• 제어로봇시스템학회:학술대회논문집
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• 1993.10a
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• pp.8-13
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• 1993

This paper presents deterministic and adaptive control laws for two-link flexible arm. The flexible arm has considerable structural flexibility. Because of its flexbility, dynamic equations are very complex and difficult to get, dynamic equations for two-link flexible arm are derived from Bernoulli-Euler beam theory and Lagrangian equation. Using the fact that matrix is skew symmetric, controllers which have a simplified structure with less computational burden are proposed by using Lyapunov stability theory.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.321-321
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• 2000

This paper presents a sliding mode controller based on variable structure for the tip position control of a single-link flexible manipulator. Dynamic equations of a single-link flexible manipulator are derived from the Euler-Lagrange equation using a Lagrangian assumed modes method based on Bernoulli-Euler Beam theory. Simulation results are presented to show the validity of the system modeling, controller design.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2007.05a
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• pp.247-250
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• 2007

Flexible media such as the paper, the film, etc. are thin, light and very flexible. They behave in geometrically nonlinear. Any of small force makes large deformation. So we must including aerodynamic effect when its behavior is predicted. Thus, it becomes fully coupled fluid-structure interaction(FSI) problem. In FSI problems, where the fluid mesh near the structure undergoes large deformations and becomes unacceptably distorted, which drive the time step to a very small value for explicit calculations, the arbitrary Lagrangian-Eulerian(ALE) methods or rezoning are used to create a new undistorted mesh for the fluid domain, which allows the calculations to continue. In this paper, FE sheet model considering geometric nonlinearity is formulated to simulate the behavior of the flexible media. Aerodynamic force to the media by surrounding air is calculated by solving the incompressible Navier-Stokes equations. Q2Q1(Taylor-Hood) element which means biquadratic for velocity and bilinear for pressure is used for fluid domain. Q2Q1 element satisfies LBB condition and any stabilization technique is not needed. In this paper, cantilevered sheet in the viscous incompressible Navier-Stokes flow is simulated to check the mesh motion and numerical integration scheme, and then falling paper in the air is simulated and the effects of some representative parameters are investigated.

• Proceedings of the KSME Conference
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• 2003.11a
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• pp.1631-1636
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• 2003

The purpose of this study is to analyze the phenomena of the thermally-induced vibration for the flexible space structure due to abrupt change of radiation heating circumstance using the numerical analyze and experiment test. In order to verify this structure, numerical approaches on the simplified flexible tube were compared with experimental test results at the ground experimental facility In this analyze, it was found that the thermal deformation occurs firstly due to fast radiation heating of flexible structure and then the thermally-induced vibration would be induced due to small periodic change of temperature. According to comparison of numerical and experimental result, in case of no tip mass, the first mode vibration by the numerical analyze was O.78Hz same as that of the experimental result However in case of increase tip-masses of 8g l6g, 50g and 100g, the first modes vibration theoretical analyze were 1.75Hz, 1.3Hz, 0.87Hz and O.73Hz, in decrease trend respectively and those by experimental test were 234Hz, 1.5Hz, O.78Hz and O.78Hz in decrease trend respectively Although using the simpled equation for the estimation, the estimation results were similar to experimental results.

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

• Coupled systems mechanics
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• v.8 no.1
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• pp.19-38
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• 2019

The influence of torsional rigidity of hinged flexible appendage on the linear dynamics of flexible spacecrafts with liquid on board was analyzed by considering the spacecraft's main body as a rigid tank, its flexible appendages as two elastically supported elastic beams, and the onboard liquid as an ideal liquid. The meniscus of the liquid free surface due to surface tension was considered. Using the Lagrangian of the spacecraft's main body (rigid tank), onboard liquid, and two beams (flexible appendages) in addition to assuming the system moved symmetrically, the coupled system frequency equations were obtained by applying the Rayleigh-Ritz method. The influence of the torsional rigidity of the flexible appendages on the spacecraft's coupled vibration characteristics was primary focus of investigation. It was found that coupled vibration modes especially that of appendage considerably changed with torsion spring parameter ${\kappa}_t$ of the flexible appendage. In addition, variation of the main body displacement with system parameters was investigated.

