• 대한기계학회:학술대회논문집
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• 대한기계학회 2000년도 추계학술대회논문집A
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• pp.576-583
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• 2000

A robust position control using a sliding mode controller is adopted for the stable dynamic walking of the biped. For the biped robot that is modeled with 14 degrees of freedom rigid bodies using the method of the multibody dynamics, the joint angles for simulation are obtained by the velocity transformation matrix using the given Cartesian foot and trunk trajectories. Hertz force model and Hysteresis damping element which is used in explanation of the energy dissipation during contact with ground are used for modeling of the ground reactions during the simulation. By the obtained that forces which contains highly confused noise elements and the system modeling uncertainties of various kinds such as unmodeled dynamics and parameter inaccuracies, the biped system will be unstable. For that problems, we are adopting a nonlinear robust control using a sliding mode controller. Under the assumption that the esimation error on the unknown parameters is bounded by a given function, that controller provides a successful way to preserve stability and achieve good performance, despite the presence of strong modeling imprecisions or uncertainties.

• 한국정밀공학회지
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• 제18권5호
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• pp.137-146
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• 2001

A robust controller with the sliding mode is proposed for stable dynamic walking of the biped robot in this paper. For the robot system to be controlled, which is modeled as 14 DOF rigid bodies by the method of multi-body dynamics, the joint angle trajectories are determined by the velocity transformation matrix. Also Hertz force model and Hysteresis damping element are utilized for the ground reaction and impact forces during the contact with the ground. The biped robot system becomes unstable since those forces contain highly confused noise components and some discontinuity, and modeling uncertainties such as parameter inaccuracies. The sliding mode control is applied to solve above problems. Under the assumption of the bounded estimation errors on the unknown parameters, the proposed controller provides a successful way to achieve the stability and good performance in spite of the presence of modeling imprecisions of uncertainties.

• Structural Engineering and Mechanics
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• 제22권4호
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• pp.401-418
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• 2006

Solutions to the problems of structural parameter estimation from modal response using leastsquares minimization of force or displacement residuals are generally sensitive to noise in the response measurements. The sensitivity of the parameter estimates is governed by the physical characteristics of the structure and certain features of the noisy measurements. It has been shown that the regularization method can be used to reduce effects of the measurement noise on the estimation error through adding a regularization function to the parameter estimation objective function. In this paper, we adopt the regularization function as the Euclidean norm of the difference between the values of the currently estimated parameters and the a priori parameter estimates. The effect of the regularization function on the outcome of parameter estimation is determined by a regularization factor. Based on a singular value decomposition of the sensitivity matrix of the structural response, it is shown that the optimal regularization factor is obtained by using the maximum singular value of the sensitivity matrix. This selection exhibits the condition where the effect of the a priori estimates on the solutions to the parameter estimation problem is minimal. The performance of the proposed algorithm is investigated in comparison with certain algorithms selected from the literature by using a numerical example.

• 폴리머
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• 제26권6호
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• pp.718-727
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• 2002

본 연구에서는 최종 복합재료의 기계적 계면특성을 향상시키기 위하여 산소 분위기 하에서 반응성 기체를 사용하는 이온 보조 반응법에 의해 탄소섬유 표면에 Ar+ 이온 빔을 조사하였다. 그리고, 단일 섬유 pull-out 시험을 실시하여 가해진 이온 에너지 세기에 대한 수지 내의 섬유의 뽑힘 정도를 측정한 후 Greszczuk의 .기하학적 모델에 기초하여 섬유/매트릭스 간의 계면특성을 알아보고자 하였다. 그 결과, 탄소섬유를 이온 빔으로 처리함에 따라 섬유와 매트릭스 간의 부착력 증가의 원인이 되는 섬유축 방향으로의 표면 etching 및 반응성 그룹이 형성되어 계면 전단강도가 향상되었으며 0.8 keV 이온 빔 세기에서 최대값을 나타내었다.

• Advances in nano research
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• 제16권5호
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• pp.445-458
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• 2024

The objective of this paper is to present free vibration and static stability analyses of rotating composite beams reinforced with carbon nanotubes (CNTs) under uniform thermal loads. Beam structural equations and CNT-reinforced composite (CNTRC) beam formulations are derived based on Timoshenko beam theory (TBT). The temperature-dependent properties of the beam material, such as the elastic modulus, shear modulus, and material density, are assumed to vary over the thickness according to the rule of mixture. The beam material is modeled as a mixture of single-walled carbon nanotubes (SWCNTs) in an isotropic matrix. The SWCNTs are aligned and distributed in the isotropic matrix with different patterns of reinforcement, namely the UD (uniform), FG-O, FG-V, FG- Λ and FG-X distributions, where FG-V and FG- Λ are asymmetric patterns. Numerical examples are presented to illustrate the effects of several essential parameters, including the rotational speed, hub radius, effective material properties, slenderness ratio, boundary conditions, thermal force, and moments due to temperature variation. To the best of the authors' knowledge, this study represents the first attempt at the finite element modeling of rotating CNTRC Timoshenko beams under a thermal environment. The results are presented in tables and figures for both symmetric and asymmetric distribution patterns, and can be used as benchmarks for further validation.

