• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2008.04a
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• pp.525-528
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• 2008

The dynamic range of MR damper is the most important characteristics for the usage of semi-active control system. The damping force can be increased by simply decresing the orifice gap in the traditional oil damper, but it deteriorate the dynamic range in MR damper. In this paper, the multi-stage electro-magnetic core is suggested to maintain the performance of MR damper with a large damping force. The MR damper with 3 stage core is designed and manufactured for testing and analysis.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.25.3-25
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• 2001

This paper describes a control method of a robot cooperating with a human. A task in which a robot and a human move an object cooperatively is considered. To develop the force controller of the robot, the characteristics of human arm are investigated. The arm is forced to move along a trajectory in the experiment and the exerted force and the displacement are analyzed, It is found the force characteristics of the human arm is regarded as an optimal damper with minimizing a cost function. Then, the model is implemented to a robot and the cooperation of the robot and a human operator is examined. The effectiveness of the derived model is investigated and the experimental results show that the human moves the object supported by the robot with a minimum jerk trajectory.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.155.4-155
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• 2001

This paper deals with the inertia property-based redundancy resolution in posture control of a mobile manipulator. As a measure for the redundancy resolution of a mobile manipulator, an effective inertia at the end effector in the operational space is proposed and investigated. The reduced effective inertia has a significant effect on reducing the impulse force in collision with environment. To find a posture satisfying both the reduced inertia and joint limit constraints, we propose a combined potential function method that can deal with multiple constraints. The proposed reduced inertia property algorithm is integrated into a damping controller to reduce the impulse force at collision and to regulate the contact force in mobile manipulation ...

• Transactions of the Korean Society of Mechanical Engineers
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• v.12 no.5
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• pp.1016-1025
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• 1988

A force cancelling observed to control the vibration of a single degree of freedom elastic system subjected to an arbitrary, unmeasurable disturbance is considered in this paper. The main idea of a force cancelling observer is how an estimate of the excitation can be derived and used to generate a control force which reduces the vibration. This control is shown to be robust with respect to the parameters describing the behavior of the system. Experimental and numerical results are presented which show the efficacy of the observer when the system is excited by periodic, random, and impulsive torques.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2007.11a
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• pp.459-464
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• 2007

Seismic control performance of MR dampers, which have severe nonlinearity, differs with respect to the dynamic characteristics of an earthquake such as magnitude, frequency and duration. In this study, the effects of excitation characteristics on the equivalent linear system of a building structure with the MR damper are investigated through numerical analysis for artificial ground motions generated from different response spectrums. The equivalent damping ratio of the structure with the MR damper is calculated using Newmark and Hall's equations for ground motion amplification factors. It is found that the equivalent damping ratio of the structure with the MR damper is dependent on the ratio of the maximum friction force of the MR damper over excitation magnitude. Frequency contents of the earthquake ground motion affects the equivalent damping ratio of long-period structures considerably. Also, additional damping effect caused by interaction between the viscousity and friction of the MR damper is observed. Finally, response reduction factors for equivalent linear systems are proposed in order to improve accuracy in the prediction of the actual nonlinear response.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2006.05a
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• pp.879-885
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• 2006

Seismic control performance of MR dampers, which have severe nonlinearity, differs with respect to the dynamic characteristics of an earthquake such as magnitude, frequency and duration. In this study, the effects of excitation characteristics on the equivalent linear system of a building structure with the MR damper are investigated through numerical analysis for artificial ground motions generated from different response spectrums. The equivalent damping ratio of the structure with the MR damper is calculated using Newmark and Hall's equations for ground motion amplification factors. It is found that the equivalent damping ratio of the structure with the MR damper is dependent on the ratio of the maximum friction force of the MR damper over excitation magnitude. frequency contents of the earthquake ground motion affects the equivalent damping ratio of long-period structures considerably. Also, additional damping effect caused by interaction between the viscousity and friction of the MR damper is observed. Finally, response reduction factors for equivalent linear systems are proposed in order to improve accuracy in the prediction of the actual nonlinear response.

• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.18 no.1
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• pp.87-93
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• 2008

Seismic control performance of MR dampers, which have severe nonlinearity, varies with respect to the dynamic characteristics of an earthquake such as magnitude, frequency and duration. In this study, the effects of excitation characteristics on the equivalent linear system of a building structure with the MR damper are investigated through numerical analysis for artificial ground motions generated from different response spectrums. The equivalent damping ratio of the structure with the MR damper is calculated using Newmark and Hall's equations for ground motion amplification factors. It is found that the equivalent damping ratio of the structure with the MR damper is dependent on the ratio of the maximum friction force of the MR damper over excitation magnitude. Frequency contents of the earthquake ground motion affects the equivalent damping ratio of long-period structures considerably. Also, additional damping effect caused by interaction between the viscousity and friction of the MR damper is observed. Finally. response reduction factors for equivalent linear systems are proposed in order to improve accuracy in the prediction of the actual nonlinear response.

• Journal of Korean Society of Steel Construction
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• v.14 no.6
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• pp.765-772
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• 2002

Many researchers have studied several vibration control devices such as TMD, TLD, and VED to reduce the acceleration level for tall buildings. Advantages of TLD (tuned liquid damper) include easy installation, low cost, and less maintenance. However, the dynamic characteristics of TLD must be verified by experiment and analysis due to the difficulties in evaluating the characteristics of water sloshing. In this study, free vibration and dynamic excitation experiments of structure with TLD were conducted to verify vibration control force of the proposed TLD for high-rise building. The parameters were mass ratio of water to structure, number of damping nets, and aspect ratio. From the test results, the responses of structure with water tank were observed to be smaller than those of structure alone. Furthermore, better damping effect could be achieved with larger mass ratio, more damping nets, and larger aspect ratio. However, in the case of water tank with no damping net, little damping effect was obtained.

• Transactions of the Korean Society of Mechanical Engineers
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• v.12 no.5
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• pp.959-967
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• 1988

In this paper, 2-DOF vehicle suspension system with a semiactive on-off damper was studied for improving the ride comfort. It is known that a nonlinear hydraulic damper, which generates force proportional to the square of the relative velocity, can describe the actual fluid resisting type damper more properly than the traditional viscous damping model. On the other hand, hydraulic damper adoption in analysis makes the system nonlinear and causes difficulties to get the system response. In this work, time domain direct integration method was used to calculate system displacement and acceleration. first of all, the response of the suspension system experiencing a given road profile was optimized by Lagrangian multiplier method within the range of given damping coefficients. The appropriate on-loaf damping values were obtained by averaging the already calculated optimum damping coefficients from Lagrangian techniques. The criterion to control the on-off mechanism was determined by examining the suspension efficiency. It was found that the best out of practically applicable criteria is following the sign (positive and negative) of the multiplication of relative displacement and velocity. Judging from the theoretical calculations, it was proved that the semiactive on-off damper can increase suspension efficiency as much as 8-11% in object function.

• Proceedings of the Computational Structural Engineering Institute Conference
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• 1995.10a
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• pp.250-257
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• 1995

The properties of Tuned Liquid Damper are investigated theoretically. In this study, numerical model is a nonlinear model for a rectangular TLD under horizontal motion on the basis of the shallow water wave theory, where the damping of the liquid motion is included semianalytically. For TLD subjected to harmonic external force, the liquid motion of TLD is simulated. Analysis result is showed that liquid motion in TLD is strongli nonlinear even under small excitation.