• 제어로봇시스템학회논문지
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• 제5권8호
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• pp.977-989
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• 1999

The purpose of this study is to analyze how the human body having more muscles than its degree-of-freedom modulates an effective stiffness using redundant actuation, and to apply this concept to the design and control of advanced machines which requires adaptable spring. To investigate the adaptable stiffness phenomenon due to redundant actuation in the human body, this paper derives a general stiffness model of the Human body. In particular, for a planar 1 DOF human arm model, a planar 2 DOF human arm model, a spherical 3 DOF shoulder model, a 4 DOF human arm model, and a 7 DOF human arm model, the required nonlinear geometry ad the number of required actuator for successful modulation of the effective stiffness are analyzed along with a load distribution method for modulation of the required stiffness of such systems. Secondly, the concept of motion frequency modulation is introduced to show the usefulness of adaptive stiffness modulation. The motion frequency modulation represents a control of stiffness and / or inertia properties of systems. To show the effectiveness of the proposed algorithm, simulations are performed for 2 DOF anthropomorphic robot.

• 한국전산구조공학회논문집
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• 제23권2호
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• pp.209-215
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• 2010

본 논문에서는 CFD와 FEM에 기초한 진보된 전산해석 기법을 적용하였고 지진에 의한 수평 및 수직방향 기반가진 및 풍하중 효과를 동시에 고려하여 MW급 풍력발전기의 지진응답 해석을 수행하였다. 본 연구에서는 실용적인 응답특성 파악을 위해 시간영역 수치해석기법을 적용하였으며, 지진기반하중 및 풍하중에 의한 영향을 상호 비교하였다. 본 연구의 결과를 통해 관성 특성이 매우 큰 초대형 풍력발전기가 정상작동 조건 중 지진이 유발되는 경우가 타워에 유발되는 응력특성에 큰 영향을 미칠 수 있기 때문에 중요하게 고려될 필요성이 있음을 알 수 있었다.

• 대한토목학회논문집
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• 제9권1호
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• pp.11-23
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• 1989

본 논문에서는 guyed tower의 mooring system에 관한 수치해석결과를 제시하였다. 가상일의 원리와 유한요소법을 사용하여 기본식을 유도하였으며 케이블의 기하학적 비선형성을 고려하였다. 유체의 항력과 관성력은 Morrison식을 사용하여 고려하였으며 비선형 운동방정식의 해는 Newton-Raphson방법과 Newmark-${\beta}$ 방법을 사용하여 구하였다. Tower와 mooring line의 부착점에서의 초기경사각, 인장력, clump weight를 집중하중으로 이상화 시키는 종래의 해석방법의 문제점도 아울러 고찰하였다. 수치해석 예를 통하여 본 논문에서의 해석방법의 정당성을 입증하였다.

• 한국전산유체공학회지
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• 제11권4호
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• pp.75-80
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• 2006

Navier-Stokes simulation of the flow in a micro viscous pump is carried out. The micro viscous pump consists of a rotating circular rotor placed in a two dimensional channel. All simulation is carried out by using a finite volume approach, at the Reynolds number of 0.5, to study the performance of the micro viscous pump. Length of channel of the pump is varied to simulate the effects of the pumping load. Numerical solutions show that the net flow of the pump is realized by two counter rotating vortices formed on both sides of the rotor. The volume flow rate of the pump is decreased as length of the channel is increased, while the static pressure difference across the rotor is increased. The static pressure difference across the rotor is observed to be inversely proportional to the volume flow rate as inertia effects are negligibly small. The efficiency of the pump is found to reach a maximum when two counter rotating vortices on both sides of the rotor becomes to merge forming an outer enveloping vortex.

• Structural Engineering and Mechanics
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• 제16권2호
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• pp.195-217
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• 2003

This paper, which is an extension of a previous work by Viola et al. (2002), deals with the dynamic stability of beams under a triangularly distributed sub-tangential forces when the effect of an elastically restrained end is taken into account. The sub-tangential forces can be realised by a combination of axial and tangential follower forces, that are conservative and non-conservative forces, respectively. The studied beams become unstable in the form of either flutter or divergence, depending on the degree of non-conservativeness of the distributed sub-tangential forces and the stiffness of the elastically restrained end. A non-conservative parameter ${\alpha}$ is introduced to provide all possible combinations of these forces. Problems of this kind are usually, at least in the first approximation, reduced to the analysis of beams according to the Bernoulli-Euler theory if shear deformability and rotational inertia are negligible. The equation governing the system may be derived from the extended form of Hamilton's principle. The stability maps will be obtained from the eigenvalue analysis in order to define the divergence and flutter domain. The passage from divergence to flutter is associated with a noticeable lowering of the critical load. A number of particular cases can be immediately recovered.