• 한국산학기술학회논문지
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• 제15권7호
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• pp.4611-4617
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• 2014

본 논문은 강접골조의 예비구조설계에서 부재력을 근사적으로 예측하기 위한 연구이다. 기둥간의 축력 분포를 선형으로 가정하는 캔틸레버법에서 기둥의 변곡점 위치를 부재의 중간으로 가정하는데 이것은 몇 개의 사례를 통해 행렬해석법과 비교한 바 오차가 매우 심하다는 것을 알 수 있다. 다양한 골조를 해석한 결과를 분석해보면, 부재력은 기둥과 보의 경간비, 단면2차모멘트비에 따라 달라짐을 알 수 있다. 본 연구에서는 기존의 방법과는 다른 방법으로 기둥의 부재력을 예측하는 방법을 제시하였다. 예제를 통하여 기존의 방법보다 향상된 해를 얻을 수 있었다.

• Earthquakes and Structures
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• 제10권5호
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• pp.1067-1087
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• 2016

In this paper, a decoupled proportional-integral-derivative (PID) control approach for seismic control of smart structures is presented. First, the state space equation of a structure is transformed into modal coordinates and parameters of the modal PID control are separately designed in a reduced modal space. Then, the feedback gain matrix of the controller is obtained based on the contribution of modal responses to the structural responses. The performance of the controller is investigated to adjust control force of piezoelectric friction dampers (PFDs) in a benchmark base isolated building. In order to tune the modal feedback gain of the controller, a suitable trade-off among the conflicting objectives, i.e., the reduction of maximum modal base displacement and the maximum modal floor acceleration of the smart base isolated structure, as well as the maximum modal control force, is created using a multi-objective cuckoo search (MOCS) algorithm. In terms of reduction of maximum base displacement and story acceleration, numerical simulations show that the proposed method performs better than other reported controllers in the literature. Moreover, simulation results show that the PFDs are able to efficiently dissipate the input excitation energy and reduce the damage energy of the structure. Overall, the proposed control strategy provides a simple strategy to tune the control forces and reduces the number of sensors of the control system to the number of controlled stories.

• 한국소음진동공학회논문집
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• 제25권3호
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• pp.184-190
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• 2015

NVH engineering has become a hot issue due to radical technology changes and development in automotive industry since customers' expectations and needs for their vehicle is taken to a higher level. However, the source identification and quantification of the road noise within a vehicle is still not at the level where it needs to be to meet their expectations due to its' complex transfer path and difficulties in path optimization. The primary focus of this research is on direct force obtaining method at suspension hard points using suspension test rig. Directly obtained forces at suspension to body mounting points are critical and crucial for determining the effects of design changes of the suspension has on road noise performance. Direct force obtaining method has its limitation in sensor installation within an actual vehicle therefore, many has been indirectly calculating forces using full matrix inversion method or dynamic stiffness method. In this study, to circumvent this limitation, a suspension rig is used. Then, the suspension rig is verified through a comparative analysis of its dynamic behavior between the actual vehicle by cleat test on chassis dynamometer.

• 대한토목학회논문집
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• 제29권1A호
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• pp.31-43
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• 2009

본 논문에서는 다양한 차종의 영향을 반영할 수 있고, 차량과 교량의 연성 운동방정식을 구성하여 시간 단계별 직접해를 산정할 수 있는 수치해석기법을 제시하였다. 운동방정식의 해는 직접적분법인 Newmark ${\beta}$을 이용하여 해석 단계별로 구성된 유효강성행렬과 유효하중벡터를 바탕으로 정적평형방정식의 해를 구하는 원리와 동일하게 산정하였다. 또한 해석의 효율성을 증진시키기 위하여 유효강성행렬은 Skyline 법에 의해 재구성하였으며, Cholesky의 행렬 분해기법을 동시에 적용하여 직접적인 역행렬 계산에서 야기되는 오차의 발생을 최소화 하였다. 또한 기존선 철도차량인 새마을 PMC 열차와 디젤 견인 무궁화 열차에 대한 3차원 정밀수치해석 모델을 개발하였고, 각 차량은 차체와 전 후방 대차에 각각 6자유도씩 고려하여 총 18자유도로 수치모델을 작성하였다. 교량은 3차원 공간뼈대 요소를 이용하여 모델링하였고, 차륜과 레일 접촉면의 불규칙성은 미국의 FRA에서 규정하고 있는 연직방향 및 횡방향틀림에 대한 PSD 함수를 이용하여 궤도틀림을 수치적으로 구현하였다. 제시된 수치해석 기법은 12 m, 18 m형 판형교의 실측결과를 이용하여 타당성을 검증하였으며, 실측 및 수치해석결과는 교량의 1차 휨 고유진동수의 2.0배를 기준으로 Low pass filtering 하였다.

• 대한기계학회논문집A
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• 제22권2호
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• pp.278-288
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• 1998

An efficient and useful method to improve the local stress field in a displacement-formulated finite element solution has been proposed using the theory of conjugate approximations for a stress field and the Loubignac's iterative method for a displacement field. Validity of the proposed method has been tested through three test examples, to improve the stress field and displacement field in the whole domain and the local regions. As a result of analysis on the test examples, it is found that the stress field in the local regions are approximated to those in the whole domain within a few iterations which have satisfied the original finite element equilibrium equation. In addition, it is found that the local stress field are by far better approximated to the exact stress field than the displacement-based stress field with the reduction of the finite-element mesh-size.