• 콘크리트학회논문집
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• 제22권6호
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• pp.797-803
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• 2010

경부 고속철의 PSC 박스거더 교량의 동적응답에 대하여 보다 우수한 평가를 얻기 위한 동적거동해석방법을 개발하였다. 특히, 고속철 차량, 교량 그리고 궤도구조물간의 구조적 상호작용을 고려한 3차원 수치해석모델을 개발하여 고속철 속도에 의하여 발생되는 PSC 교량의 동적응답을 정확하게 해석하고 심도깊은 영향평가를 수행하였다. PSC 박스거더 교량은 40 m 경간의 단순교를 뼈대요소를 사용하여 3차원 프레임 모형화 하였다. K-TGV 고속철 차량은 동력차를 포함하여 다련 38자유도 모형으로 개발하고 차체와 대차의 연직변위, 횡변위, 종변위 및 피칭, 롤링, 요잉을 모두 고려하였다. 동적충격계수는 정적해석결과와 Runge-Kutta 기법으로 산출된 동적해석 결과를 비교 산출하였으며, 고속철 차량 속도에 따른 그 차이를 회귀분석을 통하여 추정실험식으로 제안하였다.

• 전자공학회논문지B
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• 제33B권6호
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• pp.12-22
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• 1996

A numerous designs of PI controllers have been suggested to solve out trade-off between tracing and regulating problems. We constructed the PI controller system with two-degree-of-freedom that is more analytic and a better approach to a practical one. In the conventional H$_{2}$ design of optimal PI controllers, the cost function includes only the plant output terms due to the divergent problems. Since the platn input temr is not considered in PI controller design, occasionally, the plant input thends to be either very large or saturated. To solve the prior mentioned problems, we employed a mixed $H_2/H_{\infty}$ method that combines the H$_{2}$ design method to decide optimal parameters of PI controller and the $H_2/H_{\infty}$ design method to minimize the maximum amplitude of plant input. The calculation time of the H$_{infty}$ norm was considerably reduced by the simple scalar function obtained by the wiener-hopf factorization of non-scalar functions.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1987년도 한국자동제어학술회의논문집; 한국과학기술대학, 충남; 16-17 Oct. 1987
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• pp.10-13
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• 1987

The main work of this paper are the manufacture of six degree of freedom industrial robot control hardware of 16 bit CPU and the development of five motion control software. The work would draw on KIT of Robotics Laboratory whose extensive experience in these areas; in particular the 68000 assembler and Modula-2 languages, and existing robot control systems. We found that this controller is good for the robot controller of PID types. But, for the use of self-tuning algorithms and real time calculations we need 32 bit CPU robot controller such as MC 68020 microprocessor.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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• pp.260-260
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• 2000

In this work, we have developed a 2 degree of freedom(DOF) motion simulator that can generate the sensation of motion in a 6 DOF space. The motion base has the DOF of roll and pitch, and the purpose of the motion base is to create the sensation of riding a vehicle in a 3D space by controlling the motion base. The dynamics of the mechanism was analysed and the optimal design of the motion base mechanism has been reached. The prototype motion base mechanism was developed and tested. The multi-axis motion controller(MMC) was used to control the two ac servo motors that drive the roll and pitch motion.

• 한국자동차공학회논문집
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• 제5권6호
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• pp.202-214
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• 1997

In automotive industries, one of major issues is the shifting shock, which is brought out when two clutches are engaged in an automatic transmission. The engagement and disengagement if two clutches means the variation of the D.O.F(degree of freedom) of system. Therefore to analyze the shifting performance, the variation of D.O.F should be considered in detail. Generally, the programs for analyzing the shifting transients have been developed as the problem-dependent codes because the artificial maris were usually used to indicate the change of shifting phase. To develop a software applicable to a general mechanism of transmissions, a self-determining algorithm of D.O.F must be applied. Through the experiences for the last several years, a generalized analysis software of shifting mechanism(so called by POTAS-MSM Version 2.0) has been developed. In this study, some major ideas of the software and the concept for the analysis of shifting characteristics are presented. In addition to that, this paper shows how to self -determine D.O.F of he multi-slipping systems using the stick-slip criterion on a single slipping mechanism. By using this software, the shifting characteristics of a vehicle are analyzed and compared with the experimental results.

