• Structural Engineering and Mechanics
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• 제52권3호
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• pp.633-646
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• 2014

A semi-analytical numerical approach for the effective structural dynamic response analysis of spar floating substructure for offshore wind turbine subject to wave-induced excitation is introduced in this paper. The wave-induced rigid body motions at the center of mass are analytically solved using the dynamic equations of rigid ship motion. After that, the flexible structural dynamic responses of spar floating substructure for offshore wind turbine are numerically analyzed by letting the analytically derived rigid body motions be the external dynamic loading. Restricted to one-dimensional sinusoidal wave excitation at sea state 3, pitch and heave motions are considered. Through the numerical experiments, the time responses of heave and pitch motions are solved and the wave-induced dynamic displacement and effective stress of flexible floating substructure are investigated. The hydrodynamic interaction between wave and structure is modeled by means of added mass and wave damping, and its modeling accuracy is verified from the comparison of natural frequencies obtained by experiment with a 1/100 scale model.

• International Journal of Precision Engineering and Manufacturing
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• 제5권4호
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• pp.50-60
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• 2004

A very flexible beam can be used to model various types of continuous mechanical parts such as cables and wires. In this paper, the dynamic properties of a very flexible beam, included in a multibody system, are analyzed using absolute nodal coordinates formulation, which is based on finite element procedures, and the general continuum mechanics theory to represent the elastic forces. In order to consider the dynamic interaction between a continuous large deformable beam and a rigid multibody system, a combined system equations of motion is derived by adopting absolute nodal coordinates and rigid body coordinates. Using the derived system equation, a computation method for the dynamic stress during flexible multibody simulation is presented based on Euler-Bernoulli beam theory, and its reliability is verified by a commercial program NASTRAN. This method is significant in that the structural and multibody dynamics models can be unified into one numerical system. In addition, to analyze a multibody system including a very flexible beam, formulations for the sliding joint between a very deformable beam and a rigid body are derived using a non-generalized coordinate, which has no inertia or forces associated with it. In particular, a very flexible catenary cable on which a multibody system moves along its length is presented as a numerical example.

• International Journal of Naval Architecture and Ocean Engineering
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• 제8권3호
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• pp.252-261
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• 2016

A spar-type floating substructure that is being widely used for offshore wind power generation is vulnerable to resonance in the heave direction because of its small water plane area. For this reason, the stable dynamic response of this floating structure should be ensured by accurately identifying the resonance characteristics. The purpose of this study is to analyze the characteristics of the combination resonance between the excitation frequency of a regular wave and natural frequencies of the floating substructure. First, the nonlinear equations of motion with two degrees of freedom are derived by assuming that the floating substructure is a rigid body, where the heaving motion and pitching motions are coupled. Moreover, to identify the characteristics of the combination resonance, the nonlinear term in the nonlinear equations is approximated up to the second order using the Taylor series expansion. Furthermore, the validity of the approximate model is confirmed through a comparison with the results of a numerical analysis which is made by applying the commercial software ANSYS AQWA to the full model. The result indicates that the combination resonance occurs at the frequencies of ${\omega}{\pm}{\omega}_5$ and $2{\omega}_{n5}$ between the excitation frequency (${\omega}$) of a regular wave and the natural frequency of the pitching motion (${\omega}_{n5}$) of the floating substructure.

• 대한기계학회논문집A
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• 제26권12호
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• pp.2511-2518
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• 2002

Dynamic behaviors and stability of an optical disk drive coupled with an automatic ball balancer (ABB) are analyzed by a theoretical approach. The feeding system is modeled a rigid body with six degree-of-freedom. Using Lagrange's equation, we derive the nonlinear equations of motion for a non -autonomous system with respect to the rectangular coordinate. To investigate the dynamic stability of the system in the neighborhood of the equilibrium positions, the monodromy matrix technique is applied to the perturbed equations. On the other hand, time responses are computed by the Runge -Kutta method. We also investigate the effects of the damping coefficient and the position of ABB on the dynamic behaviors of the system.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2001년도 추계학술대회논문집 II
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• pp.983-988
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• 2001

