• 대한조선학회논문집
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• 제47권1호
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• pp.47-57
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• 2010

This study analyzes the dynamic response of a floating crane with a cargo considering an elastic boom to evaluate(or for evaluation of) its flexibility effect on their dynamic response. Flexible multibody system dynamics is applied in order to establish a dynamic equation of motion of the multibody system, which consists of flexible and rigid bodies. In addition, a floating reference frame and nodal coordinates are used to model the boom as a flexible body. The study also simulates the coupled surge, pitch, and heave motions of the floating crane carrying the cargo with three degrees of freedom by numerically solving the equation. Finally, the simulation results of the elastic and rigid booms are comparatively analyzed and the effects of the flexible boom are discussed.

• 대한기계학회논문집A
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• 제34권4호
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• pp.501-509
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• 2010

해상크레인은 크레인을 탑재한 선박으로서, 조선소에서 대형 블록이나 구조물의 탑재 및 해상 운송 작업에 사용된다. 본 논문에서는 해상크레인과 중량물의 전후 동요(Surge), 상하 동요(Heave), 종 동요(Pitch)에 대한 정적/동적거동을 분석하였다. 이 때, 유연 다물체계 동역학을 적용하여 해상크레인의 붐(boom)을 탄성으로 고려하였으며, 플로팅 프레임(floating frame)과 노드 좌표(nodal coordinates)를 사용하였다. 질량 행렬, 탄성 강성 행렬, 2 차 속도 벡터, 일반화 좌표 방향으로 작용하는 외력 등을 고려하여 모든 운동이 연성된 비선형 운동 방정식을 구성하였다. 외력으로는 비선형 유체정역학 힘, 선형화된 유체동역학 힘, wire rope 힘, 계류력이 고려되었다. 수치 해석을 위해 Hilber-Hughes-Taylor 방법을 비선형 운동방정식에 적용하였다. 정적 거동 분석을 통한 정적 평형 자세를 고려한 경우와 고려하지 않은 경우에 대해 결과를 비교하였으며, 수치 해석 방법에 대한 정적/동적 거동 분석 결과를 비교하였다.

• 대한조선학회논문집
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• 제47권3호
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• pp.421-429
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• 2010

In this paper, in order to analyze the dynamic response of a floating crane when it lifts a heavy cargo, the boom of the floating crane is considered as an elastic beam. The boom is divided into elements based on finite element formulation and the floating frame of reference formulation and nodal coordinates are employed to model the boom as a flexible body. As an extension of the previous study, in order to consider spatial motion in waves, the coupled equations of motions of the 6 degree of freedom (DOF) floating crane and 6 DOF cargo are developed based on the flexible multibody system dynamics. The 3 dimensional deformation of the elastic boom is considered with 18 DOF. The dynamic simulation of the floating crane and the cargo is performed under regular wave conditions with various cargo weights. Finally, the effects of the elastic boom on lifting cargo are discussed by comparing the simulation results between the elastic boom and a rigid boom.

• 대한조선학회 특별논문집
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• 대한조선학회 2011년도 특별논문집
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• pp.5-11
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• 2011

In this paper, the dynamic response analysis of a floating crane with elastic booms and a cargo is performed. The objective is to consider the effects of the elastic boom in the lifting design stage. Governing equations of the motion for the system which consists of interconnected rigid and flexible bodies are derived based on the formulation of flexible multibody system dynamics. To model the boom as a flexible body, floating reference frame and nodal coordinates are used. Coupled surge, pitch, and heave motion of the floating crane with the cargo which has 3 degree of freedom is simulated by solving the equation numerically. Finally, the effects of the elastic boom for the lifting design that the floating crane is required to lift a heavy cargo are discussed by comparing the simulation result between with the elastic boom and with the rigid one.

