• 터널과지하공간
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• 제30권4호
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• pp.394-403
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• 2020

본 기술보고는 Pin-on-disk 마모시험에서 연속적인 등속도 아르키메데스 나선 경로 계산 방법에 관해 설명한다. 근사 계산된 등속도 아르키메데스 나선은 회전 중심 가까이에서 속도가 불안정하다. 따라서 본 기술보고에서는 등속도 조건을 만족시키기 위해 중공 단면을 가지는 시편을 사용하여 원점 부근에서 오프셋을 주었다. 또한, 내향형 나선과 외향형 나선을 연속적으로 연결하기 위해서 각각의 나선의 시작과 종료 지점 정보를 다음 차례의 나선에 반영하였다. 더불어, 시편의 치수과 마모시험 조건의 변화에 따라 등속도 나선 경로를 편리하게 계산하는 데 도움을 주고자 전용 계산 프로그램을 개발하였다.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2009년도 춘계학술대회 논문집
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• pp.871-872
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• 2009

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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• pp.36-36
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• 2000

The paper presents a speed control algorithm for a full pitch-controlled wind turbine system. Torque of a blade generated by wind energy is non-linear function of a wind speed, angular velocity, and pitch angle of the blade. The design of a cor_troller, in general, is performed by linearizing the torque in the vicinity of a operating point assuming the angular velocity of the blade is constant. For speed control, however, the angular velocity is no longer a constant, so that linearization of the torque in terms of a wind speed and pitch angle is impossible. In this study, a reference pitch model is derived in terms of a wind speed, angular velocity, and pitch angle, which makes it possible to design a controller without linearizing the non-linear torque model of the blade. The validity of the algorithm is demonstrated with the results produced through sets of experiments.

• Steel and Composite Structures
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• 제41권6호
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• pp.821-829
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• 2021

Nonlinear dynamic response of a sandwich beam considering porous core and nano-composite face sheet on nonlinear viscoelastic foundation with temperature-variable material properties is investigated in this research. The Hamilton's principle and beam theory are used to drive the equations of motion. The nonlinear differential equations of sandwich beam respect to time are obtained to solve nonlinear differential equations by Homotopy perturbation method (HPM). The effects of various parameters such as linear and nonlinear damping coefficient, linear and nonlinear spring constant, shear constant of Pasternak type for elastic foundation, temperature variation, volume fraction of carbon nanotube, porosity distribution and porosity coefficient on nonlinear dynamic response of sandwich beam are presented. The results of this paper could be used to analysis of dynamic modeling for a flexible structure in many industries such as automobiles, Shipbuilding, aircrafts and spacecraft with solar easured at current time step and the velocity and displacement were estimated through linear integration.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2001년도 추계학술대회논문집 II
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• pp.725-730
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• 2001

This paper presents a vibration analysis method for constrained mechanical systems driven by constant generalized speeds. Equilibrium positions are obtained first and vibration analysis are performed around the positions. The method developed in this paper employs partial velocity matrix to obtain a minimum number of differential equations. To verify the accuracy of the proposed algorithm, linear vibration analyses of two numerical examples are performed and the results are compared with results from a commercial program or previous literature.

• 터널과지하공간
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• 제30권3호
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• pp.181-192
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• 2020

Pin-on-disk 시험방법은 ASTM에서 제안한 마모시험방법 중 하나이다. 이 시험법에서는 Pin-on-disk 시험에서 나타나는 핀의 나선운동을 간략히 설명하고 있다. 이 방법을 암석공구의 마모성능을 평가하는데 적용하기 위해서는 핀의 등속도 운동을 수학적으로 구현하여야 한다. 먼저 합산속도에 관여하는 2가지 속도성분(핀의 선형이동속도, 디스크의 회전운동)을 정의하였다. 각각의 성분에 대해 아르키메데스 나선방정식의 등속도 조건을 만족하는 미분방정식을 전개하여 수학 해를 도출하여, 풀이의 난해함을 설명하였다. 이를 해결하기 위한 기존 문헌의 근사해를 조사하고, 정확도와 한계점을 분석하였다.

• 한국항공우주학회지
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• 제37권10호
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• pp.998-1001
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• 2009

본 논문에서는 기존의 호밍유도법칙으로 널리 사용되는 상수 항법이득을 갖는 비례항법유도법칙이 속력 변화가 있는 경우에도 엄밀한 의미에서 최적해임을 보였다. 해석결과로부터 항법상수가 3인 경우 유도항력에 접근속력이 가중된 성능지수를 최소화하는 최적해임이 확인되었다. 비행체의 운동을 선형방정식으로 표현하고 속력변화를 고려하지 않은 기존 연구결과들과 달리 본 연구에서는 비선형 방정식을 기반으로 속력변화까지 고려하여 비례항법유도법칙의 최적성에 관한 보다 일반적인 해석 결과를 제시하였다.

• 로봇학회논문지
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• 제2권2호
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• pp.183-190
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• 2007

The most important thing for navigation of a mobile robot is to find the most suitable path and avoid the obstacles in the static and dynamic environment. This paper presents a method to search the optimal path in start space extended to time domain with considering a velocity and a direction of moving obstacles. A modified version of $A^*$ algorithm has been applied for path planning in this work and proposed a method of path search to avoid a collision with moving obstacle in space-tim domain with a velocity and an orientation of obstacles. The velocity and the direction for moving obstacle are assumed as linear form. The simulation result shows that a mobile robot navigates safely among moving obstacles of constant linear velocity. This work can be applied for not only a moving robot but also a legged humanoid robot and all fields where the path planning is required.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1997년도 추계학술대회 논문집 학회본부
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• pp.10-12
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• 1997

For a given brushless DC linear motor, we analyze the thrust characteristics. We measure the back-EMF and then calculate the thrust with it. To compare the thrust, we measure it direct with force-torque meter and we calculate it from Lorentz equation. As the thrust and the back-EMF vary linearly according to the current and the velocity respectively, we define the thrust constant and the back-EMF constant. To match the motor to its controller, we calculate the thrust constant and the back-EMF constant. The result calculated with the back-EMF differs from that of the measurement by only 4.4%.

• International Journal of Control, Automation, and Systems
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• 제2권3호
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• pp.310-318
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• 2004

In this paper, an unscented Kalman filter (UKF) for curvilinear motions in an interacting multiple model (IMM) algorithm to track a maneuvering vehicle on a road is investigated. Driving patterns of vehicles on a road are modeled as stochastic hybrid systems. In order to track the maneuvering vehicles, two kinematic models are derived: A constant velocity model for linear motions and a constant-speed turn model for curvilinear motions. For the constant-speed turn model, an UKF is used because of the drawbacks of the extended Kalman filter in nonlinear systems. The suggested algorithm reduces the root mean squares error for linear motions and rapidly detects possible turning motions.