• Transactions of the Korean Society of Mechanical Engineers
• /
• v.15 no.5
• /
• pp.1587-1600
• /
• 1991

본 연구에서는 로봇조작기를 강체부와 유연한 외팔보로 이루어진 모델로 설정 한 후 확장된 Hamilton의 원리를 적용하여 제어계의 운동방정식을 유도하였다. 계를 유한개의 제어 모드와 잔류 모드로 구분하고, 제어 모드에 대해 최적제어를 수행하기 위해 관측기를 설계하였으며, 진동에 관련된 측정 불가능한 상태변수를 추정하였다. 분석과 검토는 서보모터가 모든 제어를 담당하는 방식과 서보모터의 제어 방식에 작동 기를 추가시켜 병행 제어하는 다입출력 방식으로 구별하여 수행하였다.

• Journal of the Korean Society for Precision Engineering
• /
• v.25 no.4
• /
• pp.26-31
• /
• 2008

본 논문은 정밀 위치결정 시스템의 잔류진동을 효과적으로 제거할 수 있는 입력성형기법을 소개하고, 실시간 입력성형기법을 적용하는 방법을 설명하였다. 또한 두 가지 응용 분야에 대한 실험결과를 바탕으로 입력성형기법의 성능을 고찰하였다. 일반적으로 입력성형기법은 정밀 위치결정 시스템에 대해 동작 완료시간을 단축시키는 효과가 있을 뿐만 아니라 위치결정 정밀도를 향상시키는 효과가 있다. 그리고 되먹임제어 방법에 비해 적용방법도 간단하며 저렴하게 구성할 수 있다는 장점이 있으므로 많은 정밀 위치결정 시스템에 유용할 것으로 생각된다.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
• /
• 2006.05a
• /
• pp.634-639
• /
• 2006

Active control method is applied to a flexible beam excited by a shock impulse in order to reduce the residual vibrations after the shock event. It is assumed that the shock input can be measured and is always occurred on the same point of the beam. If the system is well identified and the corresponding inverse system is designed reliably, it has shown that a very simple feed-forward active control method may be applied to suppress the residual vibrations without using error sensors and adaptive algorithm. Both numerical simulations and experimental results show a promising possibility of applying to a practical problem. Also, the performance of the method is examined by considering various practical aspects : shock duration, shock magnitude, and control point.

• Journal of the Korean Society of Manufacturing Technology Engineers
• /
• v.19 no.4
• /
• pp.476-484
• /
• 2010

Precise positioning stages are often employed for precise machinery. For the purpose of vibration isolation, these precise positioning stages are mounted on a heavy base structure which is supported by compliant springs. Then the base structure is subjected to residual vibration due to the reactive force and vertical moving load induced by the stage motion. This paper investigates the vibration behavior of a positioning stage base and the associated vibration suppression technique. A dynamic model is developed to investigate the base vibration due to the reactive force and moving load effects by the moving stage. An input shaping technique is also developed to suppress the residual vibrations in base structures. Simulations and experiments show that the developed dynamic model adequately represents the base vibration and that the proposed input shaping technique effectively removes the residual vibrations from the positioning stage base.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
• /
• 2005.11a
• /
• pp.559-563
• /
• 2005

The wafer positioning robot used in the semiconductor industry is required to operate at high speed for the improvement of productivity. However, the residual vibration produced by the high speed of the wafer positioning robot makes the life of the robot shorter and the cycle time longer. In this study, the input shaping and the path of the system are designed for the reduction of the residual vibration and the optimization of the cycle time. The followings are the process for the reduction and the optimization; 1)System modeling of wafer positioning robot, 2)Verification of dynamic characteristic of wafer positioning robot, 3)Input shaping plan using impulse response reiteration, 4)Simulation test using simulink, 6)Analysis of result.

• Transactions of the Korean Society for Noise and Vibration Engineering
• /
• v.16 no.6 s.111
• /
• pp.651-657
• /
• 2006

Active control method is applied to a flexible beam excited by a shock impulse in order to reduce the residual vibrations after the shock event. It is assumed that the shock input can be measured and is always occurred on the same point of the beam. If the system is well identified and the corresponding inverse system is designed reliably, it has shown that a very simple feed-forward active control method may be applied to suppress the residual vibrations without using error sensors and adaptive algorithm. Both numerical simulations and experimental results show a promising Possibility of applying to a practical problem. Also, the performance of the method is examined by considering various practical aspects : shock duration, shock magnitude, and control point.

