• 로봇학회논문지
• /
• 제1권2호
• /
• pp.135-141
• /
• 2006

This paper presents offline estimation of equivalent physical damping parameter in haptic interaction systems where damping is the most important parameter for stability. Based on the previous energy bounding algorithm, an offline procedure is developed in order to estimate the physical damping parameter of a haptic device by measuring energy flow-in to the haptic device. The proposed method does not use force/torque sensor at the handgrip. Numerical simulation and experiments verified effectiveness of the proposed method.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
• /
• pp.150-150
• /
• 2000

We as modal parameter estimation technique by developing a residual based system reconstruction and using the system matrix coordinate transformation. The modal parameters can be estimated from and residues of the system transfer functions expressed in modal coordinate basis, derived from the state space system matrices. However, for modal parameter estimation of multivariable and order structural systems over broad frequency bands, this non-iterative algorithm gives high accuracy in the natural fre- and damping ratios. From vibration tests on cross-ply and angle-ply composite laminates, the natural frequencies and damping ratios on be estimated using tile coordinates of the structural system reconstructed fro the experimental frequency response. These results are compared with those of finite element analysis and single-degree-of-freedom curve-fitting.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
• /
• pp.527-527
• /
• 2000

Wean modal parameter estiimation technique by developing a residual based system reconstruction and using the system matrix coordinate transformation. The modal parameters can be estimated from and residues of the system transfer functions expressed in modal coordinate basis, derived from the state space system matrices. However, for modal parameter estimation of mllltivariable and order structural systems over broad frequency bands, this non-iterative algorithm gives high accuracy in the natural fre and damping ratios. From vibration tests on cross-ply and angle-ply composite laminates, the natural frequencies and damping ratios can be estimated using the coordinates of the structural system reconstructed from the experimental frequency response. These results are compared with those of finite element analysis and single-degree-of-freedom curve-fitting..

• 드라이브 ㆍ 컨트롤
• /
• 제14권3호
• /
• pp.40-49
• /
• 2017

This study presents an online estimation of an excavator's rotational inertia by using recursive least square with forgetting. It is difficult to measure rotational inertia in real systems. Against this background, online estimation of rotational inertia is essential for improving safety and automation of construction equipment such as excavators because changes in inertial parameter impact dynamic characteristics. Regarding an excavator, rotational inertia for swing motion may change significantly according to working posture and digging conditions. Hence, rotational inertia estimation by predicting swing motion is critical for enhancing working safety and automation. Swing velocity and damping coefficient were used for rotational inertia estimation in this study. Updating rules are proposed for enhancing convergence performance by using the damping coefficient and forgetting factors. The proposed estimation algorithm uses three forgetting factors to estimate time-varying rotational inertia, damping coefficient, and torque with different variation rates. Rotational inertia in a typical working scenario was considered for reasonable performance evaluation. Three simulations were conducted by considering several digging conditions. Presented estimation results reveal the proposed estimation scheme is effective for estimating varying rotational inertia of the excavator.

• 한국구조물진단유지관리공학회 논문집
• /
• 제19권5호
• /
• pp.30-37
• /
• 2015

본 연구에서는 웨이블릿 변환을 적용한 시스템 감쇠비 평가에 있어서 고유주파수가 저주파 영역에 속하고, 비교적 높은 감쇠비를 갖는 응답신호에 대하여 웨이블릿 기저함수의 중심주파수 영향을 분석하고자 하였다. 이를 위하여 단일 모드로 구성된 신호와 일정 주파수를 이격시킨 분리 중첩 모드 신호 및 모드 주파수 성분을 근접시킨 인접 중첩 모드 신호에 대하여 수치해석으로 분석하고, H-Beam을 통한 실내실험을 수행하였다. 분석하고자 하는 모드의 고유주파수는 전체 스케일에 대한 대응 스케일로서 고려되고, 이러한 대응 스케일의 위치는 웨이블릿 기저함수의 중심주파수에 영향을 받게 된다. 따라서 각 모드의 고유주파수에 대응되는 스케일이 전체 스케일의 1/2에 위치되도록 웨이블릿 기저함수의 중심주파수가 선택될 때 감쇠비 평가에 대한 신뢰성이 향상 될 것이다.

