• Transactions of the Korean Society of Mechanical Engineers A
• /
• v.36 no.9
• /
• pp.1003-1008
• /
• 2012

The paper presents an Experimental Vehicle Model (EVM), that utilizes the kinematic characteristics of suspensions from SPMD test data. The relative displacement and orientation of a wheel with respect to the body are represented as a function of the vertical displacement of the wheel. The equations of motion of the vehicle are formulated in terms of local coordinates that do not require coordinate transformation, which improves the efficiency of dynamic analysis. The EOM was modularized for each suspension model, and a $6{\times}6$ vehicle model was obtained by combining six suspensions. The analysis results were compared with ADAMS to verify the accuracy of the EVM. This study also verifies the feasibility of real-time simulation with the developed EVM. For a vehicle simulation for 1 ms, the real simulation time required within 20% of the prescribed time. This result shows that the EVM meets the real-time simulation requirements.

• Transactions of the Korean Society for Noise and Vibration Engineering
• /
• v.18 no.4
• /
• pp.465-472
• /
• 2008

An automotive windshield wiper system is modeled mainly for vibration analysis purpose. The model is composed of solid links, ideal joints, imperfect joints to simulate unavoidable manufacturing defects and bushings having stiffness, contact between a wiper blade and a wind screen glass, friction, a spring and an actuator. Main stream of wiper dynamics analysis has been obtaining a closed form of system of equations using Newton's or Lagrange's formula and doing a numerical simulation study to understand and predict the behavior of it. However, the modeling process is complex since a wiper system is of multibody and a contact problem occurs. When imperfection, such as dead zone of a joint and stiffness of a rubber bushing, should be included, the added complexity makes the modeling difficult. Since the imperfection is understood as main cause of problematic vibration, the dynamics model of a wiper system aiming vibration analysis should include such unavoidable manufacturing defects in the model. An open form of dynamic model of a automotive windshield wiper system with imperfect joints using a commercial software is obtained and a simulation analyssis is conducted for vibration reduction study.

• Transactions of The Korea Fluid Power Systems Society
• /
• v.4 no.2
• /
• pp.1-6
• /
• 2007

During the last few decades, excavation automation has been investigated to protect the operator from the hazardous working environment and to relieve the cost of the skilled operator. Therefore, a number of modelling and controller design methods of the hydraulic excavator are proposed in many literatures to realize the excavation automation. In this article, a geometric approach far the multi-body system modeling is adopted to develop the excavator mechanism model that contains 4 kinematic loops and 12 links. Considering a simple soil mechanism model with a number of uncertain soil parameters, an adaptive trajectory tracking control strategy based on the developed excavator model is proposed. The improved performance of the designed controller over the simple PID controller is validated via the simulation study.

• Journal of the Korean Society for Aeronautical & Space Sciences
• /
• v.34 no.1
• /
• pp.103-109
• /
• 2006

In this paper, VDS(Vehicle Dynamics Simulator) and ACS(Attitude Control Simulator) are developed and are verified using PILS(Process In-the Loop Simulation) between VDS and ACS. VDS is including the AOCS(Attitude & Orbit Control Subsystem) hardware modeling of geosynchronous satellite and consists of modulation concept. ACS performs the attitude determination using sensor data and generates the attitude control commands. In order to transfer the data between VDS and PCDU(Power Control & Distribution Unit), data acquisition boards were mounted. VDS performance is verified using HILS(Hardware In-the Loop Simulation) between VDS and PCDU.

• Proceedings of the Computational Structural Engineering Institute Conference
• /
• 2011.04a
• /
• pp.119-122
• /
• 2011

분자동역학 전산모사를 통하여 에폭시에 다양한 반경의 구형 실리콘 카바이드를 삽입한 나노복합재를 모델링하고, 이들의 기계적 물성과 열적 물성 해석을 다양한 온도조건 하에서 수행하였다. 전산모사 결과 동일한 체적분율 하에서 나노복합재는 입자의 크기가 작아질수록 탄성계수와 전단계수가 상승하는 동시에 선팽창계수는 감소하는 입자의 크기효과를 보였다. 또한 온도 상승에 따른 기계적 물성의 하락이 잘 관찰되었다. 본 연구에서는 이러한 분자동역학 해석 결과를 바탕으로 다양한 온도조건 하에서의 입자의 크기효과를 고려한 멀티스케일 3상 모델을 제시하였다. 유리상 조건 범위에서 온도 변화에 따른 나노복합재 계면의 열응력텐서와 열변형률텐서의 정보를 통해 복합재 내에서 계면이 차지하는 부피비를 온도에 대한 함수로 고려하고, 이를 멀티스케일 모델에 반영함으로써 다양한 온도조건에 대한 나노복합재 열탄성 물성의 예측해를 제시하였다. 본 연구에서 제시한 모델에서 계산된 3상 복합재의 물성은 분자동역학 전산모사의 결과에서 나타나는 나노입자의 크기효과를 잘 반영하였다.

