무인차량을 위한 영상 안정화 시스템 모듈 개발

한종부,이용관,김성수 제어로봇시스템학회 2009 제어로봇시스템학회 각 지부별 자료집 Vol.2009 No.12

다물체동역학 기반의 수중트랙차량 디지털 트윈 모델링 연구

한종부,박대길,여태경,정종대,이영준 제어·로봇·시스템학회 2022 제어·로봇·시스템학회 논문지 Vol.28 No.5

In the field of underwater robots, Remotely Operated Vehicle (ROV) operators are seriously affected by the possibility of remote control by dust generated during submarine work. Thus, research on Cyber-Physical Operation Systems (CPOSs) as been conducted to improve remote controllability. The CPOS consists of a real-time physical engine, real-time visualization with VR, and Human-in-the-loop simulation. The purpose of this paper is to study the digital twin modeling of a real-time physics engine for a CPOS. Accordingly, a thorough analysis of an ROV's dynamic modeling based on multibody dynamics and their controller, which includevelocity and attitude control, was conducted. Additionally, a virtual sensor model of multibeam echosounder (MBES) to be integratedwith the digital twin model was developed and co-simulated. .

Dynamic modeling and simulation of EMS Maglev vehicle to evaluate the levitation stability and operational safety over an elastic segmented switch track

한종부,한형석,이종민,김성수 대한기계학회 2018 JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY Vol.32 No.7

An electromagnetic suspension (EMS) magnetic levitation (Maglev) vehicle runs between a guideway and electromagnet at a certain distance, usually called the "airgap". To maintain the vertical airgap, the electric current of the electromagnet must be controlled. A lateral restoring force is generated by a component force in the vertical direction but is not controlled. So, the EMS Maglev vehicle must be operated at appropriate speeds around curves to prevent contact with the track. This is particularly important at track sections with a small radius of curvature such as at a switch. The segmented switch system developed and employed in Korea is entirely made of steel, which may cause instabilities in the levitation system in the presence of an airgap due to its greater susceptibility to vibration compared to concrete. Therefore, it is necessary to evaluate the stability of levitation using computational simulation when the maglev vehicle ran over a segmented switch. In this paper, a dynamic model of a Maglev vehicle was developed based on multibody dynamics that accounts for the flexibility of the segmented switch track. Using the developed analytical model, levitation stability and operational safety simulations were carried out.

밭농업로봇의 자율주행 제어 알고리즘 검증을 위한 다물체동역학 시뮬레이션

한종부,양견모,신훈섭,이종일,이석재,김대희,송수환,서갑호 제어·로봇·시스템학회 2019 제어·로봇·시스템학회 논문지 Vol.25 No.10

The purpose of this study was to develop a detailed dynamics model for the development of an agricultural robot and its autonomous driving algorithm that can be used under off-load conditions. We first developed a dynamics model of the robot by using the multibody dynamics method. Then, we designed a yaw moment and velocity tracking controller to move along the furrow in the working area of the robot, and an attitude control algorithm of the chassis to maintain the horizontal road gradient and surface roughness. Finally, using these two models, we carried out a co-simulation for the evaluation of the control algorithms. The real environment of an agricultural robot is composed of soil, gravel, and grass, so the road surface may get deformed by the wheels of the robot and may experience various roughness changes due to the weather. In this study, using the developed co-simulation model, we analyzed the dynamic response of the robot to various road properties such as height and friction coefficient.

수중 로봇의 가상 물리 운용 시스템 검증을 위한 HILS 구축

한종부,이영준,박대길,여태경 대한기계학회 2023 大韓機械學會論文集A Vol.47 No.10

Cyber physical operation systems (CPOS) involve overcoming low remote handling of operators who depend only on camera for control of underwater robots. The main aim of CPOS is real-time update of sensor data such as sonar, fiber optic gyro (FOG), Doppler velocity log (DVL), and virtual sensor on virtual reality (VR) system for clear sight information to the operator. We aim to develop a physical engine that is based on real-time multibody dynamics and the sonar handling technique in VR engine. In this study, we focus on developing a hardware in-the-loop simulation (HILS) that consists of time physical engine and certain parts of underwater robot. The HILS system consists of real-time physical engine of the robot, motion platform, manipulator, towing carriage, seabed topography, and sonar scanning system. The real-time of proposed software process of CPOS is validated using the HILS system.