• Journal of the Korean Society for Precision Engineering
• /
• v.21 no.9
• /
• pp.158-166
• /
• 2004

A new method to measure residual unbalance of rotor - bearing system was proposed. The method which determine residual unbalance based on polar plot and an analytical method which calculates the residual unbalance of the rotor from the vibration response of the Jeffcott rotor are proposed in this study with respect to a real rotor system of which the residual unbalance is unknown. The unbalance eccentricity of the produced experimental model is 3.78 mil, developing the measurement method of the residual unbalance more convenient than the proposed method of ISO and API standard. The proposed method was experimentally compared with the ISO standard, and the two methods were exactly correspondent to each other within an error of 1%.

• KSCE Journal of Civil and Environmental Engineering Research
• /
• v.7 no.1
• /
• pp.93-101
• /
• 1987

Residual stresses have remained around welding areas of a steel structure member after welding operation. The major causes to occur these residual stresses are the local heat due to a welding, the heat stresses due to a irregular and rapid cooling condition, the material and rigidity of a steel structure. Ultimatly, these residual stresses have been known to decrease a brittle fracture strength, a fatigue strength, a buckling strength, dynamic properties, and the corrosion resistance of the material. This paper deals with the residual stresses on a steel structure member through experimental studies. SWS 58 plates were welded by the method of X-groove type. These plates were layed on the heat treatment at four different temperatures; $350^{\circ}C$, $500^{\circ}C$, $650^{\circ}C$ and $800^{\circ}C$. The resulting residual Stresses were measured by hole drilling method, and the followings were obtained. The residual stresses on the vicinity of a welding point were relieved most effectively at the temperature of $650^{\circ}C$, and these stresses relieved completly when the ratio of a hole diamerter to a hole depth became unity. Hardness test shows that the higher value of hardness at the heat affected zone dropped to belower as the temperature went up from $350^{\circ}C$ to $800^{\circ}C$. The Welding input heats have not influenced the magnitude of residual stresses at the input heat range between above and below one forth than standard.

• Transactions of the Korean Society for Noise and Vibration Engineering
• /
• v.17 no.3 s.120
• /
• pp.257-263
• /
• 2007

Detection of structural damage is an inverse problem in structural engineering. There are three main questions in the damage detection: existence, location and extent of the damage. In concept, the natural frequency and mode shapes of any structure must satisfy an eigenvalue problem. But, if a potential damage exists in a structure, an error resulting from the substitution of the refined analytical finite element model and measured modal data into the structural eigenvalue equation will occur, which is called the residual modal forces, and can be used as an indicator of potential damage in a structure. In this study, a useful damage detection method is proposed and compared with other two methods. Two degree-of-freedom system and Cantilever beam are used to demonstrate the approach. And the results of three introduced method are compared.

• Journal of the Korean Society for Aeronautical & Space Sciences
• /
• v.48 no.5
• /
• pp.355-361
• /
• 2020

Among these satellites, low - orbit small satellites with military characteristics require multi - target observation, and demand for high-resolution photographs and images is increasing. Fast maneuverability is the most important factor for high-resolution images and multi - target observations. However, in the case of a small satellites, it is possible to perform the attitude maneuver if it has high speed, but the residual vibration occurs when the attitude maneuver is completed and the next attitude maneuver is completed. In this study, to verify the vibration characteristics of the plate generated after attitude maneuver, an experimental fixture for simulating the attitude maneuver was fabricated and tested. In addition, Eddy Current Damper (ECD) using Eddy Current Brake system (ECB) is proposed as a passive damping method using permanent magnet to reduce vibration. A mathematical model was established to apply ECD and it was experimentally implemented according to the magnetic flux density and the air gap of the permanent magnet. One plate of four solar panels (plate) was specified, the residual vibration reduction performance after the test was verified experimentally.