• Proceedings of the Korean Society of Precision Engineering Conference
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• 1996.11a
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• pp.318-322
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• 1996

This paper presents a technique to control a robot which has a flexible manipulator moving in a vertical plane. The flexible manipulator is modeled as an Euler-Bernoulli beam. Elastic deformation is represented using the assumed modes method. A comparison function which satisfies all geometric and natural boundary conditions of a cantilever beam with an end mass is used as an assumed mode shape. Lagrange's equation is utilized for the development of a discretized model. A control algorithm is developed using a simple PID control technique. The proportional, integral and derivative control gains are determined based on the dominant pole placement method and tuned to show no overshoot and having a short settling time. The effectiveness of the developed control scheme is showed experimentally. In the position control experiment, three different end masses are used. The experimental results shows little overshoot, no steady state error, and less than 2.5 second settling time in case of having an end mass which is equivalent to 45% of the total system weight. Also the residual vibration of the end point is effectively controlled.

• Journal of Mechanical Science and Technology
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• v.20 no.8
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• pp.1224-1231
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• 2006

The stability and control derivatives of DURUMI-lI UAV using the flight test are obtained. The flight test data is gathered from the normal flight condition (normal mode) and the flight condition assumed as the right elevator fixed (fault mode). Using real-time parameter estimation techniques, applied to Fourier transform regression method, simulates the aircraft motion. From the result, the fault of control surface is to be detected. In this paper, the results of the real- time parameter estimation techniques are compared with the results of the Advanced Aircraft Analysis (AAA). Using the aerodynamic derivatives, it provides the base line of normal/failure for the control surface by using the on-line parameter estimation of Fourier transform regression. In flight, this approach maybe helpful to detect and isolate the fault of primary control surface. It is explained how to perform the flight condition assumed as the right elevator fixed in the flight test. Also, it is mentioned how to switch between the normal flight condition and the assumed fault flight condition.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2005.05a
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• pp.295-300
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• 2005

An analytical method for the hydroelastic vibration of a vessel composed of an upper annular plate and a lower circular plate is developed by the Rayleigh-Ritz method. The two plates are clamped along a rigid cylindrical vessel wall. It is assumed that the fluid bounded by a rigid cylindrical vessel is incompressible and non-viscous. The wet mode shape of the plates is assumed as a combination of the dry mode shapes of the plates. The fluid motion is described by using the fluid displacement potential and determined by using the compatibility conditions along the fluid interface with the plate. Minimizing the Rayleigh quotient based on the energy conservation gives an eigenvalue problem. It is found that the theoretical results can predict well the fluid-coupled natural frequencies comparing with the finite element analysis result.

• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.15 no.8 s.101
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• pp.968-974
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• 2005

An analytical method for the hydroelastic vibration of a vessel composed of an upper annular plate and a lower circular plate is developed by the Rayleigh-Ritz method. The two plates are clamped along a rigid cylindrical vessel wall. It is assumed that the fluid bounded by a rigid cylindrical vessel is incompressible and non-viscous. The wet mode shape of the plates is assumed as a combination of the dry mode shapes of the plates. The fluid motion is described by using the fluid displacement potential and determined by using the compatibility conditions along the fluid interface with the plate. Minimizing the Rayleigh quotient based on the energy conservation gives an eigenvalue problem. It is found that the theoretical results can predict well the fluid-coupled natural frequencies comparing with the finite element analysis result.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2007.11a
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• pp.42-47
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• 2007

An analytical method for the free vibration of a flexible rectangular plate in contact with water is developed by the Rayleigh.Ritz method. The plate clamped along the edges is partially contacted with water at both sides. It is assumed that the water bounded by rigid walls is incompressible and inviscid. The wet mode shape of the plate is assumed as a combination of the dry mode shapes of a clamped beam. The liquid motion is described by using the liquid displacement potential and determined by using the compatibility conditions along the liquid interface with the plate. Minimizing the Rayleigh quotient based on the energy conservation gives an eigenvalue problem. It is found that the theoretical results can predict excellently the fluid.coupled natural frequencies comparing with the finite element analysis result.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2005.11b
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• pp.65-68
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• 2005

In this paper, a theoretical study is carried out on the hydroelastic vibration of a rectangular tank wall. It is assumed that the tank wall is clamped along the plate edges. The fluid velocity potential is used for the simulation of fluid domain and to obtain the added mass due to wall vibration. In addition, the vibration characteristics of stiffened wall of the rectangular tank are investigated. Assumed mode method is utilized to the stiffened plate model and hydrodynamic force is obtained by the proposed approach. The coupled natural frequencies are obtained from the relationship between kinetic energies of a wall including fluid and the potential energy of the wall. The theoretical result is compared with the three-dimensional finite element method and then added mass effect is discussed due to tank length and potential mode.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2004.05a
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• pp.258-262
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• 2004

An analytical method for the free vibration of two circular plates coupled with a fluid was developed by the Rayleigh-Ritz method. The two plates with unequal thickness and diameter are clamped along the cylindrical vessel wall. It is assumed that the fluid bounded by a rigid cylindrical vessel is incompressible and non-viscous. The wet mode shape of the circular plates is assumed as a combination of the dry mode shapes of the plates. The fluid motion is described by using the fluid displacement potential and determined by using the compatibility conditions along the fluid interface with the plate. Minimizing the Rayleigh quotient based on the energy conservation gives a eigenvalue problem. It is found that the theoretical results can predict well the fluid-coupled natural frequencies with excellent accuracy comparing with the finite element analysis result.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2004.05a
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• pp.623-628
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• 2004

In this study, the assumed-mode method using characteristic polynomials of Timoshenko beam is applied for the free vibration analysis of rectangular stiffened plates. The polynomial is derived considering the rotational constraint along the boundary edges of plate and the orthogonal relation of Timoshenko beam functions, which enables to simplify the free vibration analysis of plate structure having various boundary conditions. To verify the validity and effectiveness of the adopted method, numerical analysis for cross-stiffened plates were carried out and its results were compared with those obtained by the general purpose FEA software.

• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.22 no.7
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• pp.659-666
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• 2012

A nonlinear dynamic model for the shaft-disk-blade unit is developed in this study. In this regard, the rotating flexible blade, with a pre-twist angle, attached to a rigid disk driven by a shaft which is flexible in torsion is developed. The rotor-blade coupled model is derived using Lagrange equation in conjunction with the assumed mode method to discretize the blade deformation. The equations of motion are analyzed based on the small deformation theory for the blade and shaft torsional deformation to obtain the system natural frequencies for various system parameters.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.19 no.1
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• pp.183-193
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• 1994

The dynamic equation of a flexible robot manipulator is formulated by the assumed-mode method and the Lagrange equation. The controller is designed for a flexible robot manipulator including a joint actuator. The controller consists of a parmaeter estimator and the adaptive controller. A parameter estimator evaluates ARMA model`s parameter using RLS algorithm. An adaptive controller is designed based on a reference model and a minimum prediction error controller.