• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2004년도 ICCAS
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• pp.1158-1161
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• 2004

This paper describes the construction of a half sphere screen driving tilting simulator that can perform six degree-of-freedom (DOF) motions simulator to a tilting train. The mathematical equations of Tilting Train dynamics are first derived from the 6-DOF bicycle model and incorporated with the bogie, carbody, and suspension subsystems. The equations of motion are then programmed by visual C++ code. To achieve the simulator functions, a motion platform that is constructed by six electric-driven actuators is designed, and its kinetics/inverse kinetics analysis is also conducted. Driver operation signals such as carbady angle, accelerator, and tilting positions are measured to trigger the Tilting dynamics calculation and further actuate the cylinders by the motion platform control program. In addition, a digital PID controller is added to achieve the stable and accurate displacements of the motion platform. The experiments prove that the designed simulator is adequate in performing some special rail road driving situations discussed in this paper.

• 한국소음진동공학회논문집
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• 제13권4호
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• pp.247-257
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• 2003

This paper presents an analytical method to Investigate the stability of a hydrodynamic journal bearing with rotating herringbone grooves. The dynamic coefficients of the hydrodynamic Journal bearing are calculated using the FEM and the perturbation method. The linear equations of motion can be represented as a parametrically excited system because the dynamic coefficients have time-varying components due to the rotating grooves, even in the steady state. Their solution can be assumed as a Fourier series expansion so that the equations of motion can be rewritten as simultaneous algebraic equations with respect to the Fourier coefficients. Then, stability can be determined by solving Hill's infinite determinant of these algebraic equations. The validity of this research is proved by the comparison of the stability chart with the time response of the whirl radius obtained from the equations of motion. This research shows that the instability of the hydrodynamic journal bearing with rotating herringbone grooves increases with increasing eccentricity and with decreasing groove number, which play the major roles in increasing the average and variation of stiffness coefficients, respectively. It also shows that a high rotational speed is another source of instability by increasing the stiffness coefficients without changing the damping coefficients.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2002년도 춘계학술대회논문집
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• pp.166-174
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• 2002

This paper presents an analytical method to Investigate the stability of a hydrodynamic journal bearing with rotating herringbone grooves. The dynamic coefficients of the hydrodynamic journal bearing are calculated using the FEM and the perturbation method. The linear equations of motion can be represented as a parametrically excited system because the dynamic coefficients have time-varying components due to the rotating grooves, even in the steady state. Their solution can be assumed as a Fourier series expansion so that the equations of motion can be rewritten as simultaneous algebraic equations with respect to the Fourier coefficients. Then, stability can be determined by solving Hill's infinite determinant of these algebraic equations. The validity of this research is proved by the comparison of the stability chart with the time response of the whirl radius obtained from the equations of motion. This research shows that the instability of the hydrodynamic journal bearing with rotating herringbone grooves increases with increasing eccentricity and with decreasing groove number, which play the major roles in increasing the average and variation of stiffness coefficients, respectively. It also shows that a high rotational speed is another source of instability by increasing the stiffness coefficients without changing the damping coefficients.

• 한국전산구조공학회논문집
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• 제13권2호
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• pp.165-178
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• 2000

본 연구에서는 고속철도차량(TGV)이 교량 상을 통과할 경우 교량의 동적 거동을 해석하기 위한 단순화된 3차원 차량-교량 상호작용해석 모델을 제시한다. 축하중 편심 모델링 방법을 도입하여 교량에 작용하는 축하중에 의한 비틀림력과 교량의 비틀림 회전변위의 영향을 고려하여 보다 정확한 교량의 거동에 대한 해석 결과를 얻는다. 앞기관차, 뒷기관차, 객차들에 대해서 운동에너지, 포텐셜에너지, 감쇠에너지를 차량과 교량의 자유도로 각각 나타내고, Lagrange의 운동방정식을 적용하여 차량과 교량의 운동방정식을 유도한다. 또한, 차량-교량 사이에 상호작용을 고려하여 교량에 작용하게 되는 하중에 관한 식을 유도하며, 이러한 하중을 받는 교량의 운동 방정식이 구성된다. 시간경과에 따라 차량의 위치를 결정하면서 그 위치에 따른 차량-교량 시스템의 질량행렬, 강성행렬, 감쇠행렬, 그리고 하중벡터를 구성할 수 있고, Newmark의 β방법(평균가속도법)을 이용하여 전체 차량-교량 시스템의 거동을 해석한다.