• Journal of Advanced Marine Engineering and Technology
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• 제23권6호
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• pp.794-805
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• 1999

Pneumatic cushioning cylinders are commonly employed for vibration and shock control. A mathematical simulation model of a double acting pneumatic cushioning cylinder designed to absorb shock loads is presented which is based on the following assumptions; ideal equation of state isentropic flow through a port conservation of mass polytropic thermodynamics single degree of freedom piston dynamics and energy equivalent linear damping. These differential equation can be solved through numerical integration using the fourth order Runge-Kutta method. An experimental study was conducted to validate the results obtained by the numerical integra-tion technique. Simulated results show good agreement with experimental data. The computer simulation model presented here has been extremely useful not only in understanding the has been extremely useful not only in understanding the basic cushioning but also in evaluating different designs.

• 대한기계학회논문집A
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• 제33권11호
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• pp.1347-1352
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• 2009

Magnetic force driven six degree-of-freedom active vibration isolation system is developed. The velocity sensor using an electromagnetic principle that is commonly used in the vibration control is investigated since its phase lead characteristic causes an instability problem for a low frequency vibration. A lag-type compensator is adopted to reduce the phase lead and the stability test is performed by using a Bode analysis. The performance of the AVIS is validated by comparing with the passive isolation system by using the frequency responses.

• 제어로봇시스템학회논문지
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• 제11권1호
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• pp.84-91
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• 2005

In this paper, we describe the real-time parallel processing simulator developed for the use of performance analysis of rolling missiles. The real-time parallel processing simulator developed here consists of seeker emulator generating infrared image signal on aircraft, real-time computer, host computer, system unit, and actual equipments such as auto-pilot processor and seeker processor. Software is developed from mathematic models, 6 degree-of-freedom module, aerodynamic module which are resided in real-time computer, and graphic user interface program resided in host computer. The real-time computer consists of six TIC-40 processors connected in parallel. The seeker emulator is designed by using analog circuits coupled with mechanical equipments. The system unit provides interface function to match impedance between the components and processes very small electrical signals. Also real launch unit of missiles is interfaced to simulator through system unit. In order to apply the real-time parallel processing simulator to performance analysis equipment of rolling missiles it is essential to perform the performance verification test of simulator.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2007년도 춘계학술대회논문집
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• pp.97-102
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• 2007

As environmental vibration requirements on precision equipments get more stringent, use of pneumatic vibration isolators becomes more crucial and, hence, their dynamic performance needs to be further improved. Dynamic behavior of those pneumatic vibration isolation tables is very important to both manufacturer and customer as performance specifications. Together with conventional transmissibility, transient response characteristics are another critical performance index especially when movements of components, e.g., x-y tables, of the precision equipments are very dynamic. In this paper, analysis on transient response of a pneumatic vibration isolation table loaded by a mass moving on it is presented. This is a conventional dynamics problem on a rigid body with 6 degree of freedom and a mass with another degree of freedom. How to obtain transient responses of the isolation table is described when the movements of the mass are prescribed relative to the table.

• 한국게임학회 논문지
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• 제10권6호
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• pp.57-65
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• 2010

본 논문에서는 6자유도를 갖는 병렬형 기구의 출력 속도 공간에서 성능을 평가할 수 있는 지표를 제안하였다. Manipulability와 condition number에 기반을 둔 성능 지표가 단위계의 볼일치로 인한 물리적 의미의 결함이 없도록 출력공간을 병진속도 공간과 회전속도 공간으로 분리하는 방법을 제안하였다. 각 공간에서 단위 입력에 대용하는 mobility ellipsoid를 정의하여 이를 기반으로 병진운동 출력공간에서 두 종류 성능 지표와 회전운동 공간에서 두 종류의 성능 지표를 제안하였다.