• The Journal of the Acoustical Society of Korea
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• 제18권4E호
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• pp.20-25
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• 1999

To get accurate natural frequencies of an engine crankshafts, finite element equations of motion are developed, taking real geometries of the shaft into account. For the crankshaft with wide crank webs, a specialized rotating web element is developed. This includes the effects of rotary inertia, gyroscopic moment, and shear. After the finite element equations are constructed, eigenvalues are extracted from the system equations to get natural frequencies, based on the Sturm sequence method which exploits the banded forms of the system matrices to reduce computations. The scheme developed can be used for the free vibration analysis of any type of spinning structures which include skew symmetric gyroscopic moment matrix in the system matrices. The results are compared with experimental data in order to confirm the study.

• 대한조선학회지
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• 제12권1호
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• pp.23-30
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• 1975

Because of the simplicity in analysis and design of steel structure, the connections of members are assumed either as perfectly hinged or rigidly fixed. However, a more economical design would result if the effect of restraint in connections were included in analyzing frame structure. From this point of view, stiffness matrices for member with bracketed connections are presented in the form of the stiffness matrices for member with variable moment of inertia, modified by a correction matrix, whose elements are functions of fixity factors of the connections. To obtain fixity factors, the displacements and stress distribution of bracketed connections are investigated by using of the degital computer program, which have been developed to make computing time shorten and the round off errors smaller. The relationship of moments and slip angle in bracketed connections are presented in the form of curves, which can be used in establishing a stiffness matrices for member with bracketed connections.

• 대한조선학회지
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• 제23권4호
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• pp.19-24
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• 1986

Coupled lateral vibrations of shafting is analyzed by the Finite Element Method. In the problem formulation axial force, elastic foundation effects and rotary inertia effects are taken into account. A computer program is developed to calculate natural frequencies of the shafting, and used to calculate natural frequencies of the experimental model shafting, which the author used for the paper[11]. The results show good agreement with the measured values. The results are also compared with those of the Transfer Matrix Method. From the comparison it is found that both results agree each other.

• 대한전기학회논문지
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• 제40권4호
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• pp.427-438
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• 1991

An iterative learning control scheme for exact-tracking control and parameter estimation of uncertain robotic system is preented. In the learning control structure, the control input converges globally and asymtotically to the desired input as iteration increases. Since convergence of parameter errors depends only on the persistent exciting condition of system trajectories along the iteration independently of the time-duration of trajectories, it may be achieved with system trajectories with small duration. In addition, the proposd learning control schemes are applicable to time-varying parametric systems as well as time-invariant systems, because the parameter estimation is performed at each fixed time along the iteration. In the parameter estimator, the acceleration information as well as the inversion of estimated inertia matrix are not used at all, which makes the proposed learning control schemes more feasible.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1996년도 하계학술대회 논문집 B
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• pp.1205-1207
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• 1996

The computed-torque method (CTM) shows good trajectory tracking performance in controlling robot manipulator if there is no disturbance or modelling errors. But with the increase of a payload or the disturbance of a manipulator, the tracking errors become large. So there have been many researchs to reduce the tracking error. In this paper, we propose a new control algorithm based on the CTM that decreases a tracking error by generating new reference trajectory to the controller. In this algorithm we used a fuzzy system based on the rule bases. For the numerical simulation, we used a 2-link robot manipulator. To simulate the disturbance due to a modelling uncertainty, we added errors to each elements of the inertia matrix and the nonlinear terms and assumed a payload to the end-effector. In the simulations of several cases, our method showed better trajectory tracking performance compared with the CTM.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 1997년도 추계학술대회논문집; 한국과학기술회관; 6 Nov. 1997
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• pp.333-338
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• 1997

A hollow crankshaft is considered as part of an effort to reduce the weight of the automobile powertrain. Since the resulting mass reduction alters both the inertia and stiffness properties of the crankshaft, the vibration characteristics of the hollow crankshaft needs to be investigated in comparison with the original solid crankshaft. The crankshafts are modeled by 38 lumped mass and stiffness elements, in which the dynamic parameters for each lumped element are obtained by the finite element calculation. The fluid-film bearings supporting the crankshaft give rise to linear spring and damping elements that can be derived from the hydrodynamic bearing model. The transfer matrix method is applied to yield the natural frequencies and mode shapes of the crankshaft vibration. The natural frequencies of the hollow crankshaft are founded to be greater than that of the solid crankshaft, and the incorporation of the bearing stiffness tends to accentuate the difference.

