• 전자공학회논문지B
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• 제33B권11호
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• pp.11-21
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• 1996

Robot manipulators constituing multi-robot system must exert the desired motion force on an object to preserve tghe fine motion of it. The forces exerte on an object by the end-effectors of multi-inducing force and the internal force. Here, motion-inducing force effects the motion of an object, but internal force as lies in the null space of an object coordinate can't effect it. The motion of an object can't track exactly the desired motion by the effect of an object, but internal force as lies in the null space of the effect of internal force component, therefore internal force component must be considered. In this paper, first, under assumption that we can estimate exactly the parameter of dynamics, we constitute paper, first, under assumption that we can estimate exactly the parameter of dynamics, we constitute the controller concerning internal force. And we obtain the internal force as projecting force sensor readings onto the space spanned by null basis set of jacobian matrix. Using the resolved acceleration control method and the fact that internal force lies in the null space of jacobian matrix, we construct the robust control law to preserve the robustness with respect to the uncertainty of mainpulator parameters.

• 한국전산구조공학회논문집
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• 제17권4호
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• pp.351-363
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• 2004

비보존력을 받는 보-부재의 질량행렬, 탄성강도행릴, circulatory비보존력의 방향변화로 인한 load correction강도행력, 그리고 Winkler 및 Pasternak지반강도행렬을 고려한 운동방정식을 유도하고 divergence 및 flutter에 의한 안정성 해석을 수행한다. 또한 내적 및 외적 감쇠계수를 운동방정식에 포함시킴으로써 감쇠효과를 고려하고, 2차 고유치문제의 해법(quadratic eigen problem solution)을 적용하여 flutter에 미치는 영향을 조사한 후, Beck's column, Leipholz's column 및 Hauger's column에 대하여 비보존력의 방향파라미터 ${\alpha}$에 대한 임계하중의 영향, 내적 및 외적 감쇠계수 및 Winkler 및 Pasternak지반에 의한 임계하중의 영향을 각각 조사한다.

• 대한기계학회논문집A
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• 제22권1호
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• pp.23-32
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• 1998

A shape estimation is needed to control actively a smart structure. A method is, hence, proposed to predict the deformed shape of the structure subjected to unknown external load using the signal from sensors attached to the structure. The shape estimation is based on the relationship between the deformation of the structure and the signal from the sensors. The matrix containing the relationship between the deformation and signal is obtained using fictitious force or eigenvector of global stiffness matrix. Then the deformed shape can be predicted using the linear matrix and signal from sensors attached to the structure. To verify this method, experiment and FEM were performed and it was shown that the shape estimation method based on the fictitious force predicts deflections well and more accurately than that based on eigenvector.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2010년도 추계학술대회 논문집
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• pp.711-712
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• 2010

• 대한전기학회논문지:전기기기및에너지변환시스템부문B
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• 제49권3호
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• pp.131-137
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• 2000

2 phase 8 pole HB-type(flat-type) Linear Pulse Motor can be used as the high precision position actuator because of its many advantages (simple control circuit, high stiffness characteristics, etc). Also, using the microstep drive, its noise and vibration can be reduced considerably and positional resolution may be increased further. But, $20^{\circ}$tapered tooth shape to reduce the normal force have an much effect on the static thrust force characteristics. And, because of hybrid-type LPM, interaction between the permanent magnet and the excitation current have an effect on the various characteristics of LPM. Hence, in this paper, the effect of tooth shape on static thrust force characteristics was analyzed using the air gap permeance by finite element method. For analyzing the effect of unbalance between the m.m.f of permanent magnet and the m.m.f of excitation current, unbalanced m.m.f coefficient $\sigma$ were introduced with the permenace matrix and switching matrix.

