• Proceedings of the KSME Conference
• /
• 2000.04a
• /
• pp.511-516
• /
• 2000

In order to not only perform as a extreme model under the severe operating condition but also acquire more diverse and advanced control capability utilizing high compliance, active vibration control of a flexible 2-link robot manipulator are investigated. Multi variable-structured frequency shaped optimal sliding mode is proposed for the flexible robot manipulator like control system, whose control variables, an angular motion of joint and vibration of flexible link, have to be controlled simultaneously by one control torque at a driving joint. The control system is divided into two subsystems, a control input related subsystem and an added subsystem. The proposed sliding mode, composed of multi control variables, makes optimized relation between subsystems and a individual control input, thus, the sliding mode controller can compensate whole dynamics of each subsystems simultaneously. And the possibility and effectiveness are verified by vibration control of a manipulator having two flexible links. Simulation and experiment results show that the proposed control scheme achieves the purpose effectively.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
• /
• 2001.05a
• /
• pp.668-674
• /
• 2001

An experimental study was performed for two types of co-axial cylindrical shell structures in order to establish the relationship between in-air dynamic characteristics and in-water ones and to observe hydrodynamic mass effects on their mode shapes when submerged. The outer cylinders are prepared with two kinds to get more insights on the fluid-structure interaction phenomena: one is flexible, which means that the outer cylinder has almost same stiffness as the inner one, and the other is a rigid one whose stiffness is more than ten times of the inner one's(it might be regarded as the scaled-down model of the reactor internals). The finite element. analyses were also implemented to support the experimental results. The results show that the natural frequencies of a co-axial cylindrical shell structure in water are remarkably lower than those in air due to the fluid mass effects. In case of the flexible-to-flexible cylinders, there exist in-phase and out-of-phase mode shapes and they are affected by the annular gap between the. co-axial cylinders. For the in-phase mode the in-water natural frequency decreases exponentially as the gap increases, while it slightly increases in case of the out-of-phase mode due to the squeezing effect of the gap fluid. In the flexible-to-rigid case, the normalized natural frequency(in-water frequency/in-air one) of the inner cylinder(core barrel model) ranges between in-phase and out-of-phase mode frequencies of the flexible-to-flexible co-axial cylindrical structure having identical dimensions. Also the normalized natural frequency of the inner cylinder of the flexible-to-rigid one moves from near of the in-phase mode frequency into the out-of-phase mode value of the flexible-to-flexible case as circumferential mode number(n) increases.

• Proceedings of the KSME Conference
• /
• 2003.04a
• /
• pp.874-880
• /
• 2003

Many mechanical systems are over-constrained if only rigid bodies are used to model the system. One example of such system is a satellite system with solar panels. To avoid this over-constrained problem, solar panels can be modeled as flexible bodies. The CMS(Component Mode Synthesis) method is widely used to analyze the flexible multi-body system because it can considerably approximate the deformation of the flexible bodies using small number of well-selected mode. However, it is very difficult to decide the boundary condition and the selection of modes. In this paper, the methods for mode synthesis and setting the boundary condition are presented to analyze the flexible multi-body system with over-constraints. Finally, the reliability of proposed method is verified by solar panel's deployment test.

• International Journal of Precision Engineering and Manufacturing
• /
• v.6 no.4
• /
• pp.21-25
• /
• 2005

In the dynamic analysis of a mechanism, if one or more of the components are flexible, then the simulation will not be accurate because of the violation of the rigid body assumption. Mode shapes are used to represent the dynamic behavior of an elastic structure. A modal synthesis method which uses a combination of normal modes, constraint modes, and attachment modes, was used to represent effectively the elastic deformation of a flexible multibody. Since the combination of these modes should be different for each type of connecting part, the modal synthesis method was studied for the various types of interconnecting joints. In addition, the analysis procedure for the flexible body was explained. A satellite system with flexible solar panels was chosen as an example to show the effectiveness of the proposed method.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
• /
• 2013.04a
• /
• pp.522-527
• /
• 2013

In this study, dynamic response control of a flexible wing such as gust loads alleviation using sliding mode control method is presented. To achieve this purpose, trailing edge control surface of a flexible wing is used as control means generating the aerodynamic control force. Aeroservoelastic CASE) model consisting of aeroelastic plant, control surface actuator model, and gust model depicting the atmospheric turbulence is formulated in the state space. A sliding mode controller based on the estimated state vector is designed for active dynamic response control of flexible wing aeroservoelastic model. The performance of the controller designed is demonstrated via numerical simulation for the representative flexible wing model under atmospheric turbulence loading.