• 대한토목학회논문집
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• 제11권4호
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• pp.45-54
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• 1991

선형변단면관형(線形變斷面管型) 단면(斷面) 부재(部材)의 3차원(次元) 공간(空間)에서의 고유진동해석(固有振動解析)을 위하여 회전관성(回轉慣性)도 포함하는 질량(質量) 행열(行列)을 유도하였다. 유도과정에서 정확한 변위함수(變位函數)를 사용했다. 일반적으로 많이 사용되는 변단면(變斷面) 부재(部材)의 경사(傾斜)는 매우 작으므로 '정형적분형(整形積分型)'으로 표현된 행열(行列)을 사용하여 변단면(變斷面) 부재(部材)를 포함하는 구조물을 해석할 때에 신빙성(信憑性)없는 결과를 얻게 된다. 이러한 수치적(數値的) 오류(誤謬)를 피하기 위하여 '급수형(級數型)'의 전개식(展開式)을 유도했다. 변단면(變斷面) 부재(部材)의 구조물(構造物)을 해석하기 위하여 본(本) 연구(硏究)에서 유도(誘導)된 질량(質量) 행열(行列)을 사용하여 구한 고유진동수(固有振動數)와 분할 부재(部材)를 균일단면(均一斷面) 탑형태(塔形態)로 표현하여 구한 고유진동수(固有振動數)를 비교(比較)하여 본 연구결과 효율성(效率性)과 정확성(正確性)이 증진(增進)된 것을 확인하였다.

• 대한조선학회지
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• 제13권1호
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• pp.1-9
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• 1976

Using the computer programs for calculation of natural vibrations of ship's hull developed by the authors et al., an investigation into influences of various parameters on the accuracy of calculation was done through example calculations of a 30,000 DWT petroleum products carrier M/S Sweet Brier built by Korea Shipbuilding and Engineering Corporation. The methodical principles employed for the computer program development are as follows; (a) the ship system is reduced to an equivalent discrete elements system conforming to Myklestad-Prohl model, (b) the problem formulation is of transfer matrix method, and (c) to obtain solutions an extended $G\ddot{u}mbel's$ initial value method is introduced. The scope of the investigation is influences of number of discrete elements, choice of significant system parameters such as rotary inertia, bending stiffness and shear stiffness, and simplification of distributions of added mass and stiffness as trapezoidal ones referred to those of midship section on the calculation accuracy. From the investigation the followings are found out; (1) To obtain good results for the modes up to the seven-noded thirty or more divisions of the hull is desirable. For fundamental mode fifteen divisions may give fairly good results. (2) The influence of rotary inertia is negligibly small at least for the modes up to the 5- or 6- noded. (3) In the case of assuming either bending modes or shear modes the calculation results in considerably higher frequencies as compared with those based on Timoshenko beam theory. However, the calculation base on the slender beam theory surprisingly gives frequencies within 10% error for fundamental modes. (4) It is proved that to simplify distributions of added mass and stiffness as trapezoidal ones referred to those of midship section is a promising approach for the prediction of natural frequencies at preliminary design stage; provided good accumulation of data from similar type ships, we may expect to obtain natural frequencies within 5% error.

• 대한토목학회논문집
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• 제14권5호
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• pp.1023-1031
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• 1994

선형변단면(線形變斷面) I-형(型) 부재(部材)의 3차원(次元) 공간(空間)에서의 고유진동해석(固有振動解析)을 위하여 회전관성(回轉慣性)도 포함하는 컨시스턴트 질량행렬(質量行列)을 유도하였다. 유도과정(誘導過程)에서 정확한 형상함수(形狀函數)를 사용했다. 일반적으로 많이 사용되는 변단면부재(變斷面部材)의 경사(傾斜)는 매우 작으므로 '정형식(整形式)'으로 표현된 행렬(行列)을 사용하여 변단면(變斷面) 부재(部材)를 포함하는 구조물(構造物)을 해석할 때에 신빙성 없는 결과를 얻게 된다. 이러한 수치적(數値的) 오류(誤謬)를 피하기 위하여 '급수식(級數式)'을 유도했다. 변단면(變斷面) 부재(部材)의 구조물(構造物)을 해석하기 위하여 본 연구에서 유도된 질량행렬(質量行列)을 사용하여 구한 고유진동수(固有振動數)와 변단면(變斷面) 부재(部材)를 균일단면(均一斷面)의 탑형태(塔形態)로 표현하여 ANSYS에서 구한 고유진동수(固有振動數)를 비교하여 본 연구 결과 효율성과 정확성이 증진된 것을 확인하였다. 본 연구에서 유도된 질량행렬(質量行列)은 변단면(變斷面) 부재(部材)와 균일단면(均一斷面) 부재(部材)의 자유진동해석(自由振動解析)에 사용할 수 있다.

• 한국소음진동공학회논문집
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• 제21권11호
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• pp.1043-1050
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• 2011

This paper presents practical results for the estimation of vibration level inside a powertrain based on the rigid body theory and measurement. The vibration level of inside powertrain has been used for the calculation of excitation force of an engine indirectly. However it was difficult to estimate or measure the vibration level inside of a powertrain when a powertrain works on the driving condition of a vehicle. To do this work, the rigid body theory is employed. At the first, the vibration on the surface of a powertrain is measured and its results are secondly used for the estimation the vibration level inside of powertrain together with rigid body theory. Also did research on how to decrease the error rate when the rigid body theory is applied. This method is successfully applied to the estimation of the vibration level on arbitrary point of powertrain on the driving condition at the road.