• The Transactions of the Korean Institute of Electrical Engineers
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• v.39 no.1
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• pp.92-106
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• 1990

Active compliance is often used in the control of robot manipulators for the implementation of complex tasks such as assembly, multi-finger fine motion, legged-vehicle adaptive control,etc. This technique balances the interactive force between the manipulator tip and its working environment with its position and velocity errors to achieve the operation of a damped spring. This paper investigates the effecft of passive compliance on system stability with regard to force feedback implementation for actively compliant motion. Usually it is understood that accurate position control require a stiff system. However, theoretical examination of control experiments on a legged suspension vehicle suggests that, if the control includes discrete-time force feedback, some passive compliance is necessssary at the legs of the vehicle for system stability. This can be an important factor to bl considered in manipulator design and control. A theoretical analysis, numerical simulation, and experimental result, confirming the above conclusion, are introduced in this paper.

• Structural Engineering and Mechanics
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• v.51 no.5
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• pp.743-754
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• 2014

Investigations of regular and chaotic vibrations of the autoparametric pendulum absorber suspended on a nonlinear coil spring and a magnetorheological damper are presented in the paper. Application of a semi-active damper allows controlling the dangerous motion without stooping of system and additionally gives new possibilities for designers. The investigations are curried out close to the main parametric resonance. Obtained numerical and experimental results show that the semi-active suspension may reduce dangerous motion and it also allows to maintain the pendulum at a given attractor or to jump to another one. Moreover, the results show that, for some parameters, MR damping may transit to chaotic motions.

• Journal of the Korea Society of Computer and Information
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• v.12 no.3
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• pp.287-293
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• 2007

This paper proposed modelling and design method in suspension system design to analyze active suspension equipment by adopting intelligent robust control theory. Recent in the field of suspension system design it is general to adopt active control scheme for stiffness and damping, and connection with other vehicle stability control equipment is also intricate, it is required for control system scheme to design more robust, higher response and precision control equipment. It is known that active suspension system is better than passive spring-damper system in designing suspension equipment. We analyze suspension system with considering location of front-rear wheel and driving velocity, then design robust control system. Numerical example is shown for validity of intelligent control system design in active suspension system.

• Journal of the Computational Structural Engineering Institute of Korea
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• v.25 no.4
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• pp.339-346
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• 2012

In this paper, equivalent models for active control devices are proposed so that building structures with such devices are analyzed using commercial structural analysis programs for the assessment of the structural members under active vibration control. Equivalent link models represent active control device with a virtual linear spring and dashpot, and equivalent force models are control force history acting at the installation point in structural models. Active controllers are designed based on the reduced-order models for a vertical cantilever model and a high-rise building model and corresponding equivalent models are determined from control gain matrices. Based on acceleration, displacement and member force responses, the effectiveness of the equivalent models is verified. As a result, proposed equivalent models, of which equivalent link model showed better performance, appear to enable detailed investigation of structural behavior to the extent of member force level.

• Proceedings of the KSR Conference
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• 2011.05a
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• pp.1080-1084
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• 2011

Urban maglev should have such characteristics as not only environmentally friendliness and excellent driving capability but also curve negotiation performance because its routes have many sharp curves. Due to normal mechanism of urban maglev its relative displacements of secondary spring are bigger than conventional railway vehicle and the centering force of levitation magnet is smaller than wheel-on-rail system. These features of maglev affect the curving negotiation and so the additional steering device is to be required on Urban maglev to improve the running performance at sharp curve of less than about R50m. Some developed urban maglev had the passive steering device which consists of mechanical linkage or hydraulic cylinder and closed-route piping. But it has drawback as complexity of layout of understructure of vehicle and functional limitation of passive mechanism regarding transient curve. These demerits could be solved by using active steering system. But it has a weak point that an active device should have actuators and additional inverter or hydraulic power source. In this paper, the semi-active steering system for urban maglev is to be introduced.

• International Journal of Automotive Technology
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• v.7 no.7
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• pp.777-784
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• 2006

The lateral dynamic behaviours of a track inspection vehicle with laterally guided system are studied for the safety and comfort. A 10-DOF dynamic model is proposed counting for lateral and yaw motions. The equations for motions of the vehicle running on curved tracks at a constant speed are presented. It is shown by simulation that lateral guiding forces applied to the guiding wheels on the inner side of the track increase in a larger scale in comparison with those on the outer side when the vehicle passes through curved tracks with cant, and the front guiding spring forces is larger than the rears. Lateral vibrations due to yaw motions of the vehicle take place when the vehicle runs through curved tracks. Finally, effect of the lateral guidance on the vehicle dynamics is also examined and advantages of such a guiding system are discussed in some details. An optimal guided control is applied to restrain the lateral and yaw motions. The comparisons between the active and passive guidance explain the effect of the active control approaches.

