• 제어로봇시스템학회:학술대회논문집
• /
• 2003.10a
• /
• pp.90-95
• /
• 2003

In this paper, an Adaptive Nonlinear Constrained Model Predictive Control (ANCMPC) is presented for a pH control in a fed-batch bio-reactor. The pH model is represented with Hammerstein Model. The static nonlinear part of Hammerstein model is described with the static pH model, and the dynamic linear part of the Hammerstein model is described with the CARIMA model. The parameters of the CARIMA model is estimated on-line with the input and output measurements of the system using a recursive least squares type of identi�cation algorithm. The e�ectiveness of the proposed controller is shown through simulations.

• Journal of Mechanical Science and Technology
• /
• v.19 no.12
• /
• pp.2263-2269
• /
• 2005

The ship wave phenomena in the restricted waterway were investigated by a numerical analysis. The Euler and continuity equations were employed for the present study. The boundary fitted and moving grid system was adopted to enhance the computational efficiency. The convective terms in the governing equations and the kinematic free surface boundary condition were solved by the Constrained Interpolated Profile (CIP) algorithm in order to solve accurately wave heights in far field as well as near field. The advantage of the CIP method was verified by the comparison of the computed results by the CIP and the Maker and Cell (MAC) method. The free surface flow simulation around Wigley hull was performed and compared with the experiment for the sake of the validation of the numerical method. The present numerical scheme was applied to the free surface simulation for various canal sections in order to understand the effect of the sectional shape of waterways on the ship waves. The wave heights on the side wall and the shape of the wave patterns with their characteristics of flow are discussed.

• Journal of Mechanical Science and Technology
• /
• v.16 no.10
• /
• pp.1239-1245
• /
• 2002

A formulation which seeks steady-state equilibrium positions of constrained multibody systems driven by constant generalized speeds is presented in this paper. Since the relative coordinates are employed, constraint equations at cut joints are incorporated into the formulation. To obtain the steady-state equilibrium position of a multibody system, nonlinear equations are derived and solved iteratively. The nonlinear equations consist of the force equilibrium equations and the kinematic constraint equations. To verify the effectiveness of the proposed formulation, two numerical examples are solved and the results are compared with those of a commercial program.

• Journal of Mechanical Science and Technology
• /
• v.18 no.4
• /
• pp.550-559
• /
• 2004

In this paper, a recursive formulation for generating the equations of motion of spatial mechanical systems is presented. The rigid bodies are replaced by a dynamically equivalent constrained system of particles which avoids introducing any rotational coordinates. For the open-chain system, the equations of motion are generated recursively along the serial chains using the concepts of linear and angular momenta Closed-chain systems are transformed to open-chain systems by cutting suitable kinematic joints and introducing cut-joint constraints. The formulation is used to carry out the dynamic analysis of multi-link five-point suspension. The results of the simulation demonstrate the generality and simplicity of the proposed dynamic formulation.

• Journal of the Korean Society for Heat Treatment
• /
• v.8 no.3
• /
• pp.222-228
• /
• 1995

Mechanical alloying behaviour was investigated after adding 6, 8, 12wt% Fe powder into A1 matrix, respectively, in order to develop Al alloy. And the mechanical characteristics of the alloy which was produced by the above method were studied. The hardness and ultimata tensile strength of the material with different compositions were found to be increased with annealing temperatures and holding times. Intermetallic compound of $Al_3Fe$ and carbide of $Al_4C_3$ phases, which were generated from the different compositions during annealing, were found. It was suggested that enhancement of mechanical properties of Al-Fe alloy system was due to the presence of these preapitates that constrained grain growth and blocked dislocation movement in the alloy system.

• Transactions of the Korean Society of Mechanical Engineers A
• /
• v.21 no.2
• /
• pp.337-345
• /
• 1997

An analysis is presented for the response of a beam constrained by a nonlinear spring to a harmonic excitation. The system is governed by a linear partial differential equation with a nonlinear boundary condition. The method of multiple scales is used to reduce the nonlinear boundary value problem to a system of autonomous ordinary differential equations of the amplitudes and phases. The case of the third-order subharmonic resonance is considered in this study. The autonomous system is used to determine the steady-state responses and their stability.

• Proceedings of the KSME Conference
• /
• 2004.11a
• /
• pp.567-572
• /
• 2004

In this research, a stable walking pattern generation method for a biped robot is presented. A biped robot is considered as constrained multibody system by several kinematic joints. The proposed method is based on the optimized polynomial approximation of the trunk motion along the moving direction. Foot motions can be designed according to the ground condition and walking speed. To minimize the deviation from the desired ZMP, the trunk motion is generated by the fifth order polynomial approximation. Walking simulation for a virtual biped robot is performed to demonstrate the effectiveness and validity of the proposed method. The method can be applied to the biped robot for stable walking pattern generation.

• International Journal of Automotive Technology
• /
• v.2 no.3
• /
• pp.117-122
• /
• 2001

For a dynamic analysis of a constrained multibody system, it is necessary to have a routine for satisfying kinematic constraints. LU decomposition scheme, which is used to divide coordinates into dependent and independent coordinates, is efficient but has great difficulty near the singular configuration. Other method such as the projection matrix, which is more stable near a singular configuration, takes longer simulation time due to the large amount of calculation for decomposition. In this paper, the row space and the null space of the Jacobian matrix are proposed by using the pseudo-inverse method and the projection matrix. The equations of the motion of a system are replaced with independent acceleration components using the null space of the Jacobian matrix. Also a new hybrid method is proposed, combining the LU decomposition and the projection matrix. The proposed hybrid method has following advantages. (1) The simulation efficiency is preserved by the LU method during the simulation. (2) The accuracy of the solution is also achieved by the projection method near the singular configuration.

• Proceedings of the KSME Conference
• /
• 2003.11a
• /
• pp.1590-1595
• /
• 2003

Direct drive servovalve(DDV) is a kind of one-stage valve since the rotary motion of DC motor is directly transferred to the linear motion of valve spool through the link. Since the structure of DDV is simple, it is less expensive, more reliable and offers reduced internal leakage and reduced sensitivity to fluid contamination. However, the flow force effect on the spool motion is significant such that it induces large steady-state error in a step response. If the proportional control gain is increased to reduce the steady-state error, the system becomes unstable. In order to satisfy the system design requirements, the lead-lag controller is designed using the complex method that is one kind of constrained direct search method.

• Journal of Mechanical Science and Technology
• /
• v.17 no.11
• /
• pp.1650-1658
• /
• 2003

This paper deals with a novel shunt circuit, which is capable of suppressing multimode vibration amplitudes by using a pair of piezoceramic patches. In order to describe the characteristic behaviors of a piezoelectric damper connected with a series and a parallel resistor-negative capacitor branch circuit, the stiffness ratio and loss factor with respect to the non-dimensional frequency are considered. The mechanism of the shunt damper is also described by considering a shunt voltage constrained by shunt impedance. To obtain a guideline model of the piezo/beam system with a negative capacitive shunting, the governing equations of motion are derived through the Hamilton's principle and a piezo sensor equation as well as a shunt-damping matrix is developed. The theoretical analysis shows that the piezo/beam system combined with a series and a parallel resistor-negative capacitor branch circuit developed in this study can significantly reduce the multiple-mode vibration amplitudes over the whole structural frequency range.