• 한국소음진동공학회논문집
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• 제11권7호
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• pp.261-266
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• 2001

The flexural vibration of laminated composite beams with active and passive constrained layer damping has been investigated to design a structure with maximum possible damping capacity. The equations of motion are derived fro flexural vibrations of symmetrical,. multi-layer laminated beams. The damping ratio and model damping of the first bending mode are calculated by means of iterative complex eigensolution method. The direct negative velocity feedback control is used for the active constrained layer damping. It is shown that the flexible laminated beam is more effective in the vibration control for both active and passive constrained layer damping. and this paper addresses a design strategy of laminated composite under flexural vibrations with constrained layer damping.

• 한국생산제조학회지
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• 제19권5호
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• pp.645-652
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• 2010

For free motions, vibration suppression of single flexible manipulators has been one of the hottest research topics. However, for cooperative motions of multiple flexible manipulators, a little effort has been devoted for the vibration suppression control. So, the aim of this paper is to develop a hybrid force/position control and vibration suppression control scheme for multiple cooperation flexible manipulators handling a rigid object. In order to clarify the discussion, the motions of dual-arm experimental flexible manipulator are considered. Using the developed model, we control a robotic system with hybrid position/force control scheme. Finally, Experiments are performed, and a comparison of experimental results is given to clarify the validity of our control scheme.

• 전력전자학회논문지
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• 제8권1호
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• pp.80-88
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• 2003

본 논문에서는 Kharitonov의 강인 안정도 이론을 적용한 이관성계 전동기 구동시스템에 대한 새로운 축진동억제 제어방식을 제안한다. 제안한 축진동억제 제어기는 전동기 속도와 관측된 비틀림 토크를 궤환하는 축소차원 상태궤환 제어기와 PI 제어기를 이용한 속도제어기로 구성되어 있다. 또한 오프라인 RLS 방식으로 추정된 기계계 파라미터를 사용하여 축진동 억제를 위한 속도제어기를 설계하고, Kharitonov의 강인 안정도 이론을 적용하여 제어기의 이득을 선정하였다. Kharitonov의 강인안정도 이론을 통해 지정한 안정도 마진과 댐펑 특성을 확보하였으며 지정된 범위 내에서 파라미터가 변동시에도 우수한 축진동 억제 특성을 획득하였다. 마지막으로 시뮬레이션과 자체 제작한 이관성계 전동기 구동 시스템의 통가 실험장치를 통해 축진동억제 제어방식의 효과와 유용성을 검증하였다.

• 한국소음진동공학회논문집
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• 제15권1호
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• pp.12-19
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• 2005

This paper proposed a dual actuator using Bimorph PZT for information storage device based on prove array NSOM(near-field scanning optical microscopy). The gap between the media and the optical head should be maintained within the optical tolerance. Therefore, a new actuator having high sensitivity is required. Bimorph PZT, which has fast access time and high sensitivity characteristic, is suitable for this precise actuating system. This paper is focused on derivation of mathematical model of dual Bimorph PZT actuator and control algorithm. Hamilton's principle was used for mathematical model. The model is verified by FEA(finite element analysis), and compared with experimental results. Different control algorithms were used for two Bimorph PZT actuating same direction and opposite direction. The gap between recording media and optical head was controlled within 20nm in experiment.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2003년도 추계학술대회
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• pp.1714-1717
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• 2003

ECCOMAS Thematic Conference Multibody 2003 was held at IST (Instituto Superior Technico), Lisbon, Portugal from July 1 to July 4. 2003. And MBDV(Multibody Dynamics and Vibration) in the 2003 ASME DETC was held at Chicago, U.S.A. from September 2 to September 6. In this paper, the presented papers in these conferences were reviewed and the trends in the multibody dynamics are summarized. The session titles in these conferences include Flexible Multibody Dynamics, Vehicle Dynamics, Contact, Biomechanics, Real-time Challenges, Spatial manipulator and Control, Multidisciplinary Applications, and Advanced Education. The poster session was also organized for more discussions in the Multibody2003 conference.