• 전자공학회논문지B
• /
• 제29B권3호
• /
• pp.25-34
• /
• 1992

This paper proposes a Self-Tuning control algorithm for tracking the reference trajectory by measuring the end-point of robot manipulator whose links are light and flexible, and the performance of it is tested through the computer simulation. As an object of system, a flexible robot manipulator with two-links is considered and an assumed mode shape method including gravity force is adopted to analyze the vibration modes for each links and dynamics equation is derived. The controller is designed as a combined form which consists of dynamic feedforward compensator and self-tuning feedback controller. The one supplies nominal torque and the other supplies variational torque to manipulator. Apart from the, K-incremental predictor is also proposed in order to eliminate the offset error. and it shows that the result of simulation adapted well to load change and rapid velocity.

• Journal of Theoretical and Applied Mechanics
• /
• 제1권1호
• /
• pp.29-67
• /
• 1995

A procedure is formulated, in this paper, to compute the bifurcation modes born by the stability change of normal modes, and to compute the forced responses associated with bifurcation modes in inertially and elastically coupled nonlinear oscillators. It is assumed that a saddle-loop is formed in Poincare map at the stability chage of normal modes. In order to test the validity of procedure, it is applied to one-to-one internal resonant systems in which the solutions are guaranteed within the order of a small perturbation parameter. The procedure is also applied to the exact system in which normal modes are written in exact form and the stability of normal modes can be exactly determined. In this system the stability change of normal modes occurs several times so that various types of bifurcation modes are created. A method is described to identify a fixed point on Poincare map as one of bifurcation modes. The limitations and advantage of proposed procedure are discussed.

• 한국정밀공학회지
• /
• 제27권6호
• /
• pp.47-54
• /
• 2010

In this paper, the purpose is to study a method for detection of crack in clamped-clamped beams using the vibration characteristics. The natural frequency of beam is obtained by FEM and experiment. The governing differential equations of a Timoshenko beam are derived via Hamilton's principle. The two coupled governing differential equations are reduced to one fourth order ordinary differential equation in terms of the flexural displacement. The crack is assumed to be in the first mode of fracture and to be always opened during the vibrations. The differences between the actual and predicted crack positions and sizes are less than 9.8% and 28%, respectively.

• 한국소음진동공학회논문집
• /
• 제14권7호
• /
• pp.612-618
• /
• 2004

This paper presents a robust vibration control methodology for smart structural systems. The governing equation and associated boundary conditions of the smart structural system are derived by using Hamilton's principle. The assumed mode method is used to discretize the governing equation into a set of ordinary differential equation. A robust controller is designed using a linear matrix inequality (LMI) approach for the multiobjective synthesis. The design objectives are to achieve a mix of H$_{\infty}$ performance and H$_2$ performance satisfying constraints on the closed-loop pole locations in the presence of model uncertainties. Numerical examples are presented to demonstrate the effectiveness of LMI approach in damping out the multiple vibration modes of the piezo/beam system.

• 한국소음진동공학회:학술대회논문집
• /
• 한국소음진동공학회 2005년도 추계학술대회논문집
• /
• pp.714-714
• /
• 2005

This paper presents the modeling and impact analysis for a rotating cantilever beam having a concentrated mass. The concentrated mass takes an impact force during the rotating motion and the transient response of the beam induced by the impact is calculated by applying the Rayleigh-Ritz assumed mode method. The stiffness variation effect caused by the rotating motion is considered in this modeling. The effects of the concentrated mass size, impact position and the angular velocity of the beam on the transient responses are investigated through numerical studies.

• 한국소음진동공학회:학술대회논문집
• /
• 한국소음진동공학회 2000년도 추계학술대회논문집
• /
• pp.674-679
• /
• 2000

This research is concerned with the modeling technique and active vibration controller design for slewing smart structures. When cantilever beam rotates about axes perpendicular to the undeformed beam's longitudinal axis, it experiences inertial loading. Hence, the beam vibrates from the initial stage of slewing, In this paper, the analytical model for a single slewing flexible beam with surface bonded piezoelectric sensor and actuator is developed using the Hamilton's principle with discretization by the assumed mode method. It is found from experiments that the theoretical model lacks the frictional effect. The frictional effect is incorporated into the equations of motion by employing the coupling factor. Theoretical and experimental results show problems arising in modeling and controller design.

