• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1997년도 한국자동제어학술회의논문집; 한국전력공사 서울연수원; 17-18 Oct. 1997
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• pp.325-328
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• 1997

In this paper the modeling and control of a twin roll strip caster is investigated. Mathematical models for the strip casting process are obtained by analyzing five critical areas such that the molten steel level in the pool, solidification process, roll separating force and torque, roll dynamics including hydraulic actuators, and roll drive system. A two-level control strategy is proposed. At lower level, three local subsystems are independently feedback-controlled by suitable local controllers which perform well to the behaviors of each subsystem. They are a variable structure control of the molten steel level in the pool, an adaptive predictive control of the roll gap which is directly related to the strip thickness, and an $H^{\infty}$ control of the roll drive system. At higher level, all reference signals to the lower level subsystems are generated by an optimal controller in the perspective of regulating the strip thickness and roll separating force. Simulations are provided..

• Bulletin of the Korean Chemical Society
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• 제23권1호
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• pp.48-52
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• 2002

Using several molecular modeling programs we have performed computer simulations to investigate the complexation behaviors of an ester derivative of p-tert-butylcalix[5]arene (1e) toward a variety of butylammonium ions. Semi-empirical AM1 method was used for calculating the binding energies and the formation enthalpies. MM and CVFF forcefields for molecular mechanics calculations were adapted to express the complexation energies of the host. Molecular dynamics were performed to the calculated complex systems to simulate the ionophoric behavior of the host-guest complexes. The absolute Gibbs free energies of the host (1e) complexed with four kinds of butylammonium ions have been calculated using the Finite Difference Thermodynamic Integration (FDTI) method in Discover. Calculation results show that the trend in complex formation is n-$BuNH_3^+$ > iso-$BuNH_3^+$ >> sec-$BuNH_3^+$ > tert-$BuNH_3^+$, which is in good agreement with the experimental results.

• Journal of Electrical Engineering and Technology
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• 제12권2호
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• pp.937-943
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• 2017

To design an automatic steering controller with high performance for autonomous vehicle, it is necessary to have a precise model of the lateral dynamics with respect to the steering command input. This paper presents an empirical modeling of the steering system for an autonomous vehicle. The steering system here is represented by three individual transfer function models: a steering wheel actuator model from the steering command input to the steering angle of the shaft, a dynamic model between the steering angle and the yaw rate of the vehicle, and a dynamic model between the steering command and the lateral deviation of vehicle. These models are identified using frequency response data. Experiments were performed using a real vehicle. It is shown that the resulting identified models have been well fitted to the experimental data.

• Transactions of the Korean Society of Mechanical Engineers A
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• 제22권4호
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• pp.801-810
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• 1998

Modeling and analysis of dynamic systems generally demand their resutls to be interpreted each other with a physical sense. It sometimes requires that there should exist a unified tool in the treatment of dynamic systems which can be applied to both their modeling and analysis equally. This paper shows how models just after the progress of modeling via bond graph standards are converted to ones which are appropriate for analyzing a dynamic system in the frequency domain. Four bond graph prototypes are introduced to obtain frequency properties of dynamic systems such as zero stability, relative order, zero and pole dynamics, etc. directly from bond graphs, and the method are proposed which reduces nearly all models of bond graph standards to one of the prototypes without any change of physical similarity. This procedure as a tool for the structural reduction of bond graphs and finding frequency properties of a dynamic system is further investigated to survey its effectiveness through an example.

• Journal of the Korean Institute of Telematics and Electronics B
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• 제33B권4호
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• pp.1-10
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• 1996

In this paper are presented kinematic and dynamic modeling and path-tracking of fourwhelled mobile robot with 2 d.o.f. having the limited drivetorques. Controllability of wheeled-mobile robot is revealed by using the kinematic model. Instantaneously coincident coordinate cystem, force/torques generated by inverse dynamics exceed the limitation, we make wheeled-mobile robot follow the reference path by modifying the planned reference trajectory with time-scaling. The controller is introduced to compensate for error owing to modeling uncertainty and measurement noise. And simulation results prove that method proposed by this paper is efficient.

