• The Transactions of the Korean Institute of Electrical Engineers C
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• v.48 no.2
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• pp.153-160
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• 1999

Dual-stage servo system for super-high density HDD has the chances of being composed of the coarse actuator(VCM) for track-seeking control and the fine actuator(microactuator) for-following control in near future. This paper presents the concept design of dual-stage servo system and the track-following control using an electrostatic microactuator for super-high density HDD. The electrostatic microactuator is designed and fabricated by MEMS(micro-electro-mechanical system) process. Both the nonlinear plant(voltage/displacement-to-electrostatic force) and the linear plant(electrostatic force-to-displacement) of the microactuator are established. Inverse function of the nonlinear plant is employed for a feedforward nonlinear compensator design. And feedforward control effect of this compensator is shown by time-domain experiments. A track-following feedback controller is designed using the feedback nonlinear compensator which is derived from the feedforward nonlinear compensator. The track-following control experiment is done to show the control efficiency of the proposed control system. And, excellent track-following control performance(2.21kHz servo-bandwidth, 7.51dB gain margin, $50.98^{\circ}$phase margin) is achieved by the proposed control system.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2004.11a
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• pp.109-114
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• 2004

This paper presents a theoretical and experimental study of a non-collocated pair of piezopolymer PVDF sensor and piezoceramic PZT actuator, which are bonded on a cantilever beam, in order to suppress unwanted vibration at the tip of the beam. The PZT actuator patch was bonded near the clamped part and the PVDF sensor, which was triangularly shaped, was bonded on the other part of the beam. This is because the triangular PVDF sensor is known that it can detect the tip velocity of a cantilever beam. Because the arrangement of the sensor and actuator pair is not collocated and overlapped each other, the pair can avoid so called 'the in-plane coupling'. The test beam is made of aluminum with the dimension of $200\times20\times2mm$, and the two PZT5H actuators are both $20\times20\times1mm$ and bonded on the beam out-of-phase, and the PVDF sensor is $178mm\times6mm\times52{\mu}m$. Before control, the sensor-actuator frequency response function is confirmed to have a nice phase response without accumulation in a reasonable frequency range of up to 5000 Hz. Both the DVFB and displacement feedback strategies made the error signal from the tip velocity (or displacement) sensor is transmitted to a power amplifier to operate the PZT actuator (secondary source). Both the control methods attenuate the magnitude of the first two resonances in the error spectrum of about 6-7 dB.

• Earthquakes and Structures
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• v.12 no.4
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• pp.425-436
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• 2017

Vibration control using a tuned mass damper (TMD) is an effective technique that has been verified using analytical methods and experiments. It has been applied in mechanical, automotive, and structural applications. However, the damping of a TMD cannot be adjusted in real time. An excessive mass damper stroke may be introduced when the mass damper is subjected to a seismic excitation whose frequency content is within its operation range. The semi-active tuned mass damper (SATMD) has been proposed to solve this problem. The parameters of an SATMD can be adjusted in real time based on the measured structural responses and an appropriate control law. In this study, a stiffness-controllable TMD, called a leverage-type stiffness-controllable mass damper (LSCMD), is proposed and fabricated to verify its feasibility. The LSCMD contains a simple leverage mechanism and its stiffness can be altered by adjusting the pivot position. To determine the pivot position of the LSCMD in real time, a discrete-time direct output-feedback active control law that considers delay time is implemented. Moreover, an identification test for the transfer function of the pivot driving and control systems is proposed. The identification results demonstrate the target displacement can be achieved by the pivot displacement in 0-2 Hz range and the control delay time is about 0.1 s. A shaking-table test has been conducted to verify the theory and feasibility of the LSCMD. The comparisons of experimental and theoretical results of the LSCMD system show good consistency. It is shown that dynamic behavior of the LSCMD can be simulated correctly by the theoretical model and that the stiffness can be properly adjusted by the pivot position. Comparisons of experimental results of the LSCMD and passive TMD show the LSCMD with less demand on the mass damper stroke than that for the passive TMD.

• Smart Structures and Systems
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• v.31 no.3
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• pp.259-273
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• 2023

Real-time hybrid simulation (RTHS) is an effective experimental technique for structural dynamic assessment. However, time delay causes displacement de-synchronization at the interface between the numerical and physical substructures, negatively affecting the accuracy and stability of RTHS. To this end, the authors have proposed a model-based adaptive control strategy with a Kalman filter (MAC-KF). In the proposed method, the time delay is mainly mitigated by a parameterized feedforward controller, which is designed using the discrete inverse model of the control plant and adjusted using the KF based on the displacement command and measurement. A feedback controller is employed to improve the robustness of the controller. The objective of this study is to further validate the power of dealing with a nonlinear control plant and to investigate the potential challenges of the proposed method through actual experiments. In particular, the effect of the order of the feedforward controller on tracking performance was numerically investigated using a nonlinear control plant; a series of actual RTHS of a frame structure equipped with a magnetorheological damper was performed using the proposed method. The findings reveal significant improvement in tracking accuracy, demonstrating that the proposed method effectively suppresses the time delay in RTHS. In addition, the parameters of the control plant are timely updated, indicating that it is feasible to estimate the control plant parameter by KF. The order of the feedforward controller has a limited effect on the control performance of the MAC-KF method, and the feedback controller is beneficial to promote the accuracy of RTHS.

