• 한국정밀공학회지
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• 제15권3호
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• pp.127-132
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• 1998

Mobile wheeled robots are nonholonomically constrained systems. Generally, it is very difficult to describe the motion of mechanical systems with nonintegrable nonholonomic constraints. An objective of this study is to describe the motion of a robot with a free wheel. The motion of holonomically and/or nonholonomically constrained system can be simply determined by Generalized Inverse Method presented by Udwadia and Kalaba in 1992. Using the method, we describe the exact motion of the robot and determine the constraint force exerted on the robot for satisfying constraints imposed on it. The application illustrates the ease with which the Generalized Inverse Method can be utilized for the purpose of control of nonlinear system without depending on any linearization, maintaining precision tracking motion and explicit determination of control forces of nonholonomically constrained system.

• 한국방재학회 논문집
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• 제8권3호
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• pp.87-93
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• 2008

지반의 비선형 전단탄성계수를 결정하기 위한 현장시험에서는, 먼저 지반과 원형기초에 지오폰을 설치하고, 기초에 대형 진동발생장치를 이용하여 진동하중을 가한다. 이 때, 지오폰으로부터 지반과 기초의 거동을 측정하고, 본 거동을 분석하여 전단탄성 계수와 해당 전단변형률을 결정할 수 있다. 본 논문에서는 현장시험결과로부터 지반의 선형, 비선형 전단탄성계수를 결정하기위한 역해석 과정의 필요성과 그 개발에 초점을 맞추었다. 제안된 역해석 과정은 비선형 최소자승법을 근간으로 하며, 거동이 계측되지 않는 곳의 지반의 비선형성을 고려하기 위하여 이중 반복루프를 사용하였다. 역해석 과정의 적용성을 검토하기 위하여 일련의 수치해석을 수행하였으며, 또한 역해석 적용의 예제를 보였다. 제안된 방법은 현장지반의 전단탄성계수 분포의 변화가 극심하지 않은 경우에는 전반적으로 우수한 적용성을 보이지만, 해석대상 지반의 전단파속도 분포가 역해석의 정확성에 영향을 수 있으므로, 예비 역해석을 통해 산출될 오차를 정량화 하는 것이 필요하다.

• Smart Structures and Systems
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• 제14권6호
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• pp.1081-1103
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• 2014

Real-time hybrid simulation (RTHS) has emerged as an important tool for testing large and complex structures with a focus on rate-dependent specimen behavior. Due to the real-time constraints, accurate dynamic control of servo-hydraulic actuators is required. These actuators are necessary to realize the desired displacements of the specimen, however they introduce unwanted dynamics into the RTHS loop. Model-based actuator control strategies are based on linearized models of the servo-hydraulic system, where the controller is taken as the model inverse to effectively cancel out the servo-hydraulic dynamics (i.e., model-based feedforward control). An accurate model of a servo-hydraulic system generally contains more poles than zeros, leading to an improper inverse (i.e., more zeros than poles). Rather than introduce additional poles to create a proper inverse controller, the higher order derivatives necessary for implementing the improper inverse can be calculated from available information. The backward-difference method is proposed as an alternative to discretize an improper continuous time model for use as a feedforward controller in RTHS. This method is flexible in that derivatives of any order can be explicitly calculated such that controllers can be developed for models of any order. Using model-based feedforward control with the backward-difference method, accurate actuator control and stable RTHS are demonstrated using a nine-story steel building model implemented with an MR damper.

• 대한기계학회논문집A
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• 제22권1호
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• pp.170-176
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• 1998

In this paper, the column space and null space of the Jacobian matrix were obtained by using the pseudo-inverse method and projection matrix. The equations of motion of the system were replaced by independent acceleration components using the null space matrix. The proposed method has the following advantages. (1) It is simple to derive the null space. (2) The efficiency is improved by getting rid of constrained force terms. (3) Neither null space updating nor coordinate partitioning method is required. The suggested algorithm is applied to a three-dimensional vehicle model to show the efficiency.

• 한국정밀공학회지
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• 제16권1호통권94호
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• pp.219-225
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• 1999

Monitoring of the cutting force signals in cutting process has been well emphasized in machine tool communities. Although the cutting force can be directly measured by a tool dynamometer, this method is not always feasible because of high cost and limitations in setup. In this paper an indirect cutting force monitoring system is developed so that the cutting force in turning process is estimated based on a AC spindle drive model. This monitoring system considers the cutting force as a disturbance input to the spindle drive and estimates the cutting force based on the inverse dynamic model. The inverse dynamic model represents the dynamic relation between the cutting force, the motor torque and the motor power. The proposed monitoring system is realized on a CNC lathe and its estimation performance is evaluated experimentally.

