1. Localizing and Manufacturing
Electric Hydraulic Actuator
Localizing and Manufacturing
5th Team - EHA
Yooseok Jeong
G Hou Chengkun
Seo-Hyun Sohn
Won Jang
Yong-Gyu Hwang
I'm EHA team member . I will start the presentation. this is team member.

2. Contents 1. Motivation & Objective 2. Manufaturing an EHA
Selecting Parts of EHA
Cylinder
Position Sensor
Motor & Pump
Assembly Drawing
Designing a Control Circuit
3. Conclusion
Introducing a Prototype
Now i will show you the context. At first, I will tell you motivation, and objective
Final Evaluation
Showing how to work
Data analysis
Final assessment

3. Motivation & Objective
General Hydraulic SYS
Problem
Pipe oil-leakage
Control Accuracy
Size
Efficiency
This picture is punching machine and cutting machine. This machines operate by hydraulic system. This machine have some problem, the red circle means oil pipe parts. If the pipe is long, it can cause oil leakage problem. Also have problem accuracy, size, efficiency.

4. Motor, Pump, and Cylinder
Motivation & Objective
Objective
Proposal
일체형 전동유압액추에이터 (EHA)
Motor, Pump, and Cylinder
Korean Circumstances
Although this problems exist, 읽어.
So Our team will make EHA for solve this problem. We get specification what we have to satisfy from proposal.
As you can see, Speed, thrust and transfer distance
Research of EHA in Korea is in beginning phase
No domestic companies sell EHA

5. Motivation & Objective
Target value
Speed
150mm/sec over
Thrust
4ton over
Transfer distance
200mm over
Oil-leakage
Reduce pipe length and connection parts
Accuracy
Distance error, less than 1mm
Size
Reduce volume by 20%
Price
Same as commercial hyd-system
This is our objective. Requiremen

6. Manufacturing an EHA Selecting Parts of EHA - Cylinder
Hyd Cylinder (케이시시정공)
Specification
Load type
Single load
speed
8~200mm/sec
Diameter
Φ63mm
length
300mm
Pressure
140kgf/cm2
Force
4361kgf

7. Building an EHA LVDT Linear Scale
Selecting Parts of EHA – Position Sensor
LVDT
Linear Scale
Got an denial message from Cylinder maker.
We selected Linear Scale to use in EHA system
Resolution, Measure coverage of Linear Scale is acceptable

8. Building an EHA
Selecting Parts of EHA – Motor and Pump
Because of the price and cross-browsing design problem, we need expert’s help.
Expert will give us selected parts.

9. Building an EHA
Assembly Drawing - Joint, Assembled model

10. Building an EHA
Assembly Drawing - Main Body, Linear scale connecting part

11. Building an EHA Assembly Drawing - Driving Visualization
Because of suggestion from other student, we move this movie to preceding page.
When we make prototype, we change this movie to actual machine working.

12. Building an EHA
Assembly Drawing – Designing a Control Circuit

13. Conclusion
Introducing a Prototype

14. Conclusion
Data Analysis

15. Conclusion
Data Analysis
PID제어를 사용한다면
Gain값에 따른 gragh

16. Conclusion
Final Assessment

17. Reference
S. H. Park “Characteristics of an Electro Hydrostatic Actuator and Application Fields” 유공압시스템학회지 제6권 제1호 pp. 2~ 년 3월
S. H. Park, “A Study on Control of Electro-Hydraulic Servo System Using High Speed Solenoid Valve,” Dept. of Mechanical and precision Engineering Gradate School Pusan National University, Feb, 1996.
김종식, “선형 제어시스템 공학” 淸文, 2005.
Y. H. Park, S. H. Park “EHA(Electro-Hydrostatic Actuator) Identification and control of Position Control System for Electro-Hydraulic Actuator” 한국동력기계공학회지 제15권 제2호 pp.69~ 년 4월
Automatic Control Systems (9 New, Hardcover)
Patent Material
▪ 유체압 실린더 장치, 출원번호 특개 (일본특허)
▪ 전기유압 액츄에이터, 출원번호 특개 (일본특허)
▪ 유압 편로드 실린더를 구비한 산업용 전기유압 일체형 구동기 시스템, 출원번호
▪ 산업용 전기유압 일체형 구동기 시스템의 성능 및 효율 개선을 위한 제어방법, 출원번허
▪ 전기 유압 하이브리드 액츄에이터, 출원번호
▪ 자동변속기용 유압제어 시스템, 출원번호 특
▪ 유압제어 시스템, 출원번호 (국제특허)
▪ 전동식 오일펌프의 유압제어장치 및 방법, 출원번호 (국제특허)
▪ 전압제어회로, 출원번호 (국제특허)
(7) 리쯔밍, 이지민, 박성환, 김종식, 박용호, “전기 정유압 구동기를 적용한 유압식 동력 조향 시스템”,한국동력기계공학회지 15권 6호 86 ~ 94 페이지
(8) 이지민, 박성환, 박민규, 김종식,”적응PID 슬라이딩 모드 제어기법을 적용한 EHA 시스템의 위치제어(A Position Control of EHA Systems using Adaptive PID Sliding Mode Control Scheme), 한국동력기계공학회지 17권 4호 120 ~ 130 페이지
(9) Min Gyu Park. Sung Hwan Park, Jong Shik Kim, Ho Gil Lee “Modeling and Control and Electro Hydrostatic Actuator Systems” 2009년 8월 pp

18. Question