• 한국농공학회지
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• 제42권1호
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• pp.105-112
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• 2000

This paper deals with the free vibrations of columns immersed in fluid. The column model is based on the classical Bernoulli-euler theory which neblects the effects of rotatory inerital and shear deformation. The eccentricity and rotatory inertial of the concentrated mass at the top are taken into accuont. In the governing equation for the free vibration of column, thedensity of immersed part was midified to account for theadded fluid mass. The govering differential equations are solved numerically using the corresponding boundary conditions. The lowest four natural frequencies and corresponding mode shapes are calculated over a range of non-dimensional system parameters ; the mas density ration of fluid to column, the ratio of fluid depth to span length, the ratio of tip mass to total column mass, the dimensionless mass moment of inertia, and the eccentricity.

• 한국공작기계학회논문집
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• 제10권4호
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• pp.22-32
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• 2001

One of the important considerations in designing a machine tool is the durability. In this study, a durability estimation system for horizontal machining centers is developed to evaluate the effects of structural specification and driving condi-tions on the durability. All loads such as weights, inertial forces, cutting force and so on, are automatically transferred from the upper elements to the lower elements by the force flows which can be derived from the structural code of horizontal machining centers. And the external loads applied to the motion elements such as bearings, LM guides, ball screws and ao on, are determined by the equilibrium conditions of force and moment. Especially, the durability of horizontal machining centers is estimated based on the lifes of motion elements operating under the desired driving conditions.

• 한국유체기계학회 논문집
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• 제14권6호
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• pp.26-34
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• 2011

Waterhammer and slamming phenomena can occur when power is cut off due to reversal flow in pipeline and sudden close of check valve. Therefore analysis of reversal flow time, which means the time of reversal flow in pipeline due to pumping station blackout, is needed to protect facilities from waterhammer economically and efficiently. However systematic study on reversal flow time has not been done yet. So theory of reversal flow time analysis is proposed and verified with experiment using several parameters like pump specific speed, motor pole number, and characteristic curve of pipeline in this study.

• 한국유체기계학회 논문집
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• 제12권4호
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• pp.23-29
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• 2009

For the purpose of high outlet pressure, compactness and low vibration and noise, 2 stage reciprocating air compressors can have various cylinder arrangement: opposed, in-line, and V type. This paper presents an effective method to calculate the inertia forces and to design counter weight. This method is based on the complex representation for the orbital behavior of the compressor shaft. This method helps to find the optimal balancing rate easily to reduce the inertial force or moment. This paper shows that the residual inertia forces of the single throw shafts and the residual inertia moments of the double throw shafts remain to be imbalanced.

• 전기학회논문지
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• 제61권7호
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• pp.974-981
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• 2012

This paper studied about the measurement method of the instantaneous dynamic load characteristics. this experimental study, we derived the instantaneous washing load characteristics and inertial moment characteristics according to the amount of laundry and water level. Also, this studied about the dynamic driving characteristics simulation method for the prediction of washing performance based on this load characteristics analysis. For this study, the design parameters of the driving motor are obtained by FEM analysis and the experiment. By using theses motor parameters and load characteristics, the instantaneous driving characteristics simulation is accomplished and it is verified with the experimental result of various driving conditions. The results of this paper would be very useful to the prediction of washing mode operation characteristics, and it can be also utilized to the washer motor control algorithm design for the washing performance improvement.

• 대한기계학회논문집
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• 제9권5호
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• pp.606-612
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• 1985

본 논문에서는 전보의 연속으로서 말단질량이 부착된 기둥의 자유단에 압축 종동력이 작용하는 비보존적 탄성계의 불완전 고정단에 나타나는 스프링 특성의 영향 을 연구하였다. 고정단은 병진스프링과 회전스프링으로 구속되었고, 이들 스프링 상 수의 여러 값이 말단질량과 연성(coupling)되어 기둥의 안정성에 미치는 영향을 연구 하였다. 기둥의 전단변형과 회전관성의 영향을 고려하였으며, Hamilton's principle 로서 계의 운동방정식과 경계조건의 식을 유도하여 수치해석하였다.