• 대한전기학회논문지:전기기기및에너지변환시스템부문B
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• 제49권5호
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• pp.305-312
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• 2000

This study deals with the dynamic response of a rotor in Switched Reluctance Motor(SRM) caused by the unbalance force such as the unbalanced mass and electromagnetic force. The method to analyze the mechanical response of the rotor supported on the bearing is based on an extension of the 3-dimensional Transfer Matrix Method(TMM) coupled with the electromagnetic force calculated by Maxwell stress tensor. The displacement of the rotor as a function of frequency according to the position of the unbalanced mass is evaluated from the frequency response function (FRF). The rotor behaviour with the electromagnetic force is compared with that without the electromagnetic force. In addition, the resonance speeds and the vibration modes are analyzed and demonstrated in this paper. These results are useful in designing the mechanical rotor and in balancing properly the rotor to reduce vibration and noise.

• 대한조선학회지
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• 제12권1호
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• pp.31-36
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• 1975

As the size of tanker increase, the analysis and strength prediction of the transverse web frames in a tanker have become important problems. Therefore, several papers dicussed the subject and various method of analysis have been presented. Most of these studies are based on the elastic framework analysis. Framework analysis is carried out by the matrix methods. The matrix methods used most frequently are the displacement method, force method and the transfer matrix method. In this paper, the analysis is carried out by the transfer matrix method. The program has been tested by IBM 1130 and the results of example show good agreements with those by the program of stress analysis, STRESS, which was developed in M.I.T.

• 해양환경안전학회지
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• 제19권6호
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• pp.637-642
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• 2013

본 연구는 피예인선의 거동을 결정짓는 예인선의 힘과 작용지점의 해석에 대해 언급하고 있다. 예인대상선박의 간략화된 동역학방정식을 바탕으로 선형화기법을 적용하여 목적으로 하는 피예인선의 자세와 위치를 달성하기 위한 예인력과 예인력이 가해져야 하는 지점을 도출하였다. 이를 위해 LQR제어기법을 적용하였으며, 수치적인 시뮬레이션을 수행하였다. 리카치방정식을 이용하여 피예인선의 자세제어를 위한 제어기 이득과 자세제어에 필요한 무게중심에서의 힘을 도출하였고, 도출한 힘과 예인지점의 역학적인 관계는 의사역행렬을 이용하여 구하였다. 이러한 해석기법을 바탕으로 피예인선을 초기위치로부터 목표위치로 예인할 때 예인지점 및 예인방식에 따른 예인력을 구할 수 있었다. 최종적으로 선박을 예인하기 위한 예인력은 예인지점과 방향에 밀접하게 연관되어 있는 것을 확인할 수 있었고 이러한 연구결과는 사고선박의 구난작업 시 예인선의 배치에도 적용이 가능할 것이다.

• Structural Engineering and Mechanics
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• 제35권6호
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• pp.717-733
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• 2010

The dynamic stiffness matrix is formulated for an axially loaded slender double-beam element in which both beams are homogeneous, prismatic and of the same length by directly solving the governing differential equations of motion of the double-beam element. The Bernoulli-Euler beam theory is used to define the dynamic behaviors of the beams and the effects of the mass of springs and axial force are taken into account in the formulation. The dynamic stiffness method is used for calculation of the exact natural frequencies and mode shapes of the double-beam systems. Numerical results are given for a particular example of axially loaded double-beam system under a variety of boundary conditions, and the exact numerical solutions are shown for the natural frequencies and normal mode shapes. The effects of the axial force and boundary conditions are extensively discussed.

• 한국전산구조공학회:학술대회논문집
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• 한국전산구조공학회 2004년도 봄 학술발표회 논문집
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• pp.73-80
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• 2004

Mass matrix, elastic stiffness matrix, load correction stiffness matrix by circulatory non-conservative force, and Winkler and Pasternak foundation matrix of framed structure in 2-D are calculated for stability analysis of divergence or flutter system. Then, a matrix equation of the motion for the non-conservative system is formulated and numerical results are presented to demonstrate the effect of some parameters with using Newmark method.