• Journal of Electrical Engineering and information Science
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• 제1권1호
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• pp.39-44
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• 1996

In this paper, adaptive controller with switching action is designed for rigid body robot manipulators to ensure the uniform stability of the manipulator system without a priori knowledge of the unmodeled dynamics. It will be shown that the parameter estimates are bounded independent of the other closed-loop signals boundedness, and also shown that the tracking error belongs to the normalized error bound via mathematical analisys. The robustness and performance of the proposed adaptive controller is investigated for the two-link direct drive manipulator actuated by VRM(Variable Reluctance Motor).

• 한국해양공학회지
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• 제26권1호
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• pp.70-77
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• 2012

In this study, a numerical analysis of offshore installation using a floating crane with heave compensator is carried out in time domain. The motion analysis of crane vessels is based on floating body dynamics using convolution integral and the crane wire is treated as simple spring. The lifted structure is assumed as a rigid body with 3 degree-of-freedom translational motion. The heave compensator is numerically modelled by the generalized spring-damper system. Firstly, forced motion simulations of crane wire system are carried out to figure out the basic principle of heave compensator. The transfer function of crane wire system is obtained and effective wave period of heave compensator are found. Then, coupled analysis of crane vessel, crane wire, and lifted structure are performed in regular and irregular sea conditions. Two different crane vessels and two lifted structures (suction pile and manifold) are considered in this study. Through a series of numerical calculations, the effective zone of heave compensator is investigated with respect to wave period and crane wire length.

• 한국해양공학회지
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• 제26권1호
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• pp.17-26
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• 2012

A coupled analysis of a floating crane barge with a crane wire and hanging structure is carried out in thetime domain. The motion analysis of the crane barge is based on the floating multi-body dynamics, and thecrane wire is modeled as a simple spring tension. The hanging structure is assumed to be a rigid body with 3 degree-of-freedom translational motion. In this study, numerical simulations were conducted at three different stages. First, the developed code was validated by comparing the time-domain motion response of a crane barge with the frequency-domain results. Then, a coupled analysis of a crane barge and simple structure hanging by the crane wire was performed using the present scheme. The motion response and wire tension from the present calculations are compared with the results of OrcaFlex. The agreement between the two sets of results isfairly good. Last, lowering simulations in regular and irregular waves were conducted considering buoyancy changes in the hanging structure. The effects of the wave conditions, structure's weight, wire length, and lowering speed on the wire tension are considered.

• 동력기계공학회지
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• 제7권3호
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• pp.48-53
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• 2003

This paper deals with the control of a horizontally placed flexible rotor levitated by electromagnets in a multi-input/multi-output (MIMO) active magnetic bearing(AMB) system. AMB is a kind of novel high performance bearing which can suspend the rotor by magnetic force. Its contact-free manner between the rotor and stator results in it being able to operate under much higher speed than conventional rolling bearings with relatively low power losses, as well as being environmental-friendly technology for AMB system having no wear and no lubrication requirements. In this MIMO AMB system, the rotor is a complex mechanical system, it not only has rigid body characteristics such as translational and slope motion but also bends as a flexible body. Reduced order nominal model is computed by consideration of the first 3 mode shapes of rotor dynamics. Then, the $H_{\infty}$ control strategy is applied to get robust controller. Such robustness of the control system as the ability of disturbance rejection and modeling error is guaranteed by using $H_{\infty}$ control strategy. Simulation results show the validation of the designed control system and the modeling method to the rotor.

• 한국항공우주학회지
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• 제38권6호
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• pp.547-556
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• 2010

항공기의 안전성 확보 및 투하되는 탄의 정확도 증대를 위한 새로운 개념의 활공비행체 개발이 많은 기업에서 진행 중에 있다. 항공기의 장착 공간 및 활공거리 증대를 고려하여 세장비가 큰 전개되는 날개를 채택하는 것이 일반적이다. 큰 세장비의 날개 구조물은 상대적으로 낮은 강성에 의하여 과도한 탄성변형 뿐 아니라 플러터 발생의 가능성이 높아지게 된다. 본 연구는 큰 세장비 날개에 대하여 유체-공력 연계기법을 이용, 구조변형에 의한 공력특성의 변화 및 플러터 발생가능성에 대하여 검토하였다. 공기력 계산을 위하여 FLUENT 코드가 구조 동특성 해석을 위하여 ABAQUS 상용코드가 사용되었으며, 국부지지 방사기저함수로 구성된 Code-bridge를 이용한 입력 자료의 보간 및 사상을 수행하였다. 해석 결과 고려된 활공 조건에서 구조 변형에 의한 공력 특성의 변화가 발생하는 것이 관측되었으며, 이에 의한 진동도 계속적으로 발생되는 것으로 표현되었다.