• International conference on construction engineering and project management
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• 2009.05a
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• pp.432-439
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• 2009

This research project was carried out to develop the technique to assess quantitatively and rapidly the stability of a tunnel by using the measured displacement at the tunnel construction site under excavation. To achieve this purpose, a critical strain concept was introduced and applied to an assessment of a tunnel under construction. The new technique calculates numerically the strains of the surrounding ground by using the measured displacements during excavation. A numerical practical system was developed based on the proposed analysis technique in this study. The feasibility of the developed analysis module was verified by incorporating the analysis results obtained by commercial programs into the developed analysis module. To verify the feasibility of the developed analysis module, analysis results of models both elastic and elasto-plastic grounds were investigated for the circular tunnel design. Then the measured displacements obtained in the field are utilized practically to assess the safety of tunnels using critical strain concept. It was verified that stress conditions of in-situ ground and ground material properties were accurately assessed by inputting the calculated displacement obtained by commercial program into this module for the elastic ground. However for the elasto-plastic ground, analysis module can reproduce the initial conditions more closely for the soft rock ground than for the weathered soil ground. The stability of tunnels evaluated with two types of strains, that is, the strains obtained by dividing the crown displacement into a tunnel size and the strains obtained by using the analysis module. From this study, it is confirmed that the critical strain concept can be fully adopted within the engineering judgment in practical tunnel problems and the developed module can be used as a reasonable tool for the assessment of the tunnel stability in the field.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.22 no.2
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• pp.467-475
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• 1998

The Six Degree-of-Freedom manipulators are generally operated by linear actuators which are hydraulic cylinder, pneumatic cylinder, ball-screw. But these actuators are not adequate to have a wide work-space, and furthermore some of them have a self-locking property. Therfore, we have designed a new manipulator which fully overcomes these demerits. The new manipulating system consists of 6 DC-motors to generate operation forces and 6 position transducers to feedback displacement signals. This paper presents an overview of the design and characteristics of 6 Degree-of-Freedom force feedback manipulators for vitual reality implementation. we can operate Six Degree-of-Freedom manipulator with six motors and six potentiometers.

• Journal of Welding and Joining
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• v.21 no.4
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• pp.80-86
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• 2003

Arc-spot welding is generally used in joining of precise parts such as case and core in electric compressor. It is important to control joining deformation in electric compressor because clearance control of micrometer order is needed for excellent airtightness and anti-nose. The countermeasures for this deformation in field have mainly been dependent on rule of try and error by operator's experience because of productivities. For control this deformation problem without influence on productivities, development of exact simulation model should be needed. In this study, on the basis of previous study, the analysis model io predict deformation of precise order in arc-spot welded structure with non-uniform stiffness is brought up through feedback and tuning between monitoring data and analysis results. For this, deformation monitoring system was built and boundary condition considering mechanical melting temperature was applied.

• Structural Engineering and Mechanics
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• v.44 no.2
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• pp.127-138
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• 2012

The composite materials may be exposed to environmental (thermal or hygral or both) condition during their service life. The effect of environmental condition is usually adverse from the point of view of design of composite structures. In the present research study the effect of hygrothermal condition on the design of laminated composite structures is investigated. The active fiber composite (AFC) which may be utilized as actuator or sensor is considered in the present analysis. The sensor layer is used to sense the level of response of the composite structures. The sensed voltage is fed back to the actuator through the controller. In this study both displacement and velocity feedback controllers are employed to reduce the response of the composite laminate within acceptable limit. The Newmark direct time integration scheme is employed along with modal superposition method to improve the computational efficiency. It is observed from the numerical study that the laminated composite structures become weak in the presence of hygrothermal load. The response of the structure can be brought to the acceptable level once the AFC layer is activated through the feedback loop.

• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.26 no.3
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• pp.313-319
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• 2017

This study presents a genetic algorithm (GA) to design a PID controller systematically for an inchworm operated by piezoelectric actuators. The performance index considering overshoot and settling time is adopted to search an optimal PID gain using GA. The piezoelectric actuator shows nonlinear characteristics including hysteresis and residual displacement. The PID feedback system combined with an integrator is used to improve the ability of tracking the complex input signals and suppressing the steady state error. The PID controller tuned by GA can track the various motion contours effectively. However, the PID controller shows an improper residual vibration under the application of high-frequency square input. The input shaper combined with the feedback system can overcome this limitation of the PID controller.

• 제어로봇시스템학회:학술대회논문집
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• 1987.10b
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• pp.358-363
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• 1987

It is widely noted that pressure feedback systems have been devised to damp the fluid resonance effectively in precision speed control-for large inertia system. A compensation technique preserving the natural output disturbance discrimination characteristics at lower frequencies is proposed The load pressure across positive displacement acceleration. The technique involves feeding back load differential pressure, sensed by pressure transducers, though a simple analog compensatory circuit (high pass filter). The effectiveness of the damping is determined by the filter time donstant and loop gain. Nonlinear total hydraulic simulation results verify the possibility of linear model predictions of extending the closed loop bandwidth beyond the uncompensated frequency.