• Proceedings of the Korean Society of Precision Engineering Conference
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• 1992.04a
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• pp.369-373
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• 1992

Force control of a planar two-link structurally flexible robotic manipulator is considered in this study. The dynamic model is obtained by using the extended Hamilton's principle and the Galerkin criterion. A method is pressented toobtain the linearized equations of motion in Cartesian space for use in designing the control system. The approachto solving the control problem is to use feedforward and feedback control torques. The feedforward torques maneuver the flexible manipulatro along a nominal trajectory and the feedback torques minimize any deviations from the nominal trajectory. The linear quadratic Gaussian/loop transfer recovery (LQG/LTR) design methodology is explotied to design a robust feedback control system that can handle modeling errors and sensor noise, and operates on Cartesian space trajectory errors. The Lqg/LTR compenstaor together with a feedforward ollp is used to control the flexible manipulator. Simulated results are presented for a numerical example.

• Journal of the Korean Society for Precision Engineering
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• v.23 no.4 s.181
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• pp.67-74
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• 2006

The paper presents gravitational effect on eigenvalue branches and flutter modes of a vertical cantilevered pipe conveying fluid. The eigenvalue branches and modes associated with flutter of cantilevered pipes conveying fluid are fully investigated. Governing equations of motion are derived by extended Hamilton's principle, and the related numerical solutions are sought by Galerkin's method. Root locus diagrams are plotted for different values of mass ratios of the pipe, and the order of branch in root locus diagrams is defined. The flutter modes of the pipe at the critical flow velocities are drawn at every one of the twelfth period. The transference of flutter-type instability from one eigenvalue branches to another is investigated thoroughly.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.29 no.7 s.238
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• pp.976-982
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• 2005

This paper is dedicated to the thermoelastic modeling and dynamic response of the rotating blades made of functionally graded ceramic-metal based materials. The blades are modeled as non-uniform thin walled beams fixed at the hub with various selected values of setting angles and pre-twisted angles. In this study, the blade is rotating with a constant angular velocity and exposed to a steady temperature field as well as external excitation. Moreover, the effect of the temperature gradient through the blade thickness is considered. Material properties are graded in the thickness direction of the blade according to the volume fraction power law distribution. The numerical results highlight the effects of the volume fraction, temperature gradient, taper ratio, setting angle and pre-twisted angle on the dynamic response of bending-bending coupled beam characteristics and pertinent conclusions are outlined.

• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.12 no.3
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• pp.221-227
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• 2002

The longitudinal and lateral in-plane vibrations of an axially moving membrane are investigated when the membrane has translating acceleration. By extended Hamilton's principle, the governing equations are derived. The equations of motion for the in-plane vibrations are linear and coupled. These equations are discretized by using the Galerkin approximation method after they are transformed into the variational equations, j.e., the weak forms so that the admissible functions can be used for the bases of the in-plane deflections. With the discretized equations for the in-plane vibrations, the natural frequencies and the time histories of the deflections are obtained.

• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.19 no.6
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• pp.569-574
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• 2009

The paper presents the influences of the external damping and the tip mass on dynamic stability of a vertical cantilevered pipe conveying fluid. In general, real pipe systems may have some valves and attached mechanical parts, which can be regarded as attached lumped masses and support-dampers. The support-dampers can be assumed as viscous dampers. The equations of motion are derived by energy expressions using extended Hamilton's principle, and some numerical results using Galerkin's method are presented. Critical flow velocities and stability maps of the pipe with external dampers and tip mass are obtained for various tip mass ratios, external damping coefficients and positions of the viscous dampers.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2005.11a
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• pp.465-468
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• 2005

The paper deals with the influences of external damping and tip mass on dynamic stability of a vertical cantilevered pipe conveying fluid. In general, real pipe systems may have some valves and attached parts, which can be regarded as attached lumped masses and support-dampers. The support-dampers can be assumed as viscous dampers. The equations of motion are derived by energy expressions using extended Hamilton's principle, and some numerical results using Galerkin's method are presented. Critical flow velocities and stability maps of the pipe with external dampers and tip mass are obtained for various tip mass ratios, external damping coefficients and positions of the viscous dampers.

• Composites Research
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• v.26 no.6
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• pp.363-372
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• 2013

Numerical simulation for Resin Transfer Molding manufacturing process is attempted by using the eXtended Finite Element Method (XFEM) combined with the level set method. XFEM allows to obtaining a good numerical precision of the pressure near the resin flow front, where its gradient is discontinuous. The enriched shape functions of XFEM are derived by using the level set values so as to correctly describe the interpolation with the resin flow front. In addition, the level set method is used to transport the resin flow front at each time step during the mold filling. The level set values are calculated by an implicit characteristic Galerkin FEM. The multi-frontal solver of IPSAP is adopted to solve the system. This work is validated by comparing the obtained results with analytic solutions. Moreover, a localization method of XFEM and level set method is proposed to increase the computing efficiency. The computation domain is reduced to the small region near the resin flow front. Therefore, the total computing time is strongly reduced by it. The efficiency test is made with a simple channel flow model. Several application examples are analyzed to demonstrate ability of this method.

• Proceedings of the KSME Conference
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• 2004.11a
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• pp.793-798
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• 2004

The vibration of a curved pipe conveying fluid is studied when the pipe is clamped at both ends. To consider the geometric nonlinearity, this study adopts the Lagrange strain theory for large deformation and the extensible dynamics based on the Euler-Bernoulli beam theory for slenderness assumption. By using the extended Hamilton principle, the non-linear partial differential equations are derived for the in-plane motions of the pipe. The linear and non-linear terms in the governing equations are compared with those in the previous study, and some significant differences are discussed. To investigate the vibration characteristics of the system, the discretized equations of motion are derived from the Galerkin method. The natural frequencies varying with the flow velocity are computed from the two cases, which one is the linear problem and the other is the linearized problem in the neighborhood of the equilibrium position. From these results, we should consider the geometric nonlinearity to analyze the dynamics of a curved pipe conveying fluid more precisely.

• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.25 no.7
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• pp.510-517
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• 2015

The free vibration and stability analysis of a spinning composite shaft modelled as a thin-walled closed beam is performed for several design parameters, such as ply angle, aspect ratio, and spin speed. The governing equations of spinning shafts based on the Timoshenko beam theory are derived via Hamilton's variational principle. Coriolis acceleration and anisotropy of constituent materials are incorporated in the derivation. The equations of motion are then transformed to the standard form of an eigenvalue problem for free vibration and stability analysis. Analytical results both for uniform circular cylindrical shaft and rectangular cross-section shaft are obtained by using extended Galerkin method, and the results are compared with those from FEM ANSYS analysis for a verification.

• Smart Structures and Systems
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• v.5 no.6
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• pp.613-632
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• 2009

The present paper is concerned with the design of a proper patch actuator network in order to track a desired displacement of the sidewalls of a one-storey frame structure; both, for the static and the dynamic case. Weights for each patch of the actuator network found in our previous work were based on beam theory; in the present paper a refinement of these weights by modeling the sidewalls of the frame structure as thin plates is presented. For the sake of calculating the refined weights approximate solutions of the plate equations are calculated by an extended Galerkin method. The solutions based on the analytical plate model are compared with three-dimensional Finite Element results computed in the commercially available code ANSYS. The patch actuator network is put into practice by means of four piezoelectric patches attached to each of the two sidewalls of the frame structures, to which electric voltages proportional to the analytically refined patch weights are applied. Analytical and numerical results coincide very well over a broad frequency range.