유압액추에이터 사양분석을 위한 수중궤도차량의 다물체동역학 모델링 및 해석 연구

한종부,박대길,이영준,김성순,여태경 한국산학기술학회 2023 한국산학기술학회논문지 Vol.24 No.1

수중로봇은 수중을 유영하는 부유식 로봇과 지면과 접촉하여 구동하는 차량형태로 개발되어오고 있다. 부유식은로봇 몸체에 부착된 수중 추진기 방식으로 구동하지만, 차량형태는 유압방식의 모터를 채택하고 있다. 또한 일반적으로차량형태의 로봇은 수중환경에 적합하도록 트랙방식의 주행방식을 사용한다. 그러므로 트랙차량 로봇의 설계단계에서적절한 용량의 유압모터 선정이 필요하다. 본 논문에서는 트레일링 암 서스펜션이 포함된 트랙형 수중로봇의 구동기 선정에 관한 연구를 다루었다. 트랙형 수중로봇은 수중의 불규칙한 노면을 주행하기 위하여 적절한 구조 설계와 구동기선정이 필요하다. 일반적으로 로봇의 구동기는 정적 또는 동적 해석 방법을 이용하여 구동기 최대 힘을 분석하여 결정하고 있다. 해석적 방법으로 본 논문에서는 DAFUL 상용소프트웨어를 이용하여 다물체동역학 기반의 상세한 수중로봇 동역학 모델을 개발하였다. 수중트랙차량은 서스펜션 구조의 하부캐리지와 작업기 및 작업툴이 포함된 상부캐리지로 구성되었다. 개발된 동역학 모델을 이용하여 차량속도 0.5 m/s 주행의 평지, 범프, 경사로 주행 해석을 수행하였다. 해석결과를 통하여 서스펜션과 트랙 구동기에 작용하는 최대 반력과 토크를 분석 하였다.

직교좌표계 부분시스템 합성방법을 이용한 국방로봇 다물체 모델의 효율성 고찰

한종부(Jong Boo Han),임용래(Yong Rae Im),김성수(Sung-Soo Kim) 대한기계학회 2009 대한기계학회 춘추학술대회 Vol.2009 No.11

In this paper, we developed multibody dynamics model that used subsystem synthesis method for unmanned military robot in Cartesian coordinate. The unmanned military robot consists of six identical independent suspension systems. So Subsystem synthesis method is commensurate with this system. To verify the multibody dynamics model, bump run simulations are carried out by comparing with ADAMS reference model. Also to inspect efficiency, compared subsystem synthesis method with conventional method about cpu time.

자율주행로봇의 주행안정성 예측을 위한 실시간 디지털 트원 모델 개발

한종부(Jong-Boo Han),김성수(Sung-Soo Kim),송하준(Ha-Jun Song) 제어로봇시스템학회 2021 제어·로봇·시스템학회 논문지 Vol.27 No.3

This study aimed to develop a real-time digital twin model for an autonomous field robot. Autonomous control involves controlling vehicle stability parameters such as angular and translational velocities. However, stability is lost when a vehicle run over rough terrain. Therefore, it is necessary to accurately predict vehicle stability in real time using a digital twin model. In this study, we developed the digital twin model for an autonomous driving robot using real-time multibody dynamics. To verify the accuracy, we carried out real road tests on a flat road, and roads with symmetric and asymmetric bumps. We regulated the dynamic parameters such as the position of the center of gravity and coefficients of force elements in the built digital twin model and evaluated its efficiency as well.