• Steel and Composite Structures
• /
• 제32권5호
• /
• pp.687-699
• /
• 2019

In this paper, free and force vibration behaviors of graphene-reinforced composite functionally graded (GRC-FG) cylindrical shells in thermal environments are investigated based on Reddy's third-order shear deformation theory (HSDT). The GRC-FG cylindrical shells are composed of piece-wise pattern graphene-reinforced layers which have different volume fraction. Based on the extended Halpin-Tsai micromechanical model, the effective material properties of the resulting nanocomposites are evaluated. Using the Hamilton's principle and the assumed mode method, the motion equation of the GRC-FG cylindrical shells is formulated. Using the time- and frequency-domain methods, free and force vibration properties of the GRC-FG cylindrical shell are analyzed. Numerical cases are provided to study the effects of distribution of graphene, shell radius-to-thickness ratio and temperature changes on the free and force vibration responses of GRC-FG cylindrical shells.

• Structural Engineering and Mechanics
• /
• 제76권5호
• /
• pp.619-629
• /
• 2020

In current study, surface/interface effects for pull-in voltage and viscous fluid velocity effects on dimensionless natural frequency (DNF) of fluid-conveying piezoelectric nanosensor (FCPENS) subjected to direct electrostatic voltage DC with nonlinear excitation, harmonic force and also viscoelastic foundation (visco-pasternak medium and structural damping) are investigated using Gurtin-Murdoch surface/interface (GMSIT) theory. For this analysis, Hamilton's principles, the assumed mode method combined with Lagrange-Euler's are used for the governing equations and boundary conditions. The effects of surface/interface parameters of FCPENS such as Lame's constants (λI,S, μI,S), residual stress (τ0I,S), piezoelectric constants (e31psk,e32psk) and mass density (ρI,S) are considered for analysis of dimensionless natural frequency respect to viscous fluid velocity u̅f and pull-in voltage V̅DC.

• 한국지반신소재학회논문집
• /
• 제15권4호
• /
• pp.25-32
• /
• 2016

지반공학에서 평면변형율을 가정하는 2차원 사면안정해석은 일반적으로 널리 사용되고 있다. 이 가정은 사면활동이 넓은 영역에 걸쳐서 발생되는 가정이므로 3차원 효과가 무시된다. 대다수 연구에서 2차원해석의 최소안전율값은 3차원해석에 비하여 작게 평가되는 보수적인 결과를 나타낸다. 최근에는 컴퓨터의 소프트웨어와 하드웨어를 포함한 해석방법의 발달로 3차원해석에 대한 요구가 커지고 있다. 본 논문에서는 원호모드, 병진모드사면을 이용하여 유한요소에 의한 2, 3차원해석 및 2차원 한계평형해석을 통하여 수치해석을 실시하였다. 해석결과 매개변수(요소망크기, 체적팽창각(dilatency angle), 경계조건, 응력이력, 모델차원)에 따른 사면안정해석에 미치는 영향을 분석하였다. 해석결과 2차원 해석보다 3차원 해석에 의한 사면의 안전율 값은 항상 크게 평가되며, W 뱡향 경계조건이 롤러지지인 경우, 사면폭에 의한 결과 차이는 없는 것으로 조사되었다.

• 한국소음진동공학회논문집
• /
• 제16권9호
• /
• pp.904-911
• /
• 2006

A modified energy method for the fretting wear of the steam generator tube is proposed to calculate the wear-out depth between the nuclear steam generator tube and its support. Estimation of fretting-wear damage typically requires a non-linear dynamic analysis with the information of the gap velocity and the flow density around the tube. This analysis is very complex and time consuming. The basic concept of the energy method is that the volume wear rate due to the fretting-wear phenomena Is related to work rate which is time rate of the product of normal contact force and sliding distance. The wearing motion is due to dynamic interaction between vibrating tube and its support structure, such as tube support plate and anti-vibration bar. It can be assumed that the absorbed work rate would come from turbulent flow energy around the vibrating tube. This study also numerically obtains the wear-out depth with various wear topologies. A new dissection method is applied to the multi-span tubes to represent the vibrational mode. It turns out that both the secondary side density and the normal gap velocity are important parameters for the fretting-wear phenomena of the steam generator tube.