• Steel and Composite Structures
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• 제4권4호
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• pp.281-301
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• 2004

The paper begins by presenting a unified variational approach to the lateral-torsional buckling (LTB) analysis of doubly symmetric prismatic and tapered thin-walled beams with open cross-sections, which accounts for the influence of the pre-buckling deflections. This approach (i) extends the kinematical assumptions usually adopted for prismatic beams, (ii) consistently uses shell membrane theory in general coordinates and (iii) adopts Trefftz's criterion to perform the bifurcation analysis. The proposed formulation is then applied to investigate the influence of the pre-buckling deflections on the LTB behaviour of prismatic and web-tapered I-section simply supported beams and cantilevers. After establishing an interesting analytical result, valid for prismatic members with shear centre loading, several elastic critical moments/loads are presented, discussed and, when possible, also compared with values reported in the literature. These numerical results, which are obtained by means of the Rayleigh-Ritz method, (i) highlight the qualitative differences existing between the LTB behaviours of simply supported beams and cantilevers and (ii) illustrate how the influence of the pre-buckling deflections on LTB is affected by a number of factors, namely ($ii_1$) the minor-to-major inertia ratio, ($ii_2$) the beam length, ($ii_3$) the location of the load point of application and ($ii_4$) the bending moment diagram shape.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1992년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 19-21 Oct. 1992
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• pp.393-400
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• 1992

The DC(Direct-Current) servo motor has widely used for many application areas, FA(Factory Automation), OA(Office Automation) and home applications. But DC servo motor needs periodical inspection because it has brush and commutator. Recently, AC servo motor has expanded it's application areas due to for the development of the power semi-conductor and control technology. But it has large torque ripple for it's small number of commutation. And it also has cogging torque due to permanent magenet rotor. Therefore it can't run balence rotarion. Many torque ripple reduction methods are published. In this paper, phase advanced method adopted for torque ripple reduction of AC servo motor. In this research, AC servo motor torque characteristic variation surveied under the phase advance control through the computer simulation. Under the simulation, the load inertia varied from 0.0001[Kg.m$^{2}$] to 0.0314[Kg.m$^{2}$]. The result os nonlinear simulation, torque and speed ripple of AC servo motor under the phase advance control reduced approximately 50[%] and 10[%]. And maximum torque of AC servo motor under phase advance control condition increased about 5[%] as compare with fixed switching time.

• International Journal of Control, Automation, and Systems
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• 제1권4호
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• pp.474-483
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• 2003

Belt drives provide freedom to position the motor relative to the load and this phenomenon enables reduction of the robot arm inertia. It also facilitates quick response when employed in robotics. Unfortunately, the flexible dynamics deteriorates the positioning accuracy. Therefore, there exists a trade-off between the simplicity of the control strategy to reject time varying disturbance caused by flexibility of the belt and precision in performance. Resonance of the system further leads to vibrations and poor accuracy in positioning. In this paper, accurate positioning of a belt driven mechanism using a feed-forward compensator under maximum acceleration and velocity constraints is proposed. The proposed method plans the desired trajectory and modifies it to compensate delay dynamics and vibration. Being an offline method, the proposed method could be easily and effectively adopted to the existing systems without any modification of the hardware setup. The effectiveness of the proposed method was proven by experiments carried out with an actual belt driven system. The accuracy of the simulation study based on numerical methods was also verified with the analytical solutions derived.

• 한국지진공학회논문집
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• 제9권6호
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• pp.1-12
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• 2005

비보존력(non-conservative force)을 받는 외팔기둥의 동적 안정성 거동특성을 조사하기 위하여, 전단변형 및 감쇠효과가 고려된 Hamilton의 원리를 적용하고 무차원화 된 운동방정식 및 유한요소 정식화 과정을 제시한다. 유도된 행렬운동방정식을 이용하여 외팔보(Beck's column)의 고유치해석에 의한 정적좌굴(divergence) 및 동적 좌굴하중(flutter load)을 산정하고 $Newmark-{\beta}$법에 의해서 시간응답해석을 실시한다. 이러한 해석법을 이용한 매개변수연구를 통하여 전단변형 및 회전관성효과, 비보존력의 방향파라미터에 대한 임계하중의 영향, 그리고 내적 및 외적 감쇠하중의 영향이 비보존력계의 동적 안정성에 미치는 영향을 분석한다.

• Journal of Electrical Engineering and Technology
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• 제10권3호
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• pp.1304-1310
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• 2015

In remote islands, due to expense of existing generation systems, installation of photovoltaic cells (PVs) and wind turbines has a chance of reducing generation costs. However, in island power systems, even short-term power fluctuations change the frequency of grids because of their small inertia constant. In order to compensate power fluctuations, the authors proposed the power consumption control of pumps which send water to tanks. The power control doesn’t affect water users’ convenience as long as tanks hold water. Based on experimental characteristics of a pump system, this paper shows methods to determine reference power consumption of the system with compensation for short-term PV fluctuations while satisfying water demand. One method uses a PI controller and the other method calculates reference power consumption from water flow reference. Simulations with a PV and a pump system are carried out to find optimum parameters and to compare the methods. Results show that both PI control method and water flow calculation method are useful for satisfying the water demand constraint. The water demand constraint has a little impact to suppression of the short-term power fluctuation in this condition.