3차원 다물체동역학 시뮬레이션 기반 자기부상열차와 3경간 연속교 동적상호작용 해석

한종부(Jong-Boo Han),김기정(Ki-Jung Kim) (사)한국CDE학회 2016 한국CDE학회 논문집 Vol.21 No.4

This study aims to investigate dynamic interaction characteristics between Maglev train and 3 span continuous guideway. The integrated model including a 3D full vehicle model based on multibody dynamics, flexible guideway by a modal superposition method, and levitation electromagnets with the feedback controller is proposed. The proposed model was applied to the Incheon Airport Maglev Railway to analyze the dynamic response of the vehicle and guideway from the numerical simulation. Using field test data of air gap and guideway deflections, obtained from the Incheon Airport Maglev Railway, the analysis method is verified. From the results, it is confirmed that Maglev railway system are designed and constructed safely according to the design criteria.

상전도흡인식 도시형 자기부상열차의 분기기 주행안전성 연구

한종부(Jong-Boo Han),이종민(Jong Min Lee),한형석(Hyung-Suk Han),김성수(Sung-Soo Kim),양석조(Seok-Jo Yang),김기정(Ki-Jung Kim) 대한기계학회 2014 大韓機械學會論文集A Vol.38 No.11

자기부상열차에 있어서 분기기는 차량이 가이드레일과 접촉 없이 안전하게 노선을 변경할 수 있도록 설계돼야 한다. 특히, 별도의 안내 전자석이 없이 하나의 U-형 전자석으로 부상력과 안내력을 동시에 얻는 중저속 상전도흡인식 자기부상열차에 있어서는 분기기 통과시 안전성에 대한 검토가 요구된다. 이 방식에서는 안내력을 능동적으로 제어하지 않기 때문에 작은 곡률 반경이면서도 다수의 직선을 연결하여 곡선을 형성하는 관절형 분기기 통과시 전자석의 횡공극이 과도하게 발생하여 가이드레일과 기계적 접촉을 일으킬 수 있기 때문이다. 본 논문에서는 개발 중인 관절식 분기기에서 차량의 주행안전성 향상을 위하여 관절식 분기기의 주 설계 변수의 안전성에의 영향을 분석하는데 목적이 있다. 그를 통하여 분기기에서의 주행안전성을 향상하고자 한다. 이를 수행하기 위하여 2 량 1 편성으로 구성된 3 차원 전체차량 다물체 동역학 모델의 적용이 제안된다. 제안된 모델을 이용하여 분기기 통과시의 주행안전성 척도 중의 하나의 횡공극 시뮬레이션이 이루어진다. 분석되는 설계 변수들은 단경간 거더의 길이와 굴절각, 끝단 고정궤도 중심 사이의 거리, 거더의 수량이다. 이러한 설계 변수들의 영향을 분석하여 안전성 향상을 위한 분기기 설계 방향을 제시한다. The switch for a maglev vehicle should be designed such that the vehicle safely changes its track without touching the guiderail. In particular, a medium-to-low-speed EMS -type maglev train relies heavily on a U-type electromagnet where it generates levitation force and guidance force simultaneously. Therefore, it is necessary to evaluate the safety of the vehicle whenever it passes the switch, as it lacks active control of the guidance force. Furthermore, when the vehicle passes a segmented switch, which is a group of curves made up of connected lines with a small radius of curvature, it may come into mechanical contact with the guiderail owing to the excessive lateral displacement of the electromagnet. The goal of this study is to analyze the influence of a segmented switch on the safety of major design-related variables for achieving improved running safety. We propose a three-dimensional multibody dynamics model composed of two cars with one body. Using the proposed model, we perform a simulation of the lateral air gap, which is one of the measurements of the running safety of the vehicle when it passes the switch. The analyzed design variables are the length between short span girder , the articulation angle, the length between two centers of a fixed girder at its ends , and the number of girders. On the basis of the effects of the considered design variables , we establish an optimized design of a switch with improved safety.