• 제어로봇시스템학회:학술대회논문집
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• 1999.10a
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• pp.302-305
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• 1999

Twin-servo mechanism is used to increase the payload capacity and speed of high precision motion control system. In this paper, we propose a robust synchronizing motion control algorithm to cancel out the skew motion of twin-servo system caused by different dynamic characteristics of two driving systems and the vibration generated by high accelerating and decelerating motions. This proposed control algorithm consists of separate feedback motion control algorithm of each driving system and skew motion compensation algorithm between two systems. Robust model reference tracking controller is proposed as a separate motion controller and its disturbance attenuation property is shown. For the synchronizing motion, skew motion compensation algorithm is designed, and the stability of whole Closed loop system is proved based on passivity theory.

• Journal of Institute of Control, Robotics and Systems
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• v.6 no.10
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• pp.871-880
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• 2000

A twin-servo mechanism is used to increase the payload capacity and assembling speed of high precision motion control systems such as semiconductor chip mounters. In this paper, we focus on the modeling of the twin-servo system and propose its network representation. And also, we propose a robust synchronizing motion control algorithm to cancel out the skew motion of the twin-servo system caused by different dynamic characteristics of two driving systems and the vibration generated by high accelerating and decelerating motions. The proposed control algorithm consists of separate feedback motion control algorithms for each driving system and a skew motion compensation algorithm. A robust tracking controller based on internal-loop compensation is proposed as a separate motion controller and its disturbance attenuation property is shown. The skew motion compensation algorithm is also designed to maintain the synchronizing motion during high speed operation, and the stability of the whole closed loop system is proved based on passivity theory. Finally, experimental results are shown to illustrate control performance.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 1999.10a
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• pp.273-280
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• 1999

Yard cranes are very useful equipments for handing of heavy containers, But rope-driven yard cranes must have a little of sway and skew motion because ropes are passive mechanical device. Therefore rope-driven yard cranes require skilled drivers to depress sway and skew motions. So many researches have been concentrated on anti-sway and anti-skew algorithm controlling trolley speed or rope tension. Although many efforts, the rope-driven method is not proper to an automated yard equipment because of sway and skew motion. This paper will propose a new concept yard crane which has a new structure, overcomes defects of rope-driven cranes and is proper to automation. And we will study its actuality

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2012.10a
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• pp.61-62
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• 2012

• Earthquakes and Structures
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• v.4 no.1
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• pp.1-10
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• 2013

The present investigation deals with the analysis of wave motion in the layer of an anisotropic, initially stressed, fiber reinforced thermoelastic medium. Secular equations for symmetric and skew-symmetric modes of wave propagation in completely separate terms are derived. The amplitudes of displacements and temperature distribution were also obtained. Finally, the numerical solution was carried out for Cobalt and the dispersion curves, amplitudes of displacements and temperature distribution for symmetric and skew-symmetric wave modes are presented to evince the effect of anisotropy. Some particular cases are also deduced.

• Proceedings of the Korea Concrete Institute Conference
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• 1998.10a
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• pp.553-558
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• 1998

Since the mid of the 20th century in the world, it has been observed that the number of minor or moderate earthquake motions tend to be increased year by year. Owing to the topographical condition, moreover, large numbers of skew bridges have been constructed for the requirements of more than DB18 ton bridge in Korea. It has been also observed from foreign countries that lots of superstructures collapse in bridge were occurred in previous earthquakes, inclusive of 1995 Kobe earthquake. This is caused by a relative displacement between the upper and lower structure of bridge by the earthquake and the rotation with respect to the vertical axis of skew bridges, which were subjected to and earthquake motion. In this study, the probabilistic analysis of unseating failure of skew bridges under scenario earthquake has been carried out by evaluating the longitudinal displacement of skew bridges.

• Wind and Structures
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• v.7 no.6
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• pp.421-447
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• 2004

This paper presents a time domain approach for predicting buffeting response of long suspension bridges under skew winds. The buffeting forces on an oblique strip of the bridge deck in the mean wind direction are derived in terms of aerodynamic coefficients measured under skew winds and equivalent fluctuating wind velocities with aerodynamic impulse functions included. The time histories of equivalent fluctuating wind velocities and then buffeting forces along the bridge deck are simulated using the spectral representation method based on the Gaussian distribution assumption. The self-excited forces on an oblique strip of the bridge deck are represented by the convolution integrals involving aerodynamic impulse functions and structural motions. The aerodynamic impulse functions of self-excited forces are derived from experimentally measured flutter derivatives under skew winds using rational function approximations. The governing equation of motion of a long suspension bridge under skew winds is established using the finite element method and solved using the Newmark numerical method. The proposed time domain approach is finally applied to the Tsing Ma suspension bridge in Hong Kong. The computed buffeting responses of the bridge under skew winds during Typhoon Sam are compared with those obtained from the frequency domain approach and the field measurement. The comparisons are found satisfactory for the bridge response in the main span.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.57 no.3
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• pp.390-397
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• 2008

Permanent Magnet Linear Synchronous Motor (PMLSM) has high efficiency, high energy density, and high control-ability. But, the detent force always is produced by the structure of slot-teeth. There are the disadvantages such as noise and vibration of the apparatuses are induced and the control ability is curtailed because detent force acts as thrust ripple. Therefore, the detent force reduction is an essential requirement in PMLSM. Generally, the method, skewing permanent magnet or slot-teeth, is used to reduce the detent force. But the thrust is decreased at the same time. If permanent magnet is skewed, the lateral force which operates as the perpendicular direction of skew direction is generated in linear guide of PMLSM. So, V-skew model is proposed for the reduction of lateral force. The lateral force acts as braking force in linear motion guide, and it has bad influence to the characteristics of PMLSM. However, these problems will not be solved by 2-dimensional Finite Element Analysis (FEA). So, in this paper 3-dimensional FEA is applied to analyze the PMLSM where permanent magnet is skewed and has overhang. The detent force and thrust characteristics considering skew and overhang effects of permanent magnet are analyzed by 3-dimensional FEA and the results are compared with experimental values to verify the propriety of analysis.

• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.540-545
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• 2004

This article describes the time delay control of the 3-dimensional motion of the container cranes used in dockside container terminals. The container is suspended by four flexible cables via spreader, and due to the disturbances such as the wind and acceleration of cranes, the container undergoes translational(sway) and rotational position errors. And due to the uncertainty of weight and rotational inertia, accurate position control of container crane is difficult to realize. This paper, based on the analysis of 3-dimensional dynamics of container moving systems, develops time delay control algorithm [1]. The developed control algorithm is shown effective in controlling the container position in the presence of gust and parameter uncertainties.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.1723-1728
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• 2005

This article describes the fuzzy control of the 3-dimensional motion of the container cranes used in dockside container terminals. The container is suspended by four flexible cables via spreader, and due to the disturbances such as the wind and acceleration of cranes, the container undergoes translational(sway) and rotational position errors. And due to the uncertainty of weight and rotational inertia, accurate position control of container crane is difficult to realize. This paper, based on the analysis of 3-dimensional dynamics of container moving systems, describes the design of the fuzzy controller, which does not require the computation time to optimize the distribution of cable tension. The developed controller is shown effective in controlling the container position in the presence of gust and parameter uncertainties.