• Journal of Electrical Engineering and Technology
• /
• v.11 no.3
• /
• pp.733-740
• /
• 2016

To achieve bipedal walking in real human environments, a bipedal robot should be capable of modifiable walking both on uneven terrain with different heights and on flat terrain. In this paper, a novel walking pattern generator based on a 3-D linear inverted pendulum model (LIPM) is proposed to achieve this objective. By adopting a zero moment point (ZMP) variation scheme in real time, it is possible to change the center-of-mass (COM) position and the velocity of the 3-D LIPM throughout the single support phase. Consequently, the proposed method offers the ability to generate a modifiable pattern for walking on uneven terrain without the necessity for any extra footsteps to adjust the COM motion. In addition, a control strategy for bipedal walking on uneven terrain with unknown height is developed. The torques and ground reaction force are measured through force-sensing resisters (FSRs) on each foot and the foot of the robot is modeled as three virtual spring-damper models for the disturbance compensation. The methods for generating the foot and vertical COM of 3-D LIPM trajectories are proposed to achieve modifiable bipedal walking on uneven terrain without any information regarding the height of the terrain. The effectiveness of the proposed method is confirmed through dynamic simulations.

• Structural Engineering and Mechanics
• /
• v.30 no.2
• /
• pp.165-176
• /
• 2008

In this paper, a new iterative method for solving vehicle-bridge interaction problems is proposed. Iterative methods have advantages over the non-iterative methods in that it is not necessary to update the system matrix for a given wheel location, and the method can be applied for a new type of car or bridge with few or no modifications. In the proposed method, the necessity of system matrices update is eliminated using the equivalent interaction force acting on the bridge, which is obtained iteratively. Ballast stiffness is included in the interaction forces and the geometric compatibility at the contact points are used as convergence criteria. The bridge is considered as an elastic Bernoulli-Euler beam with surface irregularity and ballast stiffness. The moving vehicle is modeled as a multi-axle mass-spring-damper system having many degrees of freedom depending on the number of axles. The pitching effect, which is the interaction effect between the rear and front wheels when a vehicle begins to enter or leave the bridge, is also considered in the formulation including extended ground boundaries having surface irregularity and ballast stiffness. The applicability of the proposed method is illustrated in the numerical studies.

• Journal of Mechanical Science and Technology
• /
• v.20 no.5
• /
• pp.658-667
• /
• 2006

Fractional derivative models, which are used to describe the viscoelastic behavior of material, have received considerable attention. Thus it is necessary to put forward the analysis solutions of dynamic systems containing a fractional derivative. Although previously reported such kind of fractional calculus-based constitutive models, it only handles the particularity of rational number in part, has great limitation by reason of only handling with particular rational number field. Simultaneously, the former study has great unreliability by reason of using the complementary error function which can't ensure uniform real number. In this paper, a new approach is proposed for an analytical scheme for dynamic system of a spring-mass-damper system of single-degree of freedom under general forcing conditions, whose damping is described by a fractional derivative of the order $0<{\alpha}<1$ which can be both irrational number and rational number. The new approach combines the fractional Green's function and Laplace transform of fractional derivative. Analytical examples of dynamic system under general forcing conditions obtained by means of this approach verify the feasibility very well with much higher reliability and universality.

• Transactions of the Korean Society for Noise and Vibration Engineering
• /
• v.17 no.12
• /
• pp.1208-1216
• /
• 2007

Turbomachinery such as turbines, pumps and compressors, which are installed in transportation systems, including aircrafts, ships, and space vehicles, etc., often perform crucial missions and are exposed to potential dangerous impact environments such as base-transferred shock forces. To protect turbomachinery from excessive shock forces, it may be needed to accurately analyze transient responses of their rotors, considering the dynamics of mount designs to be applied. In this study a generalized FE transient response analysis model, introducing relative displacements, is proposed to accurately predict transient responses of a flexible rotor-bearing system with mount systems to base-transferred shock forces. In the transient analyses the state-space Newmark method of a direct time integration scheme is utilized, which is based on the average velocity concept. Results show that for the identical mount systems considered, the proposed FE-based detailed flexible rotor model yields more reduced transient vibration responses to the same shocks than a conventional simple model, obtained by treating a rotor as concentrated lumped mass, equivalent spring and a damper or Jeffcott rotor model. Hence, in order to design a rotor-bearing system with a more compact light-weighted mount system, preparing against any potential excessive shock, the proposed FE transient response analysis model herein is recommended.

• Journal of the Korean Society for Aeronautical & Space Sciences
• /
• v.38 no.11
• /
• pp.1130-1135
• /
• 2010

The main function of a landing gear is to absorb the impact energy during touchdown. Most landing gear use an oleo-pneumatic shock absorber which essentially consists of an oil damper and a gas spring. The performance of a shock absorber can be estimated by analysis but it should be verified by drop test, which is required by MIL Spec. and FAR. In the drop test, various data such as ground loads, shock absorber pressure, stroke and mass travel are analyzed to validate the shock absorbing efficiency and the mathematical model for analysis. This paper presents the introduction of drop test facility, the test procedure and data evaluation method with real drop test example.

