• Journal of the Korean Society of Industry Convergence
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• v.22 no.6
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• pp.807-819
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• 2019

In this paper, it is proposed a new approach to motion control and kinematics analysis of articulated manipulator attachment with five degree of freedom for excavator. Unlike the well-established theory for the control of linear systems, there is little general control theory relatively for a robust control of nonlinear systems. The control technique is essential for providing a stable and robust performance for application of articulated manipulator control. The proposed control algorithm is one of robust control methods based on error informations of the position and velocity error informations using stability analysis of dynamic model. Through simulation test, the proposed control scheme is illustrated to be a efficient control technique for real-time control.

• The Journal of the Korea institute of electronic communication sciences
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• v.5 no.5
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• pp.493-497
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• 2010

Real time coordinate conversion of vessel was realized, we developed motion control algorithm of DC Servo Motor. We made servo control circuit and PCB, also We developed the system using 3-axis Gyro Sensor based Servo Motion Controller. For ship's movement simulation, we made the ship simulator of 6 degree of freedom. With a mounted camera on developed simulator, We tested the desired ship's movement, and the desired result of error tolerance was obtained.

• Structural Engineering and Mechanics
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• v.49 no.6
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• pp.687-703
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• 2014

This paper develops a new nonlinear model for active control of three-dimensional (3D) irregular building structures. Both geometrical and material nonlinearities with a neuro-controller training algorithm are applied to a multi-degree-of-freedom 3D system. Two dynamic assembling motions are considered simultaneously in the control model such as coupling between torsional and lateral responses of the structure and interaction between the structural system and the actuators. The proposed control system and training algorithm of the structural system are evaluated by simulating the responses of the structure under the El-Centro 1940 earthquake excitation. In the numerical example, the 3D three-story structure with linear and nonlinear stiffness is controlled by a trained neural network. The actuator dynamics, control time delay and incident angle of earthquake are also considered in the simulation. Results show that the proposed control algorithm for 3D buildings is effective in structural control.

• Computers and Concrete
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• v.33 no.6
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• pp.725-738
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• 2024

This study presents a macro-modeling procedure for nonlinear finite element analysis of reinforced and prestressed concrete panels under blast loading. The analysis procedure treats cracked concrete as an orthotropic material based on a smeared rotating crack model within the context of total-load secant stiffness-based formulation. A direct time integration method compatible with the analysis formulation is adapted to solve the dynamic equation of motion. Considerations are made to account for strain rate effects. The analysis procedure is verified by modeling 14 blast tests from various sources reported in the literature including a blast simulation contest. The analysis results are compared against those obtained from experiments, simplified single-degree-of-freedom (SDOF) methods, and sophisticated hydrocodes. It is demonstrated that the smeared crack macro-modeling approach is a viable alternative analysis procedure that gives more information about the structural behavior than SDOF methods, but does not require detailed micro-modeling and extensive material characterization typically needed with hydrocodes.

• Transactions of the Korean Society of Automotive Engineers
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• v.8 no.6
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• pp.142-155
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• 2000

A MIMO model reference control scheme incorporating the variable structure theory for a vehicle four wheel steering system(4WS) is proposed and evaluated for a class of continuous-time nonlinear dynamics with known or unknown uncertainties. The scheme employs an neural network to identify the plant systems, where the neural network estimates the nonlinear dynamics of the plant. By the Lyapunov direct method, the algorithm is proven to be globally stable, with tracking errors converging to the neighborhood of zero. The merits of this scheme is that the global system stability is guaranteed and it is not necessary to know the exact structure of the system. With the resulting identification model which contains the neural networks, it does not need higher degrees of freedom vehicle model than 3 degree of freedom model. Th proposed scheme is applied to the active four wheel system and shows the validity is used to investigate vehicle handing performances. In simulation of the J-turn maneuver, the reduction of yaw rate overshoot of a typical mid-size car improved by 30% compared to a two wheel steering system(2WS) case, resulting that the proposed scheme gives faster yaw rate response and smaller side angle than the 2WS case.