• 한국융합학회논문지
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• 제13권4호
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• pp.307-313
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• 2022

차량 실내소음이 엔진의 고출력화와 경량화로 인해 더욱 심각해져 엔진진동의 저감의 중요성이 높아지고 있다. 최근 엔진진동 저감의 대표적인 방법으로 밸런스샤프트 부착이 제시되고 있다. 밸런스샤프트는 피스톤과 콘로드 등의 왕복운동에서 발생하는 진동을 임의의 편심질량을 이용하여 상쇄시키는 장치이다. 따라서 밸런스샤프트는 연비향상 및 차량의 승차감을 동시에 향상시킬 수 있다. 본 논문은 엔진구조로 인해 발생하는 관성력을 유도하고 이를 상쇄하기 위한 밸런스샤프트의 불평형량과 형상을 제시한다. 제시된 두가지 형상의 밸런스샤프트를 ADAMS 다물체동역학 모델로 구현하고, 이를 동역학 시뮬레이션을 통해 실제 거동상태에서의 관성력의 저감을 확인하였다.

• Journal of Magnetics
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• 제21권3호
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• pp.379-386
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• 2016

To satisfy the requirement of magnetically suspended control moment gyroscope (MSCMG) that magnetic bearing can provide torque, a novel 4DOF hybrid magnetic bearing (HMB) with integrated structure was designed. Mathematical models of forces and torques are established by using equivalent magnetic circuit method. The current stiffness, displacement stiffness, tilting current stiffness and angular stiffness of the 4DOF hybrid magnetic bearing are derived by the mathematical models. Equivalent magnetic circuit method and finite element method (FEM) simulation results indicate that the force has a good linear relationship with both displacement and current, and the torque has a good linear relationship with angular displacement and current. The novel 4DOF HMB is capable of achieving control in both two radial translational degrees of freedom (DOF) and also two radial rotational DOFs. The 4DOF HMB is well adapted to MSCMG system, exhibiting advantages in the controllable DOF, light weight and easy to control.

• Journal of Biosystems Engineering
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• 제26권6호
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• pp.535-544
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• 2001

This study developed a manipulator for robotic harvester to harvest cucumber. The manipulator was designed and built fur transferring an end-effecter from a fixed point to a specified cucumber. Its development involved the integration of a manipulating system with a PC compatible, DC motors, geared boxes, timing belts, and a motor controller board. Software, written in Quick basic. combined the functions of motor control with various circumstances. In order to move smoothly and rapidly the manipulator, it's shoulder link and elbow link were minimized by using rotational inertial moment without a motor and a geared box. After 30 replications of exercising the manipulator, it was concluded that the precision values of the X, Y and Z axes were less than 0.5mm, 7.25mm and 0.35mm, respectively. The precision data indicated the manipulator was not missing any steps fur the harvester to reach a target cucumber.

• Journal of Advanced Marine Engineering and Technology
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• 제39권10호
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• pp.1023-1030
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• 2015

The purpose of this paper is to present the basic mathematical modeling of a hexacopter, which could be used to develop proper methods for stabilization and trajectory control. A hexacopter consists of six rotors with three pairs of counter-rotating fixed-pitch blades. This mechanism is an under-actuated, dynamically unstable, six-degrees-of-freedom system. The whole motion of this object consists of translational and rotational motion in three dimensions, where the translational motion is created by changing the direction and magnitude of the upward propeller thrust. The hexacopter is controlled by adjusting the angular velocities of the rotors, which are spun by electric motors. It is assumed to be a rigid body; thus, the differential equation of the hexacopter dynamics can be derived from the Newton-Euler equation. The Euler-angle parametrization of the three-dimensional rotations contains singular points in the coordinate space that can cause failure of both the dynamical model and control. In order to avoid singularities, the rotations of the hexacopter are parametrized in terms of quaternions. This choice has been made considering the linearity of the quaternion formulation and their stability and efficiency. Further, control simulation of a hexacopter applying cascaded-PID control is also presented in this paper.