• 한국기계가공학회지
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• 제13권6호
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• pp.88-98
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• 2014

A moving mass on a skewed linear guideway model to analyze the friction-induced stick-slip behavior of ball-screw-driven slides is proposed. To describe the friction force, a friction coefficient function is modelled as a third-order polynomial of the relative velocity between the slide mass and a guideway. A nonlinear differential equation of motion is derived and an approximate solution is obtained using a perturbation method for the amplitudes and base frequencies of both pure-slip and stick-slip oscillations. The results are presented with time responses, phase plots, and amplitude plots, which are compared adequately with those obtained by Runge Kutta 4th-order numerical integration, as long as the difference between the static and kinematic friction coefficients is small. However, errors in the results by the approximate solution increase and are not negligible if the difference between the friction coefficients exceeds approximately 40% of the static friction coefficient.

• 동력기계공학회지
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• 제12권6호
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• pp.42-49
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• 2008

The most important job in the container terminal area is to handle the cargo effectively in the limited time. To achieve this object, many strategies have been introduced and applied to. If we consider the automated container terminal, it is necessary that the cargo handling equipments are equipped with more intelligent control systems. From the middle of the 1990's, an automated rail-mounted gantry crane(RMGC) and rubber-tired gantry crane(RTG) have been developed and widely used to handle containers in the yards. Recently, in these cranes, the many equipments like CCD cameras and sensors are mounted to cope with the automated terminal environment. In this paper, we try to support the development of more intelligent automated cranes which make the cargo handling be performed effectively in the yards. For this plant, the modelling, tracking control, anti-sway system design, skew motion suppressing and complicated motion control and suppressing problems must be considered. Especially, in this paper, the system modelling and tracking control approach are discussed. And, we design the tracking control system incorporating an observer based on the 2DOF servo system design approach to obtain the desired state informations. In the case of observer design, a weighted $H_{\infty}$ error bound approach for a state estimator is considered. Based on an algebraic Riccati equation(inequality) approach, a necessary and sufficient condition for the existence of a full-order estimator which satisfies the weighted $H_{\infty}$ error bound is introduced. Where, the condition for existence of the estimator is denoted by a Linear Matrix Inequality(LMI) which gives an optimized solution and observer gain. Based on this result, we apply it to the tracking control system design for the transfer crane.

• Smart Structures and Systems
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• 제18권6호
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• pp.1125-1143
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• 2016

Forced vibration analysis of a simple supported viscoelastic nanobeam is studied based on modified couple stress theory (MCST). The nanobeam is excited by a transverse triangular force impulse modulated by a harmonic motion. The elastic medium is considered as Winkler-Pasternak elastic foundation.The damping effect is considered by using the Kelvin-Voigt viscoelastic model. The inclusion of an additional material parameter enables the new beam model to capture the size effect. The new non-classical beam model reduces to the classical beam model when the length scale parameter is set to zero. The considered problem is investigated within the Timoshenko beam theory by using finite element method. The effects of the transverse shear deformation and rotary inertia are included according to the Timoshenko beam theory. The obtained system of differential equations is reduced to a linear algebraic equation system and solved in the time domain by using Newmark average acceleration method. Numerical results are presented to investigate the influences the material length scale parameter, the parameter of the elastic medium and aspect ratio on the dynamic response of the nanobeam. Also, the difference between the classical beam theory (CBT) and modified couple stress theory is investigated for forced vibration responses of nanobeams.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1995년도 하계학술대회 논문집 A
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• pp.455-459
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• 1995

Catenary/pantograph system consists of overhead lines which have non-uniform elasticity and pantographs which move at high speed and give force to the lines, therefore happen to be failed in contacts between both from time to time. In this study, as the first step to develop a dynamic simulation program, the general theory is discussed for catenary/pantograph system and appropriate modelling. And comparison is conducted with the references after making a program which referred to the contact force equation algorithm. On this algorithm, the unknown contact force is computed by the equations which was induced as combining catenary and pantograph motion equations expressed in finite difference form. Another simulation program based on the assumed contact forces algorithm was developed. In this algorithm, numerical integraion of both the overhead line and pantograph equations, which without combining, are effected for two assumed values of contact force. The correct contact force is then obtained from these two sets of results by linear interpolation to satisfy the contact condition. Through the comparative review on the outputs from this program, it is verified that this algorithm is reliable.