• International Journal of Naval Architecture and Ocean Engineering
• /
• v.13 no.1
• /
• pp.163-177
• /
• 2021

Numerical simulations of the Vortex-Induced Vibration (VIV) about a large-scale flexible pipe subject to shear flow were carried out in this paper. Efficiency verification was performed firstly, validating that the proposed fluid-structure interaction solution strategy is competent in predicting the VIV response. Then, the VIV characteristics related to multi-mode and spanwise hybrid waveform about the flexible pipe attributed to shear flow were investigated. When inflow velocity rises, higher vibration modes are apt to be excited, and the spanwise waveform easily convertes from a standing-wave-dominated status to a hybrid standing-traveling wave status. The multi-mode or even multiple-dominant-mode is prone to occur, that is, the dominant mode is often followed by several apparent subordinate modes with considerable vibration energy. Hence, the shedding frequencies no longer obey Strouhal law, and vibration trajectories become intricate. According to the motion analysis concerning the coupled cross-flow and in-line vibrations, as well as the corresponding wake patterns, a tight coupling interaction exists between the structural deformation and the wake flow behind the flexible pipe. In addition, the evolution of the vortex tube along the pipe span and a strong 3D effect are observed due to the slenderness of the flexible pipe and the variability of the vortex shedding attributed to the shear flow.

• Journal of the Korean Society for Precision Engineering
• /
• v.18 no.2
• /
• pp.63-71
• /
• 2001

This paper introduces a method for calculation of dynamic stress occurring in flexible bodies of a moving multibody system by using commercial softwares DADS for dynamic analysis and MSC/NASTRAN for finite element analysis. Three methods for model transient response analysis of a flexible body are summarized. Elastic deformation of a flexible body can be described with normal modes and static modes composed of constraint modes and residual attachment modes. The deformation modes divided into fixed-interface modes and free-interface modes can be determined by using MSC/NASTRAN and selected for dynamic analysis. The dynamic results obtained from DADS are utilized to calculate dynamic stress by using mode-displacement method or mode-acceleration method of MSC/NASTRAN. As a numerical example of the analysis, we used a three dimensional slider-crank model with a flexible connecting rod.

• Journal of Institute of Control, Robotics and Systems
• /
• v.6 no.6
• /
• pp.471-477
• /
• 2000

The position control accuracy of a robot arm is significantly deteriorated when a long arm robot is operated at a high speed. In this case, the robot arm must be modeled as a flexible structure, not a rigid one, and its control system should be designed with its elastic modes taken into account. In this paper, the tip position control scheme of a one-link flexible manipulator using 2-DOF controller with sliding mode is presented. The robot consists of a flexible arm manufactured with a thin aluminium plate, an AC servo motor with a harmonic drive for speed reduction, an optical encoder and a CCD camera as a vision sensor for on-line measuring the tip deflection of the flexible m. Simulation and experimental results of the flexible manipulator with a proposed controller are provided to show the effectiveness of the controller.

• Proceedings of the KSME Conference
• /
• 2001.06b
• /
• pp.422-427
• /
• 2001

The component mode synthesis method allows the elastic deformation of each component in the flexible multibody system by a sum of modes and modal coordinates. This paper focuses on the selection of boundary conditions and deformation modes for redundantly constrained flexible components in mechanical system dynamics. The result of a flexible body dynamic analysis with only normal modes is used to identify proper boundary conditions of a static modes and a desired set of static modes which will be used in the final model. A simple four bar mechanism is used to explain the procedure and a space satellite with solar panels is analyzed using the proposed method.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
• /
• 1997.10a
• /
• pp.43-49
• /
• 1997

A rotating rigid disk, attached on a flexible shaft or supported by a torsional spring, experiences precessional whirling due to gyroscopic moment loading. It is well known in rotor dynamics area that, as the rotational speed increases, the precessional mode of the rotating rigid disk starts splitting into two: forward and backward precessional modes. On the other hand, it is also well known in disk vibration area that a rotating flexible disk also shows another kind of mode splitting phenomenon due to the rotation, resulting in forward and backward traveling waves. When rotating multiple flexible disks are coupled in vibration with the supporting Flexible shaft, the associated mode splitting should be compatible with the two seemingly different vibration analysis methods. This paper investigates the possibility of fusing the precessional and traveling wave mode splittings so that the bending coupled disk vibrations in HDD spindle systems can be better understood.