• 한국공작기계학회:학술대회논문집
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• 한국공작기계학회 1999년도 추계학술대회 논문집 - 한국공작기계학회
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• pp.11-15
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• 1999

Monitoring of the cutting force signals in cutting process has been well emphasized in machine tool communities. Although the cutting force can be directly measured by a tool dynamometer, this method is not always feasible because of high cost and limitations in setup. In this paper an indirect cutting force monitoring system is developed so that the cutting force in turning process is estimated based on a AC spindle drive model. This monitoring system considers the cutting force as a disturbance input to the spindle drive and estimates the cutting force based on the inverse dynamic model. The inverse dynamic model represents the dynamic relation between the cutting force, the motor torque and the motor power. The proposed monitoring system is realized on a CNC lathe and its estimation performance is evaluated experimentally.

• Architectural research
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• 제8권2호
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• pp.37-42
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• 2006

Starting from the quadratic optimal control algorithm, this study obtains the relation of the performance index for constrained systems and Gauss's principle. And minimizing a function of the variation in kinetic energy at constrained and unconstrained states with respect to the velocity variation, the dynamic equation is derived and it is shown that the result compares with the generalized inverse method proposed by Udwadia and Kalaba. It is investigated that the responses of a 10-story building are constrained by the installation of a two-bar structure as an application to utilize the derived equations. The structural responses are affected by various factors like the length of each bar, damping, stiffness of the bar structure, and the junction positions of two structures. Under an assumption that the bars have the same mass density, this study determines the junction positions to minimize the total dynamic responses of the structure.

• 한국자동차공학회논문집
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• 제16권6호
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• pp.33-38
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• 2008

Most structures of vehicle are composed of many substructures connected to one another by various types of mechanical joints. In vehicle engineering, it is important to study these jointed structures under random frequency vibration for the evaluations of fatigue life and stress concentration exactly. It is rarely obtained the accurate load history of specified positions in a jointed structure because of the errors such as modeling, measurement, and etc. In the beginning of design, exact load data are actually necessary for the fatigue strength and life analysis to minimize the cost and time of designing. In this paper, the hybrid method of practical dynamic load determination is developed by the combination of the principal stresses from F. E. Analysis and test of a jointed structure. Least square pseudo inverse matrix is adopted to obtain an inverse matrix of analyzed stresses matrix. The error minimization method utilizes the inaccurate measured error and the shifting error that the whole data is stiffed over real data. The least square criterion is adopted to avoid these errors. Finally, to verify the proposed system, a heavy-duty bus is analyzed. This measurement and prediction technology can be extended to the different jointed structures.

• 한국자동차공학회논문집
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• 제10권4호
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• pp.122-128
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• 2002

In this paper dynamic responses of an engine, which is supported by hydraulic mount, to throttle tip-in/Tip out are analyzed. Because the hydraulic mounts have non-linearity that the characteristics of stiffness and damping vary with frequencies, it is difficult to analyze the dynamic behavior of an engine using general integral algorithms. Convolution integral and relationship between unit impulse response functions and frequency response functions are therefore used to simulate the transient behaviors of an engine indirectly. In time domain, impulse response functions are calculated by two-side discrete inverse courier transform of frequency response function achieved by laplace transform of equations of motion. Considering the fact that the shapes of behavior of an engine simulated by the proposed method are in good agreement with test results, it is confirmed that the proposed method is very effective for the analysis of transient response to throttle tip-in/out of an engine with hydraulic mounts.

• Structural Engineering and Mechanics
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• 제59권4호
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• pp.761-774
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• 2016

Curved beams' dynamic behavior on viscoelastic foundation is the subject of the current paper. By rewritten the Timoshenko beams theory formulation for the curved and twisted spatial rods, governing equations are obtained for the circular beams on viscoelastic foundation. Using the complementary functions method (CFM), in Laplace domain, an ordinary differential equation is solved and then those results are transformed to real space by Durbin's algorithm. Verification of the proposed method is illustrated by solving an example by variating foundation parameters.