• Ocean Systems Engineering
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• 제11권1호
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• pp.17-42
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• 2021

Articulated loading platforms (ALPs) belongs to a class of offshore structures known as compliant. ALP motions have time periods falling in the wind excitation frequency range due to their compliant behaviour. This paper deals with the dynamic behavior of a double hinged ALP subjected to low-frequency wind forces with random waves. Nonlinear effects due to variable submergence, fluctuating buoyancy, variable added mass, and hydrodynamic forces are considered in the analysis. The random sea state is characterized by the Pierson-Moskowitz (P-M) spectrum. The wave forces on the submerged elements of the platform's shaft are calculated using Morison's Equation with Airy's linear wave theory ignoring diffraction effects. The fluctuating wind load has been estimated using Ochi and Shin wind velocity spectrum for offshore structures. The nonlinear dynamic equation of motion is solved in the time domain by the Wilson-θ method. The wind-structure interactions, along with the effect of various other parameters on the platform response, are investigated. The effect of offset of aerodynamic center (A.C.) with the center of gravity (C.G.) of platform superstructure has also been investigated. The outcome of the analyses indicates that low-frequency wind forces affect the response of ALP to a large extent, which otherwise is not enhanced in the presence of only waves. The mean wind modifies the mean position of the platform surge response to the positive side, causing an offset. Various power spectral densities (PSDs) under high and moderate sea states show that apart from the significant peak occurring at the two natural frequencies, other prominent peaks also appear at very low frequencies showing the influence of wind on the response.

• 한국해안·해양공학회논문집
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• 제22권2호
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• pp.73-78
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• 2010

파에너지는 쇄파되기 이전까지 주로 해저면과의 마찰력에 의하여 감소한다. 파마찰력을 산정하기 위한 연구는 여러 연구자들에 의해 진행되어 왔으며 어느 특정지점에서의 파마찰력 또는 파마찰손실률은 선형파이론으로 주어지는 해저면 입자유속과 연관된 파마찰계수의 도입으로 상당히 정확하게 간단하게 산정할 수 있다. 그러나 장구간에 걸쳐 파마찰력에 의하여 점차적으로 감소되는 파고변이는 상당한 반복 과정을 거쳐야 산정할 수 있었다. 본 연구에서는 기존 경험식을 이용해 전난류, 완난류 경우에 대해 일정경사면에서 천수효과와 마찰손실에 의한 파고 변화를 비교적 간단한 방법으로 추정하는 방법을 제시하였다. 해빈경사가 일정할 때 파고 변이률은 천수계수와 파고 마찰손실계수의 곱으로 간단히 구할 수 있다. 실제 해안과 비슷한 조건의 경우에 대하여 반복시산 과정으로 구한 수치와 간편 산정식으로 간단히 계산한 결과를 비교하여 제시하였다.

• 대한토목학회논문집
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• 제26권6A호
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• pp.989-999
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• 2006

본 연구에서는 차량과 교량을 3차원으로 모델링하고, 교량의 노면조도 및 교량과 차량 사이의 상호작용을 고려하여 이동 차량이 교량을 통과할 때 교량의 선형동적해석을 수행할 수 있는 수치해석방법을 제시하였다. 3차원 차량모델에는 타이어의 접지폭을 고려하여 탠덤 다판스피링 차륜축의 피칭을 고려하여 단일차량인 2축과 3축 차량 및 5축 트랙터-트레일러를 각각 7-자유도, 8-자유도 미 14-자유도로 모델링하였다. 차량의 운동방정식은 Lagrange 방정식을 사용하여 유도하였고, 그 해는 Newmark-${\beta}$법을 사용하여 계산하였다. 교량의 노면조도는 평균값이 영인 정상확율분포롤 가정한 지수스팩트럴밀도를 사용하여 생성시켰다. 교량은 주형을 보요소로, 콘크리트 바닥판은 쉴요소를 이상화시켰으며 주형과 콘크리트 바닥판 사이는 Ragid Link를 사용하여 3차원으로 모델링하였다. 교량의 운동방정시은 모우드 중첩법을 사용하여 풀었다. 본 연구에서 제시한 수치해석방법으로 구한 결과와 Whittemoare 등과 Fenves 등이 실시한 실험값과 비교 검토하여 본 연구의 타당성을 입증하였다.

