• Journal of Electrical Engineering and Technology
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• 제3권3호
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• pp.401-407
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• 2008

The dynamic model and displacement control of piezoelectric actuators, which are commercially available materials for managing extremely small displacements in the range of sub-nanometers, are presented. Piezoceramics have electromechanical characteristics that transduce energy between the electrical and mechanical domains. However, they have hysteresis between the input voltage and output displacement, and this behavior is very demanding and complicated. In this paper, we propose a method of designing the control algorithm, and present the dynamic modeling equations that represent the hysteretic behavior between input voltage and output displacement. For this process, the piezoelectric actuator is treated as a second-order linear dynamic system and system constants are determined by the system identification method. Also, a classical PID controller is designed and used to regulate the output displacement of the actuator. To evaluate the performance of the proposed method, numerical simulation results are presented.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2007년도 제38회 하계학술대회
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• pp.1540-1541
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• 2007

For the displacement control of piezoelectric actuator, this paper proposed a method of designing the control algorithm, and presents the dynamic modeling equations which represent the hysteretic behavior between input voltage and output displacement. For this process, the piezoelectric actuator is treated as second-order linear dynamic system then a classical PID controller is designed and used to regulate the output displacement control of the actuator. To evaluate the performance of the proposed method, numerical simulation results were presented

• 한국공간구조학회논문집
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• 제5권3호
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• pp.91-100
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• 2005

본 연구는 구조물의 정량적 강성설계 기법 개발, 즉 부재 단위의 강성 재설계를 통한 전역 자유도 변위의 정량적 조절 기법개발을 궁극적 목적으로 한다. 이를 위하여 본 연구에서는 전역 자유도에 대한 부재의 변위기여도계수와 내력기여도계수를 유도하고, 이를 이용하여 특정 변위를 정량적으로 예측, 제어할 수 있도록 부재 강성과 특정 변위간의 상관식을 유도 제시하였다. 간단한 예제 구조물의 해석과 제안식 적용을 통한 변위 예측값 사이의 비교를 통하여 제안식을 검증하였다. 정정구조물의 경우 본 상관식은 정해로서, 이를 이용하여 폭정 변위를 원하는 목표치로 정확하게 제어할 수 있으며, 부정정구조물의 경우에도 부재 내력 재분배에 의한 오차가 발생하기는 함에도 불구하고 각 부재 강성과 특정 변위간의 상관성과 경향을 제시함으로써 매우 유용하게 활용될 수 있다. 본 연구에서 제안하는 정량적 변위 제어 기법은 강성설계가 전체 설계 결과를 지배하게 되는 대 공간구조물 또는 초고층건물의 설계 시 유용할 것으로 기대된다.

• Structural Engineering and Mechanics
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• 제18권3호
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• pp.287-301
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• 2004

Structural acceleration regulation is a means of managing structural response energy and enhancing the performance of civil structures undergoing large seismic events. A quadratic output regulator that minimizes a measure including the total structural acceleration energy is developed and tested on a realistic non-linear, semi-active structural control case study. Suites of large scaled earthquakes are used to statistically quantify the impact of this type of control in terms of changes in the statistical distribution of controlled structural response. This approach includes the impulses due to control inputs and is shown to be more effective than a typical displacement focused control approach, by providing equivalent or better performance in terms of displacement and hysteretic energy reductions, while also significantly reducing peak story accelerations and the associated damage and occupant injury. For earthquake engineers faced with the dilemma of balancing displacement and acceleration demands this control approach can significantly reduce that concern, reducing structural damage and improving occupant safety.

• 제어로봇시스템학회논문지
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• 제18권6호
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• pp.579-583
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• 2012

The purpose of this paper is to suggest IDE (Incremental Displacement Estimation) algorithm for the previously proposed visually servoed paired structured light system. The system is composed of two sides facing with each other, each with one or two lasers with a 2-DOF manipulator, a camera, and a screen. The 6-DOF displacement between two sides can be estimated by calculating the positions of the projected laser beams and rotation angles of the manipulators. In the previous study, Newton-Raphson or EKF (Extended Kalman Filter) has been used as an estimation algorithm. Although the various experimental tests have validated the performance of the system and estimation algorithms, the computation time is relatively long since aforementioned algorithms are iterative methods. Therefore, in this paper, a non-iterative incremental displacement estimation algorithm which updates the previously estimated displacement with a difference of the previous and the current observed data is introduced. To verify the performance of the algorithm, experimental tests have been performed. The results show that the proposed non-iterative algorithm estimates the displacement with the same level of accuracy compared to the EKF with multiple iterations with significantly less computation time.

• 한국공간구조학회논문집
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• 제20권4호
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• pp.169-176
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• 2020

When an unexpected excessive seismic load is applied to the base isolation of arch structure, the seismic displacement of the base isolation may be very large beyond the limit displacement of base isolation. These excessive displacement of the base isolation causes a large displacement in the upper structure and large displacement of upper structure causes structural damage. Therefore, in order to limit the seismic displacement response of the base isolation, it is necessary to install an additional device such as an anti-uplift device to the base isolation. In this study, the installation direction of the base isolation and the control performance of the base isolation installed anti-uplift device were investigated. The installation direction of the base isolation of the arch structure is determined by considering the horizontal and vertical reaction forces of the arch structure. In addition, the separation distance of the anti-uplift device is determined in consideration of the design displacement of the base isolation and the displacement of the arch structure.