• Journal of Mechanical Science and Technology
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• 제18권8호
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• pp.1338-1348
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• 2004

A simplified method that models the deflagration process occurring in closed or vented vessels is described. When combustion occurs within the spherical or cylindrical vessels, the flame moves spherically or segmentally to the vessel periphery. The volume and area of each element along the propagating flame front are calculated by using simple geometrical rules. For instabilities and turbulence resulting in enhanced burning rates, a simple analysis results in reasonable agreement with the experimental pressure transients when two burning rates (a laminar burning rate prior to the onset of instability and an enhanced burning rate) were used. Pressure reduction caused by a vent opening at predetermined pressure was modeled. Parameters examined in the modeling include ignition location, mixture concentration, vented area, and vent opening pressure. It was found that venting was effective in reducing the peak pressure experienced in vessels. The model can be expected to estimate reasonable peak pressures and flame front distances by modeling the enhanced burning rates, that is, turbulent enhancement factor.

• Transactions of the Korean Society of Mechanical Engineers A
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• 제29권5호
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• pp.743-753
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• 2005

The model of azimuth driving servo system with a flexible antenna in a prototype gimbal has been derived in this work. The validity of the model is verified by comparing the result of the model with that of experiment. It is found that one should consider an antenna as a flexible body in case of modeling the dynamics of the gimbal with an antenna. It is also known that the effect of reducing backlash magnitude for extending the bandwidth in the system with a flexible antenna is smaller than the system with a stiff antenna. It is thought that the model-based design optimization of the gimbal with an antenna will be possible by virtue of the derived model, when a weight reduction and a bandwidth extension are required.

• Transactions of the Korean Society of Mechanical Engineers
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• 제17권8호
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• pp.2043-2050
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• 1993

This paper presents a three dimensional modeling and dynamic analysis of a hydraulic excavator. An excavator composed of a boom, a bucket, two boom cylinders, an arm cylinder, and a bucket cylinder is used for the analysis. Each cylinder is modeled to two separate bodies linked by a translational joint. Judging from the actual degrees of freedom of the excavator, proper kinematic joints are selected to exclude redundant constraints in the modeling. In order to find the reaction forces at kinematic joints during operations, inverse dynamic analysis is carried out. Dynamic analysis is also carried out to verify the results from inverse dynamic analysis. The DADS program is used for analysis, with proper modification of the DADS user routine according to various motions.

• Proceedings of the KSME Conference
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• 대한기계학회 2007년도 춘계학술대회A
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• pp.826-830
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• 2007

The effects of the statistical properties of the Coulomb friction coefficients on the dynamic responses of a galloping quadruped robot are investigated in this paper. In general, the Coulomb friction coefficients are assumed to be deterministic for a controller design to achieve required motion characteristics. However, the friction coefficients between the ground and the robot legs are not constant in reality. Therefore, statistical characteristics of the friction coefficients need to be considered for a multi-body modeling of the robot galloping on the ground. The effects of the statistical properties on the dynamic responses of the quadruped robots are investigated.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 한국소음진동공학회 2002년도 추계학술대회논문집
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• pp.228-233
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• 2002

General modeling of a resonant shunting damper has been made from piezoelectric sensor/actuator equation. It is found that an additional damping, which is augmented to a system, is generated by the shunt damping effect. The transfer function of the tuned electrical absorber is derived for both series and parallel shunt circuit. The governing equations and associated boundary conditions are derived using Hamilton's Principle. The shunt voltage equation is also derived from the charge generated in PZT due to beam vibration. The frequency response function of the obtained mathematical model is compared with that of the tuned electrical absorber and experimental work. The vibration amplitude is reduced about 15 dB at targeted second mode frequency.