• 한국소음진동공학회논문집
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• 제19권1호
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• pp.17-23
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• 2009

This paper proposes a new type of MR(magnetorheological) fluid based suspension system and applies it to military vehicle for vibration control. The suspension system consists of gas spring and MR damper. The nonlinear behavior of spring characteristics is evaluated with respect to the wheel travel and damping force model due to viscosity and yield stress of MR fluid is derived. Subsequently, a military vehicle of 6WD is adopted for the integration of the MR suspension system and its nonlinear dynamic model is established by considering vertical, pitch and roll motion. Then, a sky-hook controller associated with semi-active actuating condition is designed to reduce the imposed vibration. In order to demonstrate the effectiveness of the proposed MR suspension system, computer simulation is undertaken showing vibration control performance such as roll angle and pitch angle evaluated under bump and random road profiles.

• Journal of Ship and Ocean Technology
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• 제9권2호
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• pp.21-28
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• 2005

Recently moored offshore vessels like as FPSO(Floating Production Storage Offloading) are frequently deployed in seas for a long time. For successful operation, the motion behavior of such a vessel in waves must be clarified in advance either theoretically or experimentally. It is of particular interest to examine the behavior, when swells are superposed to seas with different incident angle. Such a situation is actually reported in some offshore oilfield. In this paper, the motion of a FPSO in irregular waves including swells is studied in time domain. Hydrodynamic coefficients and wave forces are calculated in frequency domain using three-dimensional singularity distribution method. Time memory function and added mass at infinite frequency are derived by Fourier transform utilizing hydrodynamic damping coefficients. In the process, the numerical accuracy of added mass at infinite frequency is carefully examined in association with free decay simulations. It is found from numerical simulations that swells significantly affect the vertical motion of FPSO mainly because of their longer period compared to the ordinary sea waves. In particular, the roll motion is largely amplified because the dominant period of swell is closer to the roll natural period than that of seas.

• 한국해양공학회지
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• 제11권3호
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• pp.107-115
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• 1997

비성형 동력학계로 모델링된 부유수송체의 동적응답을 조사하고 그 운동의 안정성을 해석하였다. 종동요 모우드의 고유주파수가 횡동요 모우드의 고유주파수의 두배가 되는, 즉, 2:1 내부공진 혹은 자기계수공진인 조건하에서, 이부유수송체는 한 운동 모우드의 직접가진에 의해 간접가진된 다른 모우드가 대진폭 응답을 보일 수 있음을 밝혔다. 또항, 종동요 모우드의 감쇠력은 비교적 넓은 범위의 운동에 대해 선형적임에 반해, 횡동요 모우드의 감쇠력은 점성의 영향이 대단히 커서 비선형성이 대단히 강한 것으로 알려져 왔다. 이 문제를 수학적으로 모델링하기 위하여, 종동요 모우드의 운동방정식에는 선형및 제곱형의 합의 형태인 감쇠력 모형을 사용하였다. 다중척도법을 사용하여 이 두가지 운동 모우드의 주기적 응답및 그의 안정성에 미치는 제곱형 비선형 횡동요 감쇠력의 영향을 밝혔다. 조우주기가 횡동요 모우드의 고유주기와 근사한 경우에 대하여 이 비선형계의 응답을 구하고 주파수-응답 곡선으로 나타내었다.

• 한국해양공학회지
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• 제31권3호
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• pp.208-218
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• 2017

The performance of a wave energy converter (WEC) that uses the rolling motion of a partially submerged pendulum plate in front of a quay wall was analyzed. The wave exciting moment and hydrodynamic moment were obtained using a matched eigenfunction expansion method (MEEM) based on the linear potential theory, and then the roll motion response of a pendulum plate, time averaged extracted power, and efficiency were investigated. The optimal PTO damping coefficient was suggested to give the optimal extracted power. The peak value of the optimal extracted power occurs at the resonant frequency. The resonant peak and its width increase as the submergence depth of the pendulum plate decreases and thickness of the pendulum plate increases. An increase in the wave incidence angle reduces the efficiency of the wave energy converter. In addition, the WEC using a rolling pendulum plate contributes not only to the extraction of the wave energy, but also to a reduction in the waves reflected from the quay wall, which helps to stabilize ships going near the quay wall.

• 한국정밀공학회지
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• 제30권12호
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• pp.1321-1325
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• 2013

In this paper, we proposed an air bearing stage with active magnetic preloads in vertical directions compensating motion errors and attenuating vibrations to improve dynamic characteristics. This preloaded design gives simpler configuration of the stage, and active control of preload can be used for compensating motion errors by feedforward method. To improve dynamic characteristics, vibration of the table is monitored by an accelerometer, and controlled by a DSP based digital controller with integrator and band pass filters for suppressing roll and pitch vibration modes. The modes were evaluated by measuring frequency response functions, and compared with compensated responses. This showed effective results for suppressing poorly damped regenerative vibration of air bearings.