• Transactions of the Korean Society of Automotive Engineers
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• v.12 no.3
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• pp.159-169
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• 2004

In this study, integration control of air-cell seat and semi-active suspension is proposed to minimize the road-tyre force which can cause uncomfortable feeling to rider. The proposed integration control with sliding perturbation observer is consisted of air-cell seat control which uses the force generated by air-cell and the sky-hook control. The air-cell seat itself has been modeled as a 1 degree of freedom spring-damper system. The actual characteristics of the air-cell have been analyzed through experiments. In this paper, we introduces a new robust motion control algorithm using partial state feedback for a nonlinear system with modelling uncertainties and external disturbances. The major contribution of this work is the development and design of robust observer for the state and the perturbation. The combination skyhook controller and air-cell controller using the observer improves control performance, because of the robust routine called Sliding Observer Design for Integration Control of Air-Cell Seat and Semi-active Suspension. The simulation results show a high accuracy and a good performance.

• Journal of Institute of Control, Robotics and Systems
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• v.8 no.3
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• pp.199-207
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• 2002

In this paper, a self-tuning gain-scheduled skyhook control for semi-active suspension systems is investigated. The dynamic characteristics of a continuously variable damper including electro-hydraulic pressure control valves is analyzed. A 2-d.o.f. time-varying quarter-car model that permits variations in sprung mass and suspension spring coefficient is considered. The self-tuning skyhook control algorithm proposed in this paper requires only the measurement of body acceleration. The absolute velocity of the sprung mass and the relative velocity of the suspension deflection are estimated by using integral filters. The skyhook gains are gain-scheduled in such a way that the body acceleration and the dynamic tire force are optimized. An ECU prototype is discussed. Experimental results using a 1/4-ear simulator are discussed. Also, a suspension ECU prototype targeting real implementation is provided.

• Journal of the Earthquake Engineering Society of Korea
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• v.9 no.3 s.43
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• pp.9-22
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• 2005

The allowed operation space for the mass damper in an active tuned mass damper (ATMD) system is limited for most civil structures. In this study, a restrained stroke active tuned mass damper (RS-ATMD) system with a end-spring and a holder that reduces the stroke of the mass damper with maintaining the control effect durably is proposed. This new control system functions as a conventional ATMD within the predetermined stroke limitation under small excitation and as an RS-ATMD beyond that limitation under large excitation. A new control algorithm considering such an operation principle of the RS-ATMD are also provided. Parameteric study for the various design factors of the RS-ATMD is conducted and the control effectiveness are investigated in comparison with the ATMD. Exposed to sinusoidal or impact load, the RS-ATMD system shows the considerable reduction of the maximum stroke of the mass damper with the slight diminution in the control effectiveness. Excited by random load, it also shows the considerable reduction of the maximum stroke of the mass damper not allowing the diminution in the control effectiveness.

• Journal of the Korean Society of Costume
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• v.33
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• pp.41-54
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• 1997

The objectives of this study were to find out the relationships between clothing style pre-ferences and self-image and to examine the differences in clothing style preferences ac-cording to marital status educational level and social stratification of women. The drawings of clothing style were designed referring to the catalogues for spring/summer of 1996 and printed by computer 6 styles of suit corresponding to clothing image were selected. Style A is a brown suit decorated with scarf style B a grey suit with stripes C a yellow suit with printed pattern D a grey and beige suit E a chanel suit decorated with corsage and F a blue suit with pleated skirt. The self-image was separated to the actual self-image and the ideal self-image. Samples were 226 women(ages 18 to 37) in Seoul Korea. The results of the study were the followings. 1. Clothing images of 6 styles were estimated; Style A was plain conservative formal and gentle image ; B masculine solid actual dark and plain image; C feminine romantic bright and splendid image; D actual ordinary un-fashionable and plain image; E feminine ten-der romantic and non-active image ; F indi-vidual fshionable open casual sprightly and active image. 2. There were significant relationships be-tween clothing style preferences and realistic self-image. The women who considered them-selves as masculine preferred style B mascu-line and plain image. The women feminine and conservative preferred style E feminine and tender image. The women not to follow the fshion preferred style D ordinary and plain image. The women informal and open pre-ferred the style F casual and active image. 3. There were significant relationships be-tween clothing style preferences and ideal self-image. The women who wanted to be-tween clothing style preferences and ideal self-image. The women who wanted to be con-sidered themselves as feminine and conserva-tive preferred style E feminine and tender im-age. The women who wanted gentle and con-servative preferred style D ordinary and plain image. The women who wanted sprightly pre-ferred the style F casual and active image. 4. There were significant differences in clothing style preferences according to marital status educational level and social stratifi-cation. The women with more eduacation pre-ferred the splendid and the plain image at the same time. The upper class preferred feminine image and lower class casual and active image.