• Journal of Electrical Engineering and Technology
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• v.12 no.4
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• pp.1683-1689
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• 2017

Wheelsets are an important component affecting the dynamic characteristics of railway vehicles. Research on wheelsets has been conducted for a long time. It is possible to generate the restoring force by the individual torque control of the left and right wheels in the independently rotating wheelsets (IRWs). Although this method solves the problems of conventional wheelsets, such as the solid axle wheelsets, the restoring force control must be added to the existing traction force control, and the restoring force requires a higher precision and quicker response than the traction force. In this paper, we study the robust control strategy of wireless trams with independently rotating wheelsets. The interior permanent magnet synchronous motor (IPMSM) and the controller with the actual scale wireless tram are designed to verify the torque control performance. Moreover, we propose an open loop control method to test and verify the traction and restoring force control algorithm of the IRWs.

• Journal of Electrical Engineering and Technology
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• v.11 no.4
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• pp.1042-1048
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• 2016

This paper presents a lateral displacement restoring force control for the independently rotating wheelsets (IRWs) of shallow-depth subway systems. In the case of the near surface transit, which has recently been introduced, sharp curved driving performance is required for the city center service. It is possible to decrease the curve radius and to improve the performance of the straight running with the individual torque control. Therefore, the individual torque control performance of the motor is the most important point of the near surface transit. This paper deals with a lateral displacement restoring force control for sharp curved driving. The validity and usefulness of the proposed control algorithm is verified by experimental results using a small-scale bogie system.

• Journal of the Korean Society for Precision Engineering
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• v.22 no.2
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• pp.60-69
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• 2005

In electrostatic suspension system of thin plates like a silicon wafer or an aluminum disk for hard disk applications, the lateral restoring force exerted on a suspended object plays an important role since the lateral motion of the suspended object, owing to the inherently stable restoring forces, can be passively stabilized without any active control of it. This paper reports about the measurement apparatus of the lateral restoring force originating from a relative translation of the suspended object with respect to the electrodes-for-suspension. An approximate calculation of the lateral force in disk-shaped objects, the structure of the measurement apparatus, a measurement method, stabilization condition and the guideline in designing the measurement apparatus are described. Experimental results obtained by using a 3.5-inch aluminum disk as a suspended object are presented as well in order to assess the magnitude of lateral force and stiffness, and also verify the usefulness of the measurement apparatus.

• Proceedings of the Computational Structural Engineering Institute Conference
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• 2000.10a
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• pp.377-386
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• 2000

Hybrid mass dampers consist of passive tuned mass dampers and active mass dampers. They have the advantage that passive tuned mass dampers are still operated even when active mass dampers are stopped by excessive disturbances or power failure. This paper begins first with the comparative analysis of tuned mass dampers, hybrid mass dampers, and active mass dampers. Next more detailed study is carried out on the hybrid mass dampers: cascade hybrid mass dampers (CHMD) and active tuned mass dampers (ATMD). CHMD is regarded as more reasonable device because of its lighter active mass than ATMD's. However CHMD can not neglect stroke saturation problem caused by the length limitation of active damper mass. We compensate the saturation problem with nonlinear restoring force. The restoring force is calculated based on the states and phases of active mass dampers and added to the control force. It is shown that the presented compensation method prevents CHMD from saturation behavior without apparent changes of control force and responses compared to those in case of not considering the saturation problem.

• Journal of the Korean Society of Safety
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• v.31 no.6
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• pp.52-57
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• 2016

In this study, a restoring viscous damper is introduced for X-type damper system which is designed for the seismic response control of large spatial structures. A nonlinear numerical model for its behavior is developed using the result of dynamic loading tests. The X-type damper system is composed of restoring viscous dampers and connecting devices such as adjustable wire bracing, where the damping capacity of the system is controllable by changing the number of the dampers. The restoring viscous damper is devised to exert main damping force in tension direction, which is effective to prevent the buckling of bracing subjected to compressive axial force. To evaluate the performance of the proposed damper, dynamic cyclic loading tests are performed by using manufactured dampers at full scale. In order to construct the numerical model of the damper system, its model parameters are first identified using a nonlinear curve fitting method with the test data. The numerical simulations are then performed to validate the accuracy of the numerical model in comparison with the experimental test results. It is expected that the proposed system is effectively applicable to various building structures for seismic performance enhancement.