Dynamic behaviors and stability of an optical disk drive coupled with an automatic ball balancer(ABB) are analyzed by a theoretical approach. The feeding system is modeled a rigid body with six degree-of-freedom. Using Lagrange's equation, we derive the nonlinear equations of motion for a non-autonomous system with respect to the rectangular coordinate. To investigate the dynamic stability of the system in the neighborhood of the equilibrium positions, the monodromy matrix technique is applied to the perturbed equations. On the other hand, time responses are computed by the Runge-Kutta method. We also investigate the effects of the damping coefficient and the position of ABB on the dynamic behaviors of the system.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2002년도 추계학술대회논문집
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• pp.92-97
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• 2002

There are a lot of roots of errors in an motion of the optical pick-up actuator being one of the most significant components in a CD-ROM drive. Most of the studies recently performed have a tendency to seek for the causes from an actuator itself. This paper present the dynamic characteristics of an actuator affected by the motion of a feeding deck. The feeding system is modeled as a rigid body with eight degree-of-freedom. Using Largrange's equation, we derive the linear equations of motion with respect to the rectangular coordinate. We found the fact that the ranges of the natural frequencies of a feeding deck and an actuator are close to each other. And the time responses are also computed by the Newmark method and Runge-Kutta method.

• 대한기계학회논문집A
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• 제32권5호
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• pp.437-443
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• 2008

In this paper, analysis and control of the flexible multibody system using MATLAB is presented. The equations of motion of a flexible body are derived in terms of the modal coordinate. The rigid-flexible multibody dynamic solver is developed. Finite element information required to analyze motion of flexible bodies is imported from ANSYS. The modified finite element data, such as modal mass matrix, modal stiffness matrix and constraint mode shapes, is calculated in the solver. Since the solver is developed using MATLAB, it is very easy to connect with SIMULINK which is widely used to control motion of the multibody system. Several simulations are implemented to verify the developed solver. A control example is carried out and the usefulness of the developed solver is demonstrated.

• Structural Engineering and Mechanics
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• 제65권5호
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• pp.513-521
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• 2018

In this paper, the resonance response of spar-type floating platform in coupled heave and pitch motion is investigated using a CPU time-effective numerical method. A coupled nonlinear 2-DOF equation of motion is derived based on the potential wave theory and the rigid-body hydrodynamics. The transient responses are solved by the fourth-order Runge-Kutta (RK4) method and transformed to the frequency responses by the digital Fourier transform (DFT), and the first-order approximation of heave response is analytically derived. Through the numerical experiments, the theoretical derivation and the numerical formulation are verified from the comparison with the commercial software AQWA. And, the frequencies of resonance arising from the nonlinear coupling between heave and pitch motions are investigated and justified from the comparison with the analytically derived first-order approximation of heave response.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1996년도 추계학술대회 논문집
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• pp.341-345
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• 1996

This paper presents the dynamics and the teal-time control of a horizontally rotating inverted pendulum. The dynamic equations representing three degrees of freedom rigid body motion of the pendulum are derived, and the state feedback controller is applied to the motion control of the pendulum. A 32 bit counter board with 16 bit hardware communication ability is developed to improve the real-time control performance and is applied to a horizontally rotating inverted pendulum. The simulation and experimental studies are conducted to evaluate the performance of the developed pendulum system and the timing in the real-time control is analyzed.

• Wind and Structures
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• 제16권5호
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• pp.411-431
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• 2013

A computational study of vortex-induced transverse vibrations of a cylinder with low mass-damping is presented. An Arbitrary Lagrangian-Eulerian (ALE) formulation of the Unsteady Reynolds-Averaged Navier-Stokes equations (URANS), along with the Spalart-Allmaras (SA) one-equation turbulence model, are coupled conservatively with rigid body motion equations of the cylinder mounted on elastic supports in order to study the amplitude and frequency response of a freely vibrating cylinder, its flow-induced motion, Vortex Street, near-wake flow structure, and unsteady loading in a moderate range of Reynolds numbers. The time accurate response of the cylinder from rest to its limit cycle is studied to explore the effects of Reynolds number on the start of large displacements, motion amplitude, and frequency. The computational results are compared with published physical experiments and numerical studies. The maximum amplitudes of displacements computed for various Reynolds numbers are smaller than the experimental values; however, the overall agreement of the results is quite satisfactory, and the upper branch of the limit-cycle displacement amplitude vs. reduced velocity response is captured, a feature that was missed by other studies. Vortex shedding modes, lock-in phenomena, frequency response, and phase angles are also in agreement with experiments.