• Steel and Composite Structures
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• 제18권1호
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• pp.29-50
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• 2015

With a quasi-three point bending apparatus, ratcheting deformation is studied experimentally on a pressurized austenitic stainless steel Z2CND18.12N pipe under bending load and vertical displacement control, respectively. The characteristic of ratcheting behavior of straight pipe under both control methods is achieved and compared. The cyclic bending loading and internal pressure influence ratcheting behavior of pressurized straight pipe significantly under loading control and the ratcheting characteristics are also highly associated with the cyclic displacement and internal pressure under displacement control. They all affect not only the saturation of the ratcheting strain but the ratcheting strain rate. In addition, ratcheting simulation is performed by elastic-plastic finite element analysis with ANSYS in which the bilinear model, Chaboche model, Ohno-Wang model and modified Ohno-Wang model are applied. By comparison with the experimental data, it is found that the CJK model gives reasonable simulation. Ratcheting boundaries under two control modes are almost same.

• Structural Engineering and Mechanics
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• 제52권6호
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• pp.1135-1156
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• 2014

The ratcheting effect greatly challenges the design of piping components. With the assistance of the quasi-three point bending apparatus, ratcheting and the ratcheting boundary of pressurized straight Z2CND18.12N stainless steel pipe under bending loading and vertical displacement control were studied experimentally. The characteristics of progressive inelastic deformation in axial and hoop directions of the Z2CND18.12N stainless steel pipes were investigated. The experiment results show that the ratcheting strain occurs mainly in the hoop direction while there is less ratcheting strain in the axial direction. The characteristics of the bending ratcheting behavior of the pressure pipes were derived and compared under load control and displacement control, respectively. The results show that the cyclic bending loading and the internal pressure affect the ratcheting behavior of the pressurized straight pipe significantly under load control. In the meantime, the ratcheting characteristics are also highly associated with the cyclic displacement and the internal pressure under displacement control. All these factors affect not only the saturation of the ratcheting strain but the ratcheting strain rate. A series of multi-step bending ratcheting experiments were conducted under both control modes. It was found that the hardening effect of Z2CND18.12N stainless steel pipe under previous cyclic loadings no matter with high or low displacement amplitudes is significant, and the prior loading histories greatly retard the ratcheting strain and its rate under subsequent loadings. Finally, the ratcheting boundaries of the pressurized straight Z2CND18.12N stainless steel pipe were determined and compared based on KTA/ASME, RCC-MR and the experimental results.

• Smart Structures and Systems
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• 제18권1호
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• pp.139-154
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• 2016

This paper is concerned with the dynamics of hyperelastic solids and structures. We seek for a smart control actuation that produces a desired (prescribed) displacement field in the presence of transient imposed forces. In the literature, this problem is denoted as displacement tracking, or also as shape morphing problem. One talks about shape control, when the displacements to be tracked do vanish. In the present paper, it is assumed that the control actuation is provided by imposed eigenstrains, e.g., by the electric field in piezoelectric actuators, or by thermal actuators, or via analogous physical effects, such as magneto-striction or pre-stress. Structures with a controlled eigenstrain-type actuation belong to the class of smart structures. The action of the eigenstrains can be conveniently characterized by actuation stresses. Our theoretical derivations are performed in the framework of the theory of small incremental dynamic deformations superimposed upon a statically pre-deformed configuration of a hyperelastic solid or structure. We particularly ask for a distribution of incremental actuation stresses, such that the incremental displacements follow exactly a prescribed trajectory field, despite the imposed incremental forces are present. An exact solution of this problem is presented under the assumption that the actuation stresses can be tailored freely and applied everywhere within the body. Extending a Neumann-type solution strategy, it is shown that the actuation stresses due to the distributed control eigenstrains must satisfy certain quasi-static equilibrium conditions, where auxiliary body-forces and auxiliary surface tractions are to be taken into account. The latter auxiliary loading can be directly computed from the imposed forces and from the desired displacement field to be tracked. Hence, despite the problem is a dynamic one, a straightforward computation of proper actuator distributions can be obtained in the framework of quasi-static equilibrium conditions. Necessary conditions for the functioning of this concept are presented. Particularly, it must be required that the intermediate configuration is infinitesimally superstable. Previous results of our group for the case of shape control and displacement tracking in linear elastic structures are included as special cases. The high potential of the solution is demonstrated via Finite Element computations for an irregularly shaped four-corner plate in a state of plain strain.

• 한국정밀공학회지
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• 제12권7호
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• pp.148-157
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• 1995

This study deals with controlling the speed of Hydrostatic Transmission (HST) system throuth the control of pumping stroke of positive displacement pump using high-speed solenoid valve controlled by digital closed loop PWM method. The method which was done in this study is as follows: First, we modified original positive displacement pump and designed pumping stroke control system of HST by using the high-speed solenoid valve. Second, after experimenting static and dynamic characteristics on each signal flow, we identified system parameter of approximated model. Finally, to control the speed of HST, we controlled the angle of the swash plate of positive displacement pump by controlling the pressure in the control cylinder chamber. Test which was carried out in the laboratory shows that transient and steady state response could be improved by PID controller.