• Journal of the Korean Society for Nondestructive Testing
• /
• v.20 no.2
• /
• pp.138-149
• /
• 2000

Various modeling techniques for ultrasonic wave propagation and scattering problems in finite solid media are presented. Elastodynamic boundary value problems in inhomogeneous multi-layered plate-like structures are set up for modal analysis of guided wave propagation and numerically solved to obtain dispersion curves which show propagation characteristics of guided waves. As a powerful modeling tool to overcome such numerical difficulties in wave scattering problems as the geometrical complexity and mode conversion, the Boundary Element Method(BEM) is introduced and is combined with the normal mode expansion technique to develop the hybrid BEM, an efficient technique for modeling multi mode conversion of guided wave scattering problems. Time dependent wave forms are obtained through the inverse Fourier transformation of the numerical solutions in the frequency domain. 3D BEM program development is underway to model more practical ultrasonic wave signals. Some encouraging numerical results have recently been obtained in comparison with the analytical solutions for wave propagation in a bar subjected to time harmonic longitudinal excitation. It is expected that the presented modeling techniques for elastic wave propagation and scattering can be applied to establish quantitative nondestructive evaluation techniques in various ways.

• Journal of the Computational Structural Engineering Institute of Korea
• /
• v.27 no.5
• /
• pp.379-384
• /
• 2014

This article describes the dynamic behaviors of a rubber tired gantry crane(RTGC) under typical load conditions which are used in the design of gantry cranes. In order to investigate the dynamic characteristics of an RTGC, we developed a finite element crane model for its huge structure. The finite element model was validated with the modal test results, e.g., natural frequencies and normal modes. And other components of RTGC were converted into detailed 3D CAD models and finally transformed to rigid body models in a dynamic simulation program ADAMS. The load conditions considered in this paper were a normal operating condition(OP1) and container hanging condition with no external loads. As a result, we could find there was large influence of crane's vibration owing to its structural stiffness and deformation. And the vibration of crane could made the movements of RTGC, which occurs crash or malfunction of crane works.

• Transactions of the Korean Society of Mechanical Engineers A
• /
• v.21 no.5
• /
• pp.756-768
• /
• 1997

In order to control a dynamic gait of quadrupedal walking robot, the equations of motion of the whole mechanism are required. In this research, the equations of motion are formulated analytically using Kane's dynamic approach. As a dynamic gait model, a trot gait has been adopted. The degree of freedom of whole mechanism could be reduced to 7 by idealizing the kinematic feature of the trot gait. Using the equations of motion formulated, the results of the redundant-joint torque analysis and the simulation of dynamic walking motion are presented.

• Journal of the Korea Institute of Military Science and Technology
• /
• v.11 no.4
• /
• pp.141-148
• /
• 2008

In this paper, we develop a detailed full dynamic model which includes various rough terrains for 6-wheel skid-steering mobile robot based on the real experimental autonomous vehicle called Dog-Horse Robot. We also design a co-simulation for performance comparison of path tracking algorithms. The control architecture in the co-simulation can be divided into two levels. The high level control is the closed-loop control of path tracking to follow a given path, and the low level is concerned about torque control of wheel motion. The simulation using the mechanical data of the Dog-Horse Robot is performed under the Matlab/Simulink environment. We also simulate and evaluate the performance of the model based adaptive controller.

• Proceedings of the Korean Society of Precision Engineering Conference
• /
• 2005.10a
• /
• pp.906-909
• /
• 2005

This study provides the method to build the rotor system model using dynamic analysis software. also, it introduces the traditional methods of the rotor system modeling and informs the each merits and demerits. We will make up the flexible system of rotor system model with ADAMS, multi-body dynamics S/W, in order to develop dynamics model and get the response of plant model near to real model through connection the SIMULINK of MATLAB. We will develop the computing dynamics-controling model possible controlled simulation similar to a real model with controlling the plant model.