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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.
호아이 부 안 쯔엉(H. V. A. Truong),장찌둥(T.D. Dang),정은진(E.J. Jeong),박용수(Y.S. Park),윤진수(J.S. Yun),안경관(K.K. Ahn) 유공압건설기계학회 2019 유공압건설기계학회 학술대회논문집 Vol.2019 No.6
Fuel cell hybrid electric excavator is an attractive alternative to reduce the emission and noise. This study focuses on the modeling the PEM fuel cell excavator with super capacitor to increase efficiency. For the analysis and simulation, the governing equations of the PEM system, the supercapacitor was derived. This simulation was performed in a co-simulation environment, which is a combination of MATLAB/Simulink and AMESim software. The simulation results were presented to show the performance of the system.