• 한국항공우주학회지
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• 제46권5호
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• pp.385-392
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• 2018

본 논문은 플라잉디스크에 탑재된 계측모듈의 IMU 데이터를 이용하여 롤링 및 피칭모멘트 감쇠미계수를 추정하는 방식을 새롭게 제시한다. 제안한 방식은 반복된 수 회의 원반 비행 실험을 수행하여 데이터를 구축한 뒤 공력 계수를 추정하므로, 풍동이나 전산유체해석을 이용하는 방법에 비해 수월한 실험적 대안이 될 수 있다. 추정한 공력 계수는 플라잉디스크의 비행동역학 모델을 토대로 구현한 시뮬레이터에 적용하여 비행 궤적을 예측하는 것에 이용되었으며, 이를 GPS의 위치 궤적과 비교함으로써 성능을 검증하였다.

• 한국항해항만학회지
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• 제34권4호
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• pp.271-279
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• 2010

The Mobile Harbor(MH) is a new transportation platform that can load and unload containers to and from very large container ships in the sea. This loading and unloading by crane can be performed with only very small movements of the MH in waves because MH is operated outside of the harbor. For this reason, an anti-rolling tank(ART) and an active mass driving system(AMD) were designed to reduce MH's roll motion, especially at the natural frequency of MH. In the conceptual design stage, it is difficult to confirm the design result of theses anti-rolling devices without modeling and simulation tools. Therefore, the coupled MH and anti-rolling devices' dynamic equations in waves were derived and a simulation program that can analyze the roll reduction performance in various conditions, such as sea state, wave direction, and so on, was developed. The coupled equations are constructed as an eight degrees of freedom (DOF) motion that consists of MH's six DOF dynamics and the ART's and AMD's control variables. In order to conveniently include the ART's and AMD's control dynamics in the time domain, MH's radiated wave force was described by an impulse response function derived by the damping coefficient obtained in the frequency domain, and wave exciting forces such as Froude-Krylov force and diffraction force and nonlinear buoyancy were calculated at every simulation time interval. Finally, the roll reduction performances of the designed anti-rolling devices were successfully assessed in the various loading and wave conditions by using a developed simulation program.

• 한국항공우주학회지
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• 제40권5호
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• pp.395-404
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• 2012

본 논문에서는 전산유체역학을 이용하여 3차원 비행체 형상에 대한 동안정 미계수를 예측하였다. 피치에 대한 미계수는 피치방향의 조화진동운동을 통하여 계산하였고 롤 감쇠계수는 비관성 좌표계에 대한 정상해석을 통하여 계산하였다. 계산은 Basic Finner와 SDM 형상에 대해 수행했으며 다른 연구자의 실험적/수치적 결과와 비교하였다. 유동 계산을 위해 비관성 좌표계와 관성 좌표계에서 모두 사용할 수 있는 3차원 Euler 해석자를 개발하였다. 시간 정확성을 유지한 비정상 해석을 위해 이중시간적분법을 적용하였다. 동안정 미계수계산 결과는 다른 수치 및 실험적 연구 결과들과 잘 일치하는 것을 알 수 있었다.

• 대한조선학회논문집
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• 제32권1호
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• pp.37-41
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• 1995

불규칙 해상에서의 선체의 횡동요운동을 해석하기 위하여 통계적 부분선형화 방법을 사용하였다. 선형 1자유도계인 횡동요 운동 모델에 2차의 비선형 감쇠항과 3차 및 5차, 7차, 9차, 11차의 비선형 복원모멘트를 추가하였으며 불규칙 기진모멘트는 가우스 백색잡음으로 가정하였다. 이 해석 결과를 등가선형화 방법으로 구한결과와 비교한 결과 부분선형화 방법이 반드시 더 정확한 결과를 주는 것은 아니란 점을 확인하였다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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• pp.387-390
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• 1996

In this paper, A new PI-type reaching law for variable structure control is proposed to alleviate the chattering and improve the robustness properties in the presence of matched uncertainty. The proposed reaching law consists of a proportional term and an integral term. And the dynamics of switching function can easily be specified by using the second-order system analysis method. And also the proposed scheme has the advantages of alleviating the chattering than Gao's one and reducing the influence of uncertainties by band pass filter characteristic. The efficiency of the proposed method has been demonstrated by simulations for Dutch Roll damping in a light aircraft.