• 대한기계학회논문집
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• 제17권5호
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• pp.1084-1094
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• 1993

본 연구에서는 모드합성법에 관한 연구를 발전시켜 특히 시간영역에서 동특성 이 변하는 일반적인 구조계의 강제진동해석을 수행할 수 있는 효율적인 방법을 제시한 다. 각 부분구조의 운동방정식은 라그랑지 방정식을 이용하여 유도하며 부분구조 간 의 연결부에서 만족해야 하는 기하학적 적합조건은 라그랑지 승수를 이용하여 처리한 다. 각 부분구조를 나타내기 위하여는 자유경계 또는 하중경계모드(loaded interface mode)를 사용하며 시간영역 응답해석을 위해서는 이산형태(discrete form)의 상태방정 식(state equation)이 사용된다. 제시한 방법은 기존의 모드합성법과는 달리 전체계 를 나타내는 운동방정식을 구성하지 않으므로 전체계의 모우드 매개변수를 구할 필요 가없는 장점이 있다. 시간영역에서 전체 구조계를 합성하지 않고 직접 응답을 구하므 로 미사일 발사체계 등과 같이 시간에 따라 동특성이 변하는 구조계의 동적해석을 위해 효과적으로 활용될 수 있다. 제시한 방법을 간단한 집중질량계와 동특성이 일정 하지 않은 복잡한 구조물의 시간영역 응답해석에 적용하여 그 결과를 직접적분법으로 구한 엄밀해(exact solution)와 비교하며 제시한 타당성을 검증하였다.

• 한국해안해양공학회지
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• 제3권3호
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• pp.126-136
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• 1991

본 논문에서는 파랑하중을 받는 Guyed Tower의 비선형 동적거동에 대하여 연구하였다. Guyed Tower를 효율적으로 해석하기 위하여 Tower는 등가의 기둥으로 모형화 하였으며, 계유장치는 수평방향의 비선형 경계요소로 이상화하였다. 또한 파일 기초부는 회전방향의 선형경계요소로 대치하였다. Tower에 작용하는 파랑하중은 Morison 방정식에 의한 산정하였다. 계유장치와 유체의 점성에 기인된 항력 등의 비선형성을 적절히 고려하기 위하여 시간영역에서 해석을 수행하였으며, 비선형 운동방정식을 효율적으로 풀기 위해 Newmark 적분기법에 기초한 모우드 중첩법을 사용하였다. Guyed Tower의 중요한 설계변수인 계유선의 Clump weight 중량 조건과 파일 기초부 조건의 변화에 대한 수치해석을 수행하였다.

• 한국해양공학회지
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• 제30권1호
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• pp.25-31
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• 2016

In this study, hydrodynamic coefficients were obtained from a Rotating Arm (RA) test, which is one of the captive model tests used to provide accurate coefficients in the control motion equation of an underwater vehicle. The RA test was carried out at the RA facility of ADD (Agency for Defense Development), and the forces and moments acting on the underwater vehicle were measured using a six-axis waterproof gage. A multiple regression analysis was used in the analysis of the measured data. The experimental results were also verified by comparison with the theoretical values of the previous linear coefficients. In addition, the stability indices in the horizontal plane were calculated using the linear and nonlinear coefficients, and the dynamic stability of the underwater vehicle was estimated to have a good dynamic performance with a depth ratio of 6.0.