• International Journal of Naval Architecture and Ocean Engineering
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• 제6권4호
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• pp.1024-1040
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• 2014

The theoretical background and a numerical solution procedure for a time domain hydroelastic code are presented in this paper. The code combines a VOF-based free surface flow solver with a flexible body motion solver where the body linear elastic deformation is described by a modal superposition of dry mode shapes expressed in a local floating frame of reference. These mode shapes can be obtained from any finite element code. The floating frame undergoes a pseudo rigid-body motion which allows for a large rigid body translation and rotation and fully preserves the coupling with the local structural deformation. The formulation relies on the ability of the flow solver to provide the total fluid action on the body including e.g. the viscous forces, hydrostatic and hydrodynamic forces, slamming forces and the fluid damping. A numerical simulation of a flexible barge is provided and compared to experiments to show that the VOF-based flow solver has this ability and the code has the potential to predict the global hydroelastic responses accurately.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1988년도 전기.전자공학 학술대회 논문집
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• pp.950-953
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• 1988

The equations of motion for linearly elastic bodies undergoing large displacement motion are derived. This produces a set of equations which are efficient to numerically integrate. The equations for the elastic bodies are formulated and simplified to provide as much efficiency as possible in their numerical solution. A futher efficiency is obtained through the use of floating reference frame. The equation are presented in two forms for numerical integration. 1) Explicit numerical integration 2) Implicit numerical integration. In this paper, there was used the numerical integration. The implicit numerical integration is extended to solved second order equation, futher reducing the numerical effort required. The formulation given is seen to be occulate and is expected to be efficient for many types of problems.

• 전력전자학회:학술대회논문집
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• 전력전자학회 2001년도 Proceedings ICPE 01 2001 International Conference on Power Electronics
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• pp.428-433
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• 2001

This paper presents the control algorithm for maximum efficiency drives of an induction motor system with the high dynamic performance. This system uses a simple model of the induction motor that includes equations of iron losses. The model, which only requires the parameters of induction motor, is referred to a field-oriented frame. The minimum point of the input power can be obtained at the steady state condition. The reference torque and flux currents for the vector control of induction motors are calculated by the optimal efficiency control algorithm. The drive system with the proposed efficiency optimization controller has been implemented by a 32 bit floating point TMS320C32 DSP chip. The results show the effectiveness of the control strategy proposed for the induction motor drive.

• Journal of Power Electronics
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• 제2권1호
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• pp.67-75
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• 2002

This paper presents the control algorithm for maximum efficiency drives of an induction motor system with the high dynamic performance. This system uses a simple model of the induction motor that includes equations of the iron losses. The model, which only requires the parameters of the induction motor, is referred to a field-oriented frame. The minimum point of the input power can be obtained at the steady state condition. The proposed optimal efficiency control algorithm calculates the reference torque and flux currents for the vector control of the induction motors. A 32 bit floating point TMS320C32 DSP chip implements the drive system with the efficiency optimization controller. The results show the effectiveness of the control strategy Proposed for the induction motor drive.

• 대한기계학회논문집A
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• 제41권6호
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• pp.507-515
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• 2017

많은 절점 자유도로 표현이 되는 유연다물체 시스템의 효율적인 해석을 위해서는 병렬처리 기법이 적용될 수 있다. 이 분야에서의 병렬처리기법은 주로 선형대수방정식의 효율적인 해법에 초점이 맞추어 연구가 진행되었다. 본 논문에서는 기존의 방법과는 달리 병렬처리에 적합한 유연다물체 동역학 공식을 부분 시스템 합성방법을 이용하여 개발하고, OpenMP를 사용한 효율적인 병렬처리 방식을 제안하였다. 서로 다른 두 가지 병렬처리 방식을 3개의 동일한 유연체 회전 날개 시스템 시뮬레이션 통하여 비교하였다. 또한 실제의 CPU시간을 비교하여 제안한 병렬처리 방법의 효율성을 고찰하였다.

• Structural Engineering and Mechanics
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• 제63권5호
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• pp.691-702
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• 2017

Clearances are essential for the assemblage of mechanisms to allow the relative motion between the joined bodies. This clearance exists due to machining tolerances, wear, material deformations, and imperfections, and it can worsen the mechanism performance when the precision and smoothly-working are intended. Energy is a subject which is less paid attention in the area of clearance. The effect of the clearance on the energy of a flexible slider-crank mechanism is investigated in this paper. A clearance exists in the joint between the slider and the coupler. The contact force model is based on the Lankarani and Nikravesh model and the friction force is calculated using the modified Coulomb's friction law. The hysteresis damping which has been included in the contact force model dissipates energy in clearance joints. The other source for the energy loss is the friction between the journal and the bearing. Initial configuration and crank angular velocity are changed to see their effects on the energy of the system. Energy diagrams are plotted for different coefficients of friction to see its influence. Finally, considering the coupler as a flexible body, the effect of flexibility on the energy of the system is investigated.