• Structural Engineering and Mechanics
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• v.64 no.6
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• pp.731-736
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• 2017

Friction Pendulum isolators are tools developed in the past few decades. The simplest form of these isolators, are FPS whose main disadvantages are having a constant frequency independent of the frequency of the structure. For this reason, researchers have invented VFPI isolator whose frequency is variable and depends on displacement. Another friction pendulum isolator is DCFP isolator which is a combination of two FPS isolators. In this article, first by changing the geometry of DCFP isolator plates from spherical to elliptical, the motion and frequency equations of DVFPI isolators are defined, and then the seismic behavior of DVFPI isolators are analyzed in various geometric and plate friction settings using motion equations, and confirmed using ABAQUS software. The most important results of this study are that the hysteresis behavior of DVFPI isolators are severely nonlinear, its curve follows two distinct curvatures, and that the restoring force is faced with softening mechanism that limits the seismic force transmitted to the structure, whereas the restoring force in DCFP isolators increases linearly with increasing displacement.

• The Journal of Korea Robotics Society
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• v.10 no.4
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• pp.179-185
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• 2015

The versatility of a human hand is what the researchers eager to mimic. As one of the attempt, the redundant degree of freedom in the human hand is considered. However, in the force domain the redundant joint causes a control issue. To solve this problem, the force control method for a redundant robotic hand which is similar to the human is proposed. First, the redundancy of the human hand is analyzed. Then, to resolve the redundancy in force domain, the artificial minimum energy point is specified and the restoring force is used to control the configuration of the finger other than the force in a null space. Finally, the method is verified experimentally with a commercial robot hand, called Allegro Hand with a force/torque sensor.

• Journal of the Earthquake Engineering Society of Korea
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• v.8 no.2
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• pp.1-8
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• 2004

Sliding mode control (SMC), which is one of active control algorithms showing remarkable control performance, requires the excessive control force for control of seismically excited civil structures. Therefore, controller saturation should be considered in design of SMC. In this study, a method for determining the maximum control force is developed in terms of the fraction of the lateral restoring force using a design response spectrum. Numerical analyses of MDOF structures with one or multiple control devices verify the effectiveness of the proposed method for the control of seismically excited civil structures with saturation problem.

• Earthquakes and Structures
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• v.26 no.5
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• pp.337-348
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• 2024

This paper presents a new seismic isolation design for liquid storage tank (LST). The seismic isolation system includes: LST, flexible membrane, sand mat and rolling seismic isolation devices. Based on the mechanical equilibrium theory, the symmetric concave rolling restoring force model of the isolation device is derived. Based on the elasticity theory and restoring force model of the seismic isolation, a simplified mechanical model of LST with the new seismic isolation is established. The rationality of the seismic isolation design of LST is explored. Meanwhile, the seismic response of the new seismic isolation LST is investigated by numerical simulation. The results show that the new seismic isolation tank can effectively reduce the seismic response, especially the control of base shear and overturning moment, which greatly reduces the risk of seismic damage. The seismic reduction rate of the new seismic isolation storage tanks in Class I, II, and III sites is better than that in Class IV sites. Moreover, the seismic isolation device can effectively control the ground vibration response of storage tanks with different liquid heights. The new seismic isolation LST design provides better isolation for slender LSTs than for broad LSTs.

• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.20 no.6
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• pp.528-536
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• 2010

System identification for cylindrical oil dampers is carried out based on a series of dynamic experimental tests and theoretical approach for the analysis of the experimental data. Experimental tests are conducted using a specific hydraulic actuator in the wide frequency range from 10 Hz to 90 Hz. From this study, it is confirmed that control force of the damper is composed of inertia, damping and restoring components. In general, both restoring and damping components are significant and comparable. However, the portion of the inertia components becomes more significant than to be negligible in the high frequency range.