• Transactions of Materials Processing
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• v.19 no.1
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• pp.17-24
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• 2010

A stretch forming method has been widely used in sheet metal forming process. Especially, this process has been adopted in aircraft and high-speed train industries for skin structure forming having a variety of curvature. Until now, solid dies, which are designed with respect to the specific shapes and manufactured as a single piece, have been usually applied to stretch forming process. Therefore, a great number of solid dies has to be developed according to the shapes of the curved skin structure. Accordingly, a flexible die is proposed in this study. It replaces the conventional solid dies with a set of height adjustable punch array. A usefulness of the flexible die is verified through a formability comparison with the solid die using finite element method considering an elastic recovery and the stretch forming apparatus with the flexible die is developed.

• Earthquakes and Structures
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• v.4 no.2
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• pp.133-155
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• 2013

The earthquake responses are studied for the tall flexible structures such as TV towers when the vertical eccentricities between the discrete nodes and the corresponding centroids of investigated lumps are considered. In practical analyses, the tall flexible structures can be made into a spatial-discrete system of some certain length of beam elements with different lengths and cross-sectional areas. These elements are used to construct the investigated lumps in this paper. The different cross-sectional areas and the different lengths of two adjacent elements lead to the appearance of vertical eccentricity between the discrete node and the centroid of investigated lump within the same investigated lump. Firstly, the governing equations are established for a typical investigated lump. Secondly, the calculating formulae of the forces and moments acting on the investigated lump are derived and provided. Finally the new dynamic equilibrium equations with modified mass matrix and assemblage of stiffness matrix have been derived for the stick MDOF model based on beam theory when the existing vertical eccentricities are considered. Numerical results demonstrate that these vertical eccentricities should be considered in order to obtain the accurate earthquake responses for the tall flexible structures.

• Smart Structures and Systems
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• v.7 no.2
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• pp.103-116
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• 2011

This paper is concerned with the trajectory tracking and vibration suppression of a single-link flexible arm by using piezoelectric materials. The dynamics of a single flexible arm with PZT patches as sensor and actuator is derived using extended Hamilton's principle. Resulting equations show that the coupled beam dynamics including beam vibration and its rigid in-plane rotation takes place in two different time scales. By using singular perturbation theory, the system dynamics is divided into two subsystems. Then, a composite control scheme is elaborated that makes the orientation of the arm track a desired trajectory while suppressing its vibration. The proposed controller has two parts: one is a tracking controller designed for the slow (rigid) subsystem, and the other one is a stabilizing controller for the fast (flexible) subsystem. The outputs considered for the system are angular position of the hub and voltage of the sensor mounted on the structure. To avoid requiring further measurements of beam vibration and also angular velocity of the hub for the fast and slow control laws, respectively, two sliding mode observers for estimating the unknown states are also designed.

• Journal of computational fluids engineering
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• v.12 no.2
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• pp.37-45
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• 2007

The hybrid Cartesian/immersed boundary method is applied to simulate fluid-structure interaction of a two-dimensional orbiting flexible foil. The elastic deformation of the flexible foil is modelled based on the dynamic equation of a thin-plate. At each time step, the locations and velocities of the Lagrangian control points on the flexible foil are used to reconstruct the boundary conditions for the flow solver based on the hybrid staggered/non-staggered grid. To test the developed code, the flow fields around a flapping elliptical wing are calculated. The time history of the vertical force component and the evolution of the vorticity fields are compared with recent other computations and good agreement is achieved. For the orbiting flexible foil, the vorticity fields are compared with those of the case without the deformation. The combined effects of the angle of attack and the orbit on the deformation are investigated. The grid independency study is carried out for the computed time history of the deformation at the tip.