• 한국CDE학회논문집
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• 제15권6호
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• pp.411-417
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• 2010

In this paper, the boom of a floating crane is modeled as a 3-dimensional elastic beam in order to analyze the dynamic response of the crane and its cargo. The boom is divided into more than two elements based on finite element formulation, and deformation of each element is expressed in terms of shape matrix and nodal coordinates. The equations of motion for the elastic boom consist of a mass matrix, a stiffness matrix, and a quadratic velocity vector that contains the gyroscopic and Coriolis forces. The size and complicity of the matrices increase in proportion with the number of elements. Therefore, it is not possible to derive the equations of motion explicitly for different number of elements. To overcome this difficulty, matrices for one 3-dimensional element are expressed with elementary sub-matrices. In particular, the quadratic velocity vector is derived as a product of a shape matrix and a 3-dimensional rotation matrix. By using the derived matrices, the equations of motion for the multi-element boom are automatically constructed. To verify the implementation of the elastic boom based on finite element formulation, we simulated a simple vibration of the elastic boom and compared the average deformation with the analytic solution. Finally, heave motion of the floating crane and surge motion of the cargo are presented as application examples of the elastic boom.

• 대한조선학회논문집
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• 제50권4호
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• pp.232-239
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• 2013

This paper provides the structure of a Reynolds Averaged Navier-Stokes(RANS) based simulation method and its validation results for the ship motion problem. The motion information of the hull computed from the equations of motion is considered in the momentum equations as the relative fluid motions with respect to a non-inertial coordinates system. A finite volume method is used to solve the governing equations, while the free surface is captured by using a two-phase level-set method and the realizable k-${\varepsilon}$ model is used for turbulence closure. For the validation of the present numerical approach, the numerical results of the resistance and motion tests for DTMB 5415 at two ship speeds are compared against available experimental data.

• 한국철도학회:학술대회논문집
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• 한국철도학회 2007년도 추계학술대회 논문집
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• pp.107-114
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• 2007

In this paper, the equations of motion by which the natural vibration of rotating thick ring can be analyzed accurately are presented. These equations are derived from the theory of finite deformation and the principle of virtual work. The effects of variation in curvature across the ring cross-section can be considered in these equations. The ring models are called as thick ring model and thin ring model respectively as the effects of variation in curvature are considered or neglected. The radial displacement of ring which is rotating at constant angular velocity is determined by a non-linear equation derived from the principle of virtual work. The equations of the in-plane and out-of-plane vibrations at disturbed state are also formulated from the principle of virtual work. They can be expressed as the combination of the radial displacement at the steady state and the disturbed displacements about the steady state. The natural vibrations of rings with different thickness are analyzed by using the presented ring models and 3-dimensional finite element method to verify accuracy of the presented equations of motion. Its results are compared and discussed.

• Structural Engineering and Mechanics
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• 제75권3호
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• pp.357-367
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• 2020

The objective of this article is investigation of dynamic response of thick multilayer functionally graded (FG) beam under generalized dynamic forces. The plane stress problem is exploited to describe the constitutive equation of thick FG beam to get realistic and accurate response. Applied dynamic forces are assumed to be sinusoidal harmonic, sinusoidal pulse or triangle in time domain and point load. Equations of motion of deep FG beam are derived based on the Hamilton principle from kinematic relations and constitutive equations of plane stress problem. The numerical finite element procedure is adopted to discretize the space domain of structure and transform partial differential equations of motion to ordinary differential equations in time domain. Numerical time integration method is used to solve the system of equations in time domain and find the time responses. Numerical parametric studies are performed to illustrate effects of force type, graduation parameter, geometrical and stacking sequence of layers on the time response of deep multilayer FG beams.

• 한국철도학회:학술대회논문집
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• 한국철도학회 2008년도 추계학술대회 논문집
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• pp.1379-1388
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• 2008

In this paper, we present the equations of motion by which the natural vibration of a rotating annular disk can be accurately analyzed. These equations are derived from the theory of finite deformation and the principle of virtual work. The radial displacements of annular disk which is rotating at constant angular velocity are determined by non-linear equations formulated using 1-dimensional finite elements in radial direction. The equations of the in-plane vibrations at disturbed state are also formulated using 1-dimensional finite elements in radial direction along the number of nodal diameters. They are expressed as in functions of the radial displacements at the steady state and the disturbed displacements about the steady state. In-plane static deformation modes of the annular disk are used as the interpolation functions of 1-dimensional finite elements in radial direction. The natural vibrations of an annular disk with different boundary conditions are analyzed by using the presented model and the 3-dimensional finite element model to verify accuracy of the presented equations of motion. Its results are compared and discussed.

• 대한기계학회논문집A
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• 제26권1호
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• pp.61-66
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• 2002

The nonlinear differential equations of motion of a fluid conveying curved pipe are derived by use of Hamiltonian approach. The extensible dynamics of curled pipe is based on the Euler-Bernoulli beam theory. Some significant differences between linear and nonlinear equations and the dynamic characteristics are discussed. Generally, it can be shown that the natural frequencies in curved pipes are changed with flow velocity. Linearized natural frequencies of nonlinear equations are slightly different from those of linear equations.