• 한국구조물진단유지관리공학회 논문집
• /
• 제22권1호
• /
• pp.48-55
• /
• 2018

본 연구의 목적은 구조 시스템의 구조적 손상에 의한 고유주파수 감소율과 감쇠변수 증가율을 비교 분석하는 것이다. 이를 위하여 저주파 영역의 고유주파수와 비교적 높은 감쇠변수 특성을 갖는 2경간 H-Beam을 대상으로 실내실험과 수치해석을 수행하였으며, 충격하중에 대한 손상 전과 손상 후 응답신호를 각각 14개 위치에서 분석하였다. 각 위치에 대한 손상 전과 손상 후 응답신호는 푸리에 변환을 통하여 고유주파수 감소율을 분석하였으며, 감쇠변수 증가율은 웨이블릿 변환을 통하여 수행되었다. 웨이블릿 변환은 최대 웨이블릿 계수에 대응되는 스케일의 시간함수 분리가 가능하기 때문에 감쇠변수 평가에 대한 정확성을 높일 수 있다. 손상 전과 손상 후 계측된 응답신호에 대하여 고유주파수 감소율은 민감하지 못한 결과로 평가되었고, 감쇠변수 증가율은 비교적 큰 변화량을 보여 구조 시스템의 손상도 평가에 신뢰할 수 있는 결과를 보여주었다.

• 전기학회논문지
• /
• 제58권6호
• /
• pp.1078-1086
• /
• 2009

This paper presents a Fourier based algorithm for estimating the parameters of the low frequency oscillating modes. The proposed methods estimates various parameters(frequency, damping factor, mode magnitude, phase) by fitting Fourier spectrum and phase with a damped exponential cosine function. Dominant frequency is selected by taking frequency corresponding to the peak spectrum, and damping factor is estimated using the left/right spectra of Fourier spectrum. In addition, mode magnitude is calculated by the normalized peak spectrum, and phase is estimated from spectrum phase. Also, we introduce an accuracy index in order to determine the accuracy of the estimated parameters, and the index is calculated using the deviations of the peak spectrum and the left/right spectra. The parameter estimation methods proposed in this paper include very simple arithmetical processes, so the algorithms are simple and the calculation speed is very fast. The proposed methods are applied to test functions with two dominant modes. The results show that the proposed methods are highly applicable to low frequency parameter estimation.

• 한국항해항만학회지
• /
• 제40권5호
• /
• pp.241-247
• /
• 2016

The tracking filter plays a key role in the accurate estimation and prediction of maneuvering a vessel's position and velocity when attempting to enhance safety by avoiding collision. Therefore, in order to achieve accurate estimation and prediction, many oceangoing vessels are equipped with the Automatic Radar Plotting Aid (ARPA) system. However, the accuracy of prediction depends on the tracking filter's ability to reduce noise and maintain a stable transient response. The purpose of this paper is to derive the optimal values of the gain parameters used in tracking a High Dynamic Warship. The algorithm employs a ${\alpha}-{\beta}-{\gamma}$ filter to provide accurate estimates and updates of the state variables, that is, positions, velocity and acceleration of the high dynamic warship based on previously observed values. In this study, the filtering coefficients ${\alpha}$, ${\beta}$ and ${\gamma}$ are determined from set values of the damping parameter, ${\xi}$. Optimization of the damping parameter, ${\xi}$, is achieved experimentally by plotting the residual error against different values of the damping parameter to determine the least value of the damping parameter that results in the optimum smoothing coefficients leading to a reduction in the noise corruption effect. Further investigation of the performance of the filter indicates that optimal smoothing coefficients depend on the initial and average velocity of the target.

• Smart Structures and Systems
• /
• 제4권3호
• /
• pp.279-290
• /
• 2008

The modeling and parameter estimation of a damped one-degree-of-freedom mass-spring system is examined. This paper presents a method for estimating the system parameters (damping coefficients and natural frequency) from measured free-vibration motion of a system that is modeled to include both subcritical viscous damping and kinetic Coulomb friction. The method applies a commercially available least-squares curve-fitting software function to fit the known solution of the equations of motion to the measured response. The method was tested through numerical simulation, and it was applied to experimental data collected from a laboratory mass-spring apparatus. The mass of this apparatus translates on linear bearings, which are the primary source of light inherent damping. Results indicate that the curve-fitting method is effective and accurate for both perfect and noisy measurements from a lightly damped mass-spring system.

• 대한수학회지
• /
• 제58권3호
• /
• pp.723-740
• /
• 2021

Design and maintenance of large span roof structures require an analysis of their static and dynamic behavior depending on the physical parameters defining the structures. Therefore, it is highly desirable to estimate the parameters from observations of the system. In this paper we study the parameter estimation problem for damped shallow arches. We discuss both symmetric and non-symmetric shapes and loads, and provide theoretical and numerical studies of the model behavior. Our study of the behavior of such structures shows that it is greatly affected by the existence of critical parameters. A small change in such parameters causes a significant change in the model behavior. The presence of the critical parameters makes it challenging to obtain good estimation. We overcome this difficulty by presenting the Parameter Estimation Algorithm that identifies the unknown parameters sequentially. It is shown numerically that the algorithm achieves a successful parameter estimation for models defined by arbitrary parameters, including the critical ones.