• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 2004년도 ICCAS
• /
• pp.153-158
• /
• 2004

In this paper, we proposed a two-stage control of the container crane. The first stage control is time-optimal control for the purpose of fast trolley traveling. With suitable trolley velocity patterns, the sway which is generated during trolley moving is minimized. At the second stage control feedback control law is investigated for the quick suppression of residual vibration after the trolley motion. For more practical system, the container crane system is modeled as a partial differential equation (PDE) system with flexible cable. The dynamics of the cable is derived as a moving system with tension caused by payload using Hamilton's principle for the systems. A control law based upon the Lyapunov's method is derived. It is revealed that a time-varying control force and a suitable passive damping at the actuator can successfully suppress the transverse vibrations.

• Smart Structures and Systems
• /
• 제23권6호
• /
• pp.627-639
• /
• 2019

Passive control may not provide enough damping for a stay cable since the control devices are often restricted to a low location level. In order to enhance control performance of conventional passive dampers, a new type of damper integrated with a rotary electromagnetic damper providing variable damping force and a flywheel serving as an inertial mass, called the rotary electromagnetic inertial mass damper (REIMD), is presented for suppressing the cable vibrations in this paper. The mechanical model of the REIMD is theoretically derived according to generation mechanisms of the damping force and the inertial force, and further validated by performance tests. General dynamic characteristics of an idealized taut cable with a REIMD installed close to the cable end are theoretically investigated, and parametric analysis are then conducted to investigate the effects of inertial mass and damping coefficient on vibration control performance. Finally, vibration control tests on a scaled cable model with a REIMD are performed to further verify mitigation performance through the first two modal additional damping ratios of the cable. Both the theoretical and experimental results show that control performance of the cable with the REIMD are much better than those of conventional passive viscous dampers, which mainly attributes to the increment of the damper displacement due to the inertial mass induced negative stiffness effects of the REIMD. Moreover, it is concluded that both inertial mass and damping coefficient of an optimum REIMD will decrease with the increase of the mode order of the cable, and oversize inertial mass may lead to negative effect on the control performance.

• Smart Structures and Systems
• /
• 제23권6호
• /
• pp.695-702
• /
• 2019

The number of cable-stayed bridges has been increasing worldwide, causing issues in maintaining the structural safety and integrity of bridges. The stay cable, one of the most critical members in cable-stayed bridges, is vulnerable to wind-induced vibrations owing to its inherent low damping capacity. Thus, vibration mitigation of stay cables has been an important issue both in academia and practice. While a semi-active control scheme shows effective vibration reduction compared to a passive control scheme, real-world applications are quite limited because it requires complicated equipment, including for data acquisition, and power supply. This study aims to develop an Arduino-based integrated cable vibration control system implementing a semi-active control algorithm. The integrated control system is built on the low-cost, low-power Arduino platform, embedding a semi-active control algorithm. A MEMS accelerometer is installed in the platform to conduct a state feedback for the semi-active control. The Linear Quadratic Gaussian control is applied to estimate a cable state and obtain a control gain, and the clipped optimal algorithm is implemented to control the damping device. This study selects the magnetorheological damper as a semi-active damping device, controlled by the proposed control system. The developed integrated system is applied to a laboratory size cable with a series of experimental studies for identifying the effect of the system on cable vibration reduction. The semi-active control embedded in the integrated system is compared with free and passive mode cases and is shown to reduce the vibration of stay-cables effectively.

• 한국해양공학회지
• /
• 제29권2호
• /
• pp.128-134
• /
• 2015

Axial vibration analysis is very important for a deep-seabed mining system. In this study, an axial vibration analysis was carried out to estimate the natural frequencies and tensions of the umbilical cable using experimental data obtained from the first pre-pilot mining test. The axial vibrations of the umbilical cable with a pilot mining robot at the bottom end were analytically determined. The range of the added mass coefficients of the pilot mining robot is estimated by comparing the experimental and analytical data. The natural frequencies and maximum tensions are calculated using four estimated added mass coefficients.

• Structural Engineering and Mechanics
• /
• 제88권4호
• /
• pp.379-387
• /
• 2023

Wind and earthquake loads may cause strong vibrations in large-span cable-stayed bridges, leading to the inability of the bridge to operate normally. An improved Pounding Tuned Mass Damper (PTMD) system was designed to improve the safety of the large-span cable-stayed bridge. The vibration control effect of the improved PTMD system on the large-span cablestayed bridge under the combined action of earthquake-wind-traffic was studied. Furthermore, the impact of different parameters on the vibration suppression performance of the improved PTMD system was analyzed. The numerical results indicate that the PTMD system is very effective in suppressing the displacements of the bridge caused by both the traffic-wind coupling and traffic-earthquake coupling. Moreover, the number, mass ratio, pounding stiffness, and gap values have a significant influence on the vibration suppression performance of the improved PTMD system. When the number of PTMD is increased from 3 to 9, the vibration reduction ratio of the vertical displacement is increased from 25.39% to 48.05%. As the mass ratio changes from 0.5% to 2%, the vibration reduction ratio increases significantly from 22.23% to 53.30%.