• International Journal of Aeronautical and Space Sciences
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• v.14 no.2
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• pp.152-161
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• 2013

This paper presents a control effectiveness analysis of the hawkmoth Manduca sexta. A multibody dynamic model of the insect that considers the time-varying inertia of two flapping wings is established, based on measurement data from the real hawkmoth. A six-degree-of-freedom (6-DOF) multibody flight dynamics simulation environment is used to analyze the effectiveness of the control variables defined in a wing kinematics function. The aerodynamics from complex wing flapping motions is estimated by a blade element approach, including translational and rotational force coefficients derived from relevant experimental studies. Control characteristics of flight dynamics with respect to the changes of three angular degrees of freedom (stroke positional, feathering, and deviation angle) of the wing kinematics are investigated. Results show that the symmetric (asymmetric) wing kinematics change of each wing only affects the longitudinal (lateral) flight forces and moments, which implies that the longitudinal and lateral flight controls are decoupled. However, there are coupling effects within each plane of motion. In the longitudinal plane, pitch and forward/backward motion controls are coupled; in the lateral plane, roll and side-translation motion controls are coupled.

• Journal of the Society of Naval Architects of Korea
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• v.47 no.3
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• pp.421-429
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• 2010

In this paper, in order to analyze the dynamic response of a floating crane when it lifts a heavy cargo, the boom of the floating crane is considered as an elastic beam. The boom is divided into elements based on finite element formulation and the floating frame of reference formulation and nodal coordinates are employed to model the boom as a flexible body. As an extension of the previous study, in order to consider spatial motion in waves, the coupled equations of motions of the 6 degree of freedom (DOF) floating crane and 6 DOF cargo are developed based on the flexible multibody system dynamics. The 3 dimensional deformation of the elastic boom is considered with 18 DOF. The dynamic simulation of the floating crane and the cargo is performed under regular wave conditions with various cargo weights. Finally, the effects of the elastic boom on lifting cargo are discussed by comparing the simulation results between the elastic boom and a rigid boom.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.39 no.12
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• pp.1097-1106
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• 2011

Unsteady numerical analysis was performed to simulate air-launched missiles from a complete helicopter in hover by using an unstructured overset mesh flow solver coupled with a module of six degree-of-freedom motion of equations. The unsteady computations have been performed to obtain flow fields around the complete helicopter including main rotor, tail rotor, and fuselage equipped with multiple missiles, and six-DOF simulation has been performed to predict the behavior of the air-launched missile. The effects of the launching position and the missile thrust on the trajectory of the missile were investigated as well as the aerodynamic interference of the air-launched missile under the unsteady downwash produced by main rotor.

• Wind and Structures
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• v.22 no.1
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• pp.17-41
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• 2016

To address the uncertainty of the flight trajectories caused by the turbulence and gustiness of the wind field over the roof and in the wake of a building, a 3-D probabilistic trajectory model of flat-type wind-borne debris is developed in this study. The core of this methodology is a 6 degree-of-freedom deterministic model, derived from the governing equations of motion of the debris, and a Monte Carlo simulation engine used to account for the uncertainty resulting from vertical and lateral gust wind velocity components. The influence of several parameters, including initial wind speed, time step, gust sampling frequency, number of Monte Carlo simulations, and the extreme gust factor, on the accuracy of the proposed model is examined. For the purpose of validation and calibration, the simulated results from the 3-D probabilistic trajectory model are compared against the available wind tunnel test data. Results show that the maximum relative error between the simulated and wind tunnel test results of the average longitudinal position is about 20%, implying that the probabilistic model provides a reliable and effective means to predict the 3-D flight of the plate-type wind-borne debris.

• Transactions of the Korean Society of Mechanical Engineers
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• v.18 no.7
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• pp.1632-1642
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• 1994

The Stewart Platform is a six-degree-of-freedom in-parallel-actuated manipiulator mechanism. The kinematic behavior of parallel mechanisms shows inverse characteristics as compared that of serial mechanisms; i.e, the inverse kinematic problem of Stewart Platform is straightforward, but no closed form solution of the forward kinematic problem has been previously presented. Thus it is difficult to calculate the 6 DOF displacement of the platform from the measured lengths of the six actuators in real time. Here, a real-time estimation algorithm which solves the Stewart Platform kinematic problem is proposed and tested through computer simulations and experiments. The proposed algorithm shows stable convergence characteristics, no estimation errors in steady state and good estimation performance with higher sampling rate. In experiments it is shown that the estimation result is the same as that of simulation even in the presence of measurement noise.