The remote control system is consisted of a manual and automatic mode. Manual mode controls a hydraulic cylinder as open loop control and auto mode controls the end-effecter of excavator using tracking control system. The efficiency of remote control system was evaluated through the field test.

Design, Fabrication and Experimental Investigation of a Planar Pump Using Electro-Conjugate Fluid

This paper presents the design, fabrication, and experimental investigation of a novel planar pump using electro-conjugate fluid. The electro-conjugate fluid (ECF) is a kind of dielectric functional fluid which generates a powerful jet flow (ECF-jet) when a static electric field is applied via a pair of rod-like electrodes. This phenomenon that ECF can generate jet flows from the positive electrode to the ground electrode in an applied electric field is called the ECF effect, and converts electric energy directly into kinetic energy of the fluid. The ECF-jet acts directly on the working fluids; therefore, the proposed planar ECF pump requires no moving parts and produces no vibration or noise. The fabricated planar ECF pump consists of three parts: a pump base, a top cover, and an electrode substrate with dimensions of 280 mm × 190 mm × 1 mm. In this paper, five different electrode patterns and three different flow channel heights were investigated for the realization of a high-performance planar ECF pump. Each array of electrodes was patterned on the glass epoxy substrates using a wet-etching process, and the flow channel heights were either 200 μm, 300 μm, or 500 μm. The pumping experiments used FF-1EHA2 as the working fluid. Experimentation showed that a no-load flow rate of 5.5 cm3/s, maximum output pressure of 7.2 kPa, and maximum output power of 11.6 mW were achieved at an applied voltage of 2.0 kV.

Development of Remote Control System for Field Robot

Hydraulic excavators is the representative field robot and has been used in various fields of construction. Since the excavator operates in the hazardous working circumstance, operators of excavator exposed in harmful environment. Therefore, hydraulic excavator automation and remote control system has been investigated to protect from the hazardous working environment. Remote control system of hydraulic excavator needs a various equipments which is EPPR(Electro Proportional Pressure Reducing) valve, electronical joystick, video camera and monitor for virtual environment displayer, communication equipment of between controller and the real activity. In this paper , the method to construct the remote control system is proposed. The remote control system is consisted of a manual and automatic mode. Manual mode controls a hydraulic cylinder as open loop control and auto mode controls the end effect of excavator using tracking control system. Because of interactions between links and various working conditions. MRAC (Model reference adaptive control) based on variable structure is designed in this paper. The efficiency of remote control system was evaluated through the field test.

A Study on Manufacture and Control of a Self Manufacturing Hybrid Electric Vehicle

Abstract : In this paper, Hybrid Electric Vehicle is directly designed and manufactured for base study of HEV’s system and Green Car. Foundation design consists of power train design and the frame design. The power train concept includes motor, engine, generator and battery. And the concept of the frame is the single-seat of this self-made HEV. A frame installed in hybrid system contains suspension, steering wheel, seat, accelerating pedal, brake pedal, clutch handle and various chassis parts with bearings. Electromagnetic clutch is equipped to transmit engine power to drive axle. The control algorism make using LabVIEW to control of an engine and a motor depending on drive condition. A parallel type hybrid system is manufactured to control operation of a motor and an engine depending on vehicle speed. Key words : Hybrid electric vehicle( 하이브리드 전기 자동차), Magnetic(전자석), Parallel type(병렬형), Electronic control(전자제어), Hybrid system(하이브리드 시스템), Lab view(랩뷰), Self manufacturing hybrid electric vehicle(자작형 하이브리드 카)

Hydraulic simulation and remote control system of field robot

Hydraulic excavators are the representative of field robot and has been used in various fields of construction. Since the excavator operates in the hazardous working circumstance, operators of excavator exposed in harmful environment. Therefore, automation and remote control system have been investigated to protect from the hazardous working environment. In this paper, a hydraulic simulation program and a remote control system were developed based on 1.5 ton excavator which is a kind of field robot. The simulator was made by the AMESim, hydraulic modeling environment. And the method to construct the remote control system is proposed. The remote control system is consisted of a manual and automatic mode. Manual mode controls a hydraulic cylinder as open loop control and auto mode controls the end effect of excavator using tracking control system. The efficiency of remote control system was evaluated through the field test.

Development and Evaluation of Simulator for Field Robot

This paper presents the development of the hydraulic simulator for field robots. The simulation is based on a 1.5 ton hydraulic excavator which is a kind of field robot. The field robot is operated by a main control valve which is controlled by EPPR (Electro Proportional Pressure Reducing) valve. In order to automate the field robot, angular sensors are installed at each joint. They measure angles of boom, arm and bucket. And hydraulic pressure sensors which are attached to both ends of the boom, arm and bucket cylinders measure pressure variations. These angles and pressure variations are used to evaluate the developed simulator. The simulator is developed for the hydraulic system using AMESim. It consists of boom, arm, bucket and MCV (main control valve).

A Study on the Hydraulic Simulation of Automatic Excavation System

Abstract Hydraulic excavators have been one of the most popular devices in the various industries for construction, forestry and agriculture etc. Because the excavators generally work in poor environment, the various organizations study to automate those. In this paper, a hydraulic simulation for evaluation of automatical excavation system is presented. It is using the AMESim based on the 1.5 ton excavator with fixed displacement pumps, and operated by signals those control pilot pressure to spools of the main control valve. The main control valve is regarded that only consists of boom, arm and bucket. This simulation program is expected to apply to evaluation of the controller for automatic excavation system and to estimate of effect in accordance with change of some components or parameter. * 회원, 울산대학교 대학원 기계자동차공학과 ** 회원, 현대중공업*** 울산대학교 BK21 지능형자동차부품기술개발팀 †책임저자, 회원, 울산대학교 기계자동차공학부 E-mail : soonyy@ulsan.ac.kr TEL : (052)259-2820 FAX : (052)259-1681 기호설명   : 붐의 무게중심  

Design of a strip thickness control system for tandem cold mills using H∞ control techniques

Abstract In order to meet the requirement for higher thickness accuracy in cold-rolling mill processes, it is strongly desired to have an increasing high performance in control units. To meet this requirement, an output regulating control system with a roll-eccentricity estimator for each rolling stand of tandem cold mills was considered. Assuming entry thickness variation as well as roll eccentricity to be the major disturbances, a synthesis of multivariable control systems is presented and based on H∞ control theory, which can reflect knowledge of the input direction and spectrum of disturbance signals on design. Then, to reject roll eccentricity effectively, a weight function having some poles on the imaginary axis is introduced. This leads to a non-standard H∞ control problem, and the design procedures for solving this problem are analytically presented. The effectiveness of the proposed control method is evaluated through computer simulations and compared with the conventional linear quadratic control and feedforward control methods for roll eccentricity.