• Tribology and Lubricants
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• 제31권6호
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• pp.302-307
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• 2015

The use of turbocharger in internal combustion engines has increased as it is a key components for improving system efficiency without increasing engine size. Because of increasing demand, many studies have evaluated rotordynamic performance so as to increase rotation speed. This paper presents a linear and nonlinear analysis model for a turbocharger rotor supported by a floating ring bearing. We constructed rotor model by using the finite element method and approximated bearings as being infinitely short. In the linear model, we considered fluid film force as stiffness and damping element. In nonlinear analysis, calculation of the fluid film force involved solving the time dependent Reynolds equation. We verified the developed model by comparing the results to those of previous research. The analysis results show that there are four unstable modes, which are rigid body modes combining ring and rotor motion. As the rotating speed increases, the logarithmic decrement shows that certain unstable modes goes into the stable area or the stable mode goes into the unstable area. These unstable modes appear as sub-synchronous vibrations in nonlinear analysis. In nonlinear analysis frequency jump phenomenon demonstrated in several experimental studies appears. The analysis results also showed that frequency jump phenomenon occurs when the vibration mode changes and the sequence of unstable mode matches the linear analysis result. However, the natural frequency predicted using linear analysis differs from those obtained using nonlinear analysis.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2007년도 춘계학술대회논문집
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• pp.859-865
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• 2007

This paper presents a method to analyze the unbalance response of a high speed polygon mirror scanner motor supported by sintered bearing and flexible supporting structures by using the finite element method and the mode superposition method. The appropriate finite element equations for polygon mirror are described by rotating annular sector element using Kirchhoff plate theory and von Karman non-linear strain, and its rigid body motion is also considered. The rotating components except for the polygon mirror are modeled by Timoshenko beam element including the gyroscopic effect. The flexible supporting structures are modeled by using a 4-node tetrahedron element and 4-node shell element with rotational degrees of freedom. Finite element equations of each component of the polygon mirror scanner motor and the flexible supporting structures are consistently derived by satisfying the geometric compatibility in the internal boundary between each component. The rigid link constraints are also imposed at the interface area between sleeve and sintered bearing to describe the physical motion at this interface. A global matrix equation obtained by assembling the finite element equations of each substructure is transformed to a state-space matrix-vector equation, and both damped natural frequencies and modal damping ratios are calculated by solving the associated eigenvalue problem by using the restarted Arnoldi iteration method. Unbalance responses in time and frequency domain are performed by superposing the eigenvalues and eigenvectors from the free vibration analysis. The validity of the proposed method is verified by comparing the simulated unbalance response with the experimental results. This research also shows that the flexibility of supporting structures plays an important role in determining the unbalance response of the polygon mirror scanner motor.

• Structural Engineering and Mechanics
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• 제42권6호
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• pp.831-847
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• 2012

Impact from water-borne debris during tsunami and flood events pose a potential threat to structures. Debris impact forces specified by current codes and standards are based on rigid body dynamics, leading to forces that are dependent on total debris mass. However, shipping containers and other debris are unlikely to be rigid compared to the walls, columns and other structures that they impact. The application of a simple one-dimensional model to obtain impact force magnitude and duration, based on acoustic wave propagation in a flexible projectile, is explored. The focus herein is on in-air impact. Based on small-scale experiments, the applicability of the model to predict actual impact forces is investigated. The tests show that the force and duration are reasonably well represented by the simple model, but they also show how actual impact differs from the ideal model. A more detailed three-dimensional finite element model is also developed to understand more clearly the physical phenomena involved in the experimental tests. The tests and the FE results reveal important characteristics of actual impact, knowledge of which can be used to guide larger scale experiments and detailed modeling. The one-dimensional model is extended to consider water-driven debris as well. When fluid is used to propel the 1-D model, an estimate of the 'added mass' effect is possible. In this extended model the debris impact force depends on the wave propagation in the two media, and the conditions under which the fluid increases the impact force are discussed.

• 한국자동차공학회논문집
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• 제18권1호
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• pp.1-7
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• 2010

The paper proposes a multi-body dynamic simulation to numerically evaluate the generated axial force(G.A.F) and plunging resistant force(P.R.F) practically related to the shudder and idling vibration of an automobile. A numerical analysis of two plunging types of CV joints, tripod joint(TJ) and very low axial tripod joint(VTJ), is conducted using the commercial program DAFUL. User-defined subroutines of a friction model illustrating the contacted parts of the outboard and inboard joint are subsequently developed to overcome the numerical instability and improve the solution performance. The Coulomb friction effect is applied to describe the contact models of the lubricated parts in the rolling and sliding mechanisms. The numerical results, in accordance with the joint articulation angle variation, are validated with experimentation. The offset between spider and tulip housing is demonstrated to be the critical role in producing the 3rd order component of the axial force that potentially causes the noise and vibration in vehicle. The VTJ shows an excellent behavior for the shudder when compared with TJ. In addition, a flexible nonlinear contact analysis coupled with rigid multi-body dynamics is also performed to show the dynamic strength characteristics of the rollers, housing, and spider.

• 한국전산유체공학회:학술대회논문집
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• 한국전산유체공학회 2007년도 춘계 학술대회논문집
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• pp.83-86
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• 2007

Turbulent flow analysis is conducted around the multi-stage launch vehicle including base region and detachment motion of strap-on boosters due to resultant aerodynamic forces and gravity is simulated. Aerodynamic solution procedure is coupled with rigid body dynamics for the prediction of separation behavior. An overset mesh technique is adopted to achieve maximum efficiency in simulating relative motion of bodies and various turbulence models are implemented on the flow solver to predict the aerodynamic forces accurately. At first, some preliminary studies are conducted to show the importance of base flow for the exact prediction of detachment motion and to find the most suitable turbulence model for the simulation of launch vehicle configurations. And then, developed solver is applied to the simulation of KSR-III, a three-stage sounding rocket researched in Korea. From the analyses, after-body flow field strongly affects the separation motions of strap-on boosters. Negative pitching moment at initial stage is gradually recovered and a strap-on finally results in a safe separation, while fore-body analysis shows collision phenomena between core rocket and booster. And a slight variation of motion is observed from the comparison between inviscid and turbulent analyses. Change of separation trajectory based on viscous effects is just a few percent and therefore, inviscid analysis is sufficient for the simulation of separation motion if the study is focused only on the movement of strap-ons.