• Journal of the Society of Naval Architects of Korea
• /
• v.33 no.4
• /
• pp.87-96
• /
• 1996

The dynamic ice forces on a structure with vertical wall and the corresponding responses of the structure are predicted. The structure was simplified as a 1-degree-of freedom system which consists of spring-mass-damper. Ice was divided into two parts : near filed and far field. In the near field, ice sheet moves with constant speed. The results obtained from the numerical simulation using the model and the experiment of indentation with stiff and flexible structures are compared. The comparisons show that the model can predict the behavior of structure and ice load with accuracy.

• Korean Journal of Air-Conditioning and Refrigeration Engineering
• /
• v.9 no.1
• /
• pp.33-42
• /
• 1997

The reciprocating compressors are widely used in industrial fields for its simplicity in principle and high efficiency. But the design of it requires rigorous experiments due to its high dependence on many design parameters. In this work, a mathematical model is developed so that we can analyze the gas-solid interaction during the whole working processes of a reciprocating compressor. The governing equations, which represent the fluid-solid interaction, was derived from the unsteady Bernoulli's equation with the assumption of quasi-steady working process. The valve itself was assumed to be a one degree of freedom spring-mass-damper system. A simple thermodynamic relation, the ideal gas state equation, was used to give it an external force term assuming that the refrigerant behaves like an ideal gas. It was suggested to use a motor of higher driving frequency to enhance the performance of the reciprocating compressor without causing a faster failure of the valve.

• Proceedings of the KSME Conference
• /
• 2001.06b
• /
• pp.584-589
• /
• 2001

This paper presents the dynamic parameter design optimization of a suspension seat system using the genetic algorithm. At first, an equivalent 1-D.O.F. mass-spring-damper model of a suspension seat system was constructed for the purpose of its vibration analysis. Vertical vibration response and transmissibility of the equivalent model due to base excitations, which are defined in the ISO's seat vibration test codes, were computed. Furthermore, seat vibration test, that is ISO's damping test, was carried out in order to investigate the validity of the equivalent suspension seat model. Both analytical and experimental results showed good agreement each other. For the design optimization, the acceleration transmissibility of the suspension seat model was adopted as an object function. A simple genetic algorithm was used to search the optimum values of the design variables, suspension stiffness and damping coefficient. Finally, vibration ride performance test results showed that the optimum suspension parameters gives the lowest vibration transmissibility. Accordingly the genetic algorithm and the equivalent suspension seat modelling can be successfully adopted in the vibration ride quality optimization of a suspension seat system.

• Journal of Institute of Control, Robotics and Systems
• /
• v.6 no.1
• /
• pp.57-65
• /
• 2000

In this paper, a model reference adaptive control for the atomic force microscope (AFM) of tapping mode is investigated. The dynamics between the AFM system and al sample is mathematically modeled as a second order spring-mass-damper system with oscillatory inputs. The attractive and repulsive forces between the tip of the AFM system and the sample are derived using the Lennard-Jones potential energy. By non-dimensionalizing the displacement of the tip and the input frequency, the chaotic behavior near a resonance frequency is better depicted through the non-dimensionalized equations. Four nonlinear analysis techniques, a phase portrait, sensitive dependence on initial conditions, a power spectral density function, and a Pomcare map are investigated. Because the equations of motion derived in this paper involve unknown parameter values such as the damping effect of the air and the interaction constants between materials, the standard model reference adaptive control is adopted. Two control objectives, the prevention of chaos and the tracking of reference signal, are pursued. Simulation results are included.

• The Transactions of The Korean Institute of Electrical Engineers
• /
• v.66 no.7
• /
• pp.1059-1065
• /
• 2017

In this paper, the energy harvester with a piezoelectric materials is modeled as the electric equivalent circuit, and performances of a standard DC method and a Parallel-SSHI method are verified through experiment under variable force and load conditions. Piezoelectric generator consists of mass, damper and spring constant, and it is modeled by electrical equivalent circuit with RLC components. Standard DC and Parallel-SSHI are used as power conversion methods, and standard DC consists of full-bridge rectifier and smoothing capacitor. Parallel-SSHI method is composed of L-C resonant circuit, zero-crossing detector and full-bridge rectifier. In case of simulation under $100k{\Omega}$ load condition, the harvested power is $500{\mu}W$ in Standard DC and $670{\mu}W$ in Parallel-SSHI, respectively. In experiment, the harvested power under $100k{\Omega}$ load condition is $420{\mu}W$ in standard DC and $602{\mu}W$ in Parallel-SSHI. Harvested power of Parallel-SSHI is improved by approximately 40% more than that of standard DC method.