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公开(公告)号：KR101451783B1
公开(公告)日：2014-10-16
申请号：KR1020130109937
申请日：2013-09-12
Applicant: 국방과학연구소
CPC classification number: G01N19/02 , G05B23/0254
Abstract: The present invention relates to an apparatus and a method for inferring a frictional characteristic of a driving device using a Kalman filter which can remarkably reduce experiment time used to infer a frictional characteristic of a driving device. According to an embodiment disclosed in the present specification, the method of estimating a frictional characteristic of a driving device includes applying first and second driving torques to the driving device to measure a change in first angular velocity of the driving device with respect to the first driving torque and a change in second angular velocity of the driving device with respect to the second driving torque, and estimating inertia and viscous friction coefficient of the driving device based on the changes in the first angular velocity and the second angular velocity; and estimating Coulomb friction force based on the estimated inertia and viscous friction coefficient.
Abstract translation: 本发明涉及一种用于推断使用卡尔曼滤波器的驱动装置的摩擦特性的装置和方法，该卡尔曼滤波器可以显着地减少用于推断驱动装置的摩擦特性的实验时间。 根据本说明书中公开的实施例，估计驱动装置的摩擦特性的方法包括将第一和第二驱动扭矩施加到驱动装置以测量驱动装置相对于第一驱动的第一角速度的变化 基于所述第一角速度和所述第二角速度的变化来估计所述驱动装置的惯性和粘性摩擦系数;以及驱动装置的第二角速度相对于所述第二驱动扭矩的第二角速度的变化， 并根据估计的惯性和粘性摩擦系数估算库仑摩擦力。
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公开(公告)号：KR101263730B1
公开(公告)日：2013-05-13
申请号：KR1020110135825
申请日：2011-12-15
Applicant: 국방과학연구소
Abstract: PURPOSE: An apparatus for EDLC cell using a bypass circuit and a method for managing the apparatus are provided to monitor the damage of a cell in real time. CONSTITUTION: A first cell includes a 1-1 cell having a first bypass switch(NMOS PWD6_3) and a 1-2 cell having a switch(NMOS PWD6_3). The 1-1 cell includes a switch(NMOS1) and capacitors(C1,C7). The 1-2 cell includes a switch(NMOS2) and capacitors(C2,C5). The second cell includes a 2-1 cell having a switch(NMOS PWD6_4) and a 2-2 cell having a second bypass switch(NMOS PWD6_6). The 2-1 cell includes a switch(NMOS PWD6_2) and capacitors(C4,C6). The 2-2 cell includes a switch(NMOS PWD6_1) and capacitors(C3,C8). [Reference numerals] (AA) Cell 1-1; (BB) Cell 1-2; (CC) Cell 1; (DD) Cell 2-1; (EE) Cell 2-2; (FF) Cell 2
Abstract translation: 目的：提供一种使用旁路电路的EDLC单元的装置和用于管理该装置的方法，用于实时监视单元的损坏。 构成：第一单元包括具有第一旁路开关（NMOS PWD6_3）的1-1单元和具有开关（NMOS PWD6_3）的1-2单元。 1-1单元包括开关（NMOS1）和电容器（C1，C7）。 1-2单元包括开关（NMOS2）和电容器（C2，C5）。 第二单元包括具有开关（NMOS PWD6_4）的2-1单元和具有第二旁路开关（NMOS PWD6_6）的2-2单元。 2-1单元包括开关（NMOS PWD6_2）和电容器（C4，C6）。 2-2单元包括开关（NMOS PWD6_1）和电容器（C3，C8）。 （标号）（AA）单元1-1; （BB）细胞1-2; （CC）细胞1; （DD）单元格2-1; （EE）电池2-2; （FF）电池2
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公开(公告)号：KR100813128B1
公开(公告)日：2008-03-17
申请号：KR1020060126236
申请日：2006-12-12
Applicant: 국방과학연구소
IPC: F41A9/56
Abstract: A transfer apparatus for conical goods is provided to improve safety of transferring and increase speed of transferring by forming a goods loading box for loading conical goods in an arch type. A transfer apparatus for conical goods comprises a goods loading box(1), a driving cylinder(2), a cross bar link(5), a supporting link(8), front/rear supporting link guide rollers(9,10), a driving link part(A), and an orbit generating part(B). The goods loading box loads the conical goods(12) in an arch type. The driving cylinder generates power for moving the good loading box and has a piston rod(2') vertically moved. The cross bar link made of plural linear links has plural X type members capable of pivot movement to assemble two ends and the center of the linear type links with a cross bar link pivot pin(11). The supporting link is connected with the upper end of the cross bar link and supports the conical goods to be rotated in the goods loading box. The front/rear supporting link guide rollers guide the movement of the supporting link to be installed at the terminal end of the supporting link. The driving link part pivots the plural X type members to be connected to the piston rod of the driving cylinder. The orbit generating part generates transfer movement orbit of the conical goods to restrict the movement of the crossbar link.
Abstract translation: 提供锥形货物的转运装置，以通过形成用于将锥形货物装载在拱形中的货物装载箱来提高转印的安全性并提高转印速度。 一种用于锥形物品的转运装置包括货物装载箱（1），驱动缸（2），横杆连杆（5），支撑连杆（8），前/后支撑连杆导辊（9,10） 驱动连杆部（A）和轨道生成部（B）。 货物装载箱将锥形货物（12）装入拱形。 驱动气缸产生用于移动良好装载箱的动力，并且具有垂直移动的活塞杆（2'）。 由多个线性连杆构成的横杆连杆具有能够枢转运动的多个X型构件，以组装两端，并且具有横杆连杆枢轴销（11）的直线型连杆的中心。 支撑连杆与横杆连杆的上端连接，并支撑在货物装载箱中旋转的锥形货物。 前/后支撑连杆引导辊引导支撑连杆的移动，以支撑连杆的终端安装。 驱动连杆部枢转多个X型部件连接到驱动气缸的活塞杆。 轨道产生部件产生锥形货物的传送运动轨道以限制横杆连杆的移动。
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