• 전자공학회논문지
• /
• 제50권1호
• /
• pp.239-245
• /
• 2013

발전소 내 고압 단자대 및 전력구 케이블 인입부에서 주변 전력기기들의 지속적인 진동 및 순간적인 충격의 발생으로 케이블 단자 또는 접속부 접촉점에 열화가 발생하는 사고가 일어난다. 접촉점에서의 열화 발생은 큰 사고로 이어질 수 있으며 안정적으로 전력을 공급해야 하는 발전소에서는 열화 발생을 예측하기 위한 다양한 연구가 시도되고 있다. 이에 비접촉식 적외선 센서를 이용하여 온도를 측정하는 방식이 있으며 이러한 방식의 궁극적인 목적은 측정하고자 하는 대상체를 최적의 거리에서 감시함으로 접촉점의 열화 발생뿐 아니라 센서 측정범위 내의 열화의 상태도 감시하는 데 있다. 연결부 온도를 측정하고 열화 상태를 실시간 감시하여 사용자에게 가시, 가청 알람을 주어 사용자가 열화사고를 인지하여 미연에 방지할 수 있게 한다. 그러나 이러한 시스템을 구축하기 위해서는 감시 장치를 설치, 운영해야 하는 어려움이 있다. 본 연구에서는 설치 용이성을 고려하여 소출력 배터리 동작모듈로 접속부의 온도를 측정하고 이를 감시할 수 있는 적외선센서를 이용한 무선감시시스템을 개발하였다.

• Structural Engineering and Mechanics
• /
• 제72권2호
• /
• pp.169-180
• /
• 2019

The underlying mechanism of the wind-induced vibration of the hangers of the suspension bridges is still not fully understood at present and hence is comprehensively examined in this study. More specifically, a series of field measurements on the No. 2 hanger of the Xihoumen Bridge was first carefully conducted. Large amplitude vibrations of the hanger were found and the oscillation amplitude of the leeward cable was obviously larger than that of the windward cables. Furthermore, the trajectory of the leeward cable was close to an ellipse, which agreed well with the major characteristics of wake-induced vibration. Then, a theoretical model for the wake-induced vibration based on a 3-D continuous cable was established. To obtain the responses of the leeward cable, the finite difference method (FDM) was adopted to numerically solve the established motion equation. Finally, numerical simulations by using the structural parameters of the No. 2 hanger of the Xihoumen Bridge were carried out within the spatial range of $4{\leq}X{\leq}10$ and $0{\leq}Y{\leq}4$ with a uniform interval of ${\Delta}X={\Delta}Y=0.25$. The results obtained from numerical simulations agreed well with the main features obtained from the field observations on the Xihoumen Bridge. This observation indicates that the wake-induced vibration might be one of the reasons for the hanger oscillation of the suspension bridge. In addition, the effects of damping ratio and windward cable movement on the wake-induced vibration of the leeward cable were numerically investigated.

• 한국전산구조공학회:학술대회논문집
• /
• 한국전산구조공학회 2000년도 가을 학술발표회논문집
• /
• pp.289-296
• /
• 2000

Dynamic responses of a bridge retrofitted with cable restrainers are examined under seismic excitations. A simplified and idealized mechanical model is developed to analyze the effects of the restrainers, which can consider the plastic behavior as well as the fracture of the cable. Using the proposed model, the effects of the stiffness and the clearance length of the restrainer upon the global bridge seismic behaviors are estimated. The changes of pounding forces, shear forces, and bending moments due to the application of restrainers are also investigated. The main effect of restrainers upon global bridge motions is found to reduce the relative distances between adjacent vibrations units. It is also found that the relative distances are decreased as the clearance length of the restrainer decreases and the stiffness of restrainer increases.

• Wind and Structures
• /
• 제31권5호
• /
• pp.445-457
• /
• 2020

The buffeting response is a vital consideration for long-span bridges in typhoon-prone areas. In the conventional analysis, the turbulence and structural vibrations are assumed as stationary processes, which are, however, inconsistent with the non-stationary features observed in typhoon winds. This poses a question on how the stationary assumption would affect the evaluation of buffeting responses under non-stationary wind actions in nature. To figure out this problem, this paper presents a comparative study on buffeting responses of a long-span cable-stayed bridge based on stationary and non-stationary perspectives. The stationary and non-stationary buffeting analysis frameworks are firstly reviewed. Then, a modal analysis of the example bridge, Sutong Cable-stayed Bridge (SCB), is conducted, and stationary and non-stationary spectral models are derived based on measured typhoon winds. On this condition, the buffeting responses of SCB are finally analyzed by following stationary and non-stationary approaches. Although the stationary results are almost identical with the non-stationary results in the mean sense, the root-mean-square value of buffeting responses are underestimated by the stationary assumption as the time-varying features existing in the spectra of turbulence are neglected. The analytical results highlights a transition from stationarity to non-stationarity in the buffeting analysis of long-span bridges.

• Wind and Structures
• /
• 제27권6호
• /
• pp.357-368
• /
• 2018

For a long cable-stayed bridge, stay cables are its most important load-carrying components. In this paper, long-term monitoring of super-long stay cables of Sutong Bridge is introduced. A comprehensive data analysis procedure is presented, in which time domain and frequency domain based analyses are carried out. In time domain, the vibration data of several long stay cables are firstly analyzed and the standard deviation of the acceleration of stay cables, and its variation with time are obtained, as well as the relationship between in-plane vibration and out-plane vibration. Meanwhile, some vibrations such as wind and rain induced vibration are detected. Through frequency domain analysis, the basic frequencies of the stay cables are identified. Furthermore, the axial forces and their statistical parameters are acquired. To investigate the vibration deflection, an FFT-based decomposition method is used to get the modal deflection. In the end, the relationship between the vibration amplitude of stay cables and the wind speed is investigated based on correlation analysis. Through the adopted procedure, some structural parameters of the stay cables have been derived, which can be used for evaluating the component performance and corresponding management of stay cables.