• International Journal of Aeronautical and Space Sciences
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• 제18권4호
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• pp.688-696
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• 2017

This paper presents an integrated roll-pitch-yaw autopilot using an equivalent based sliding mode control for skid-to-turn nonlinear time-varying missile system with lumped disturbances in its six-equations of motion. The considered missile model are developed to integrate the model uncertainties, external disturbances, and parameters perturbation as lumped disturbances. Moreover, it considers the coupling effect between channels, the variation of missile velocity and parameters, and the aerodynamics nonlinearity. The presented approach is employed to achieve a good tracking performance with robustness in all missile channels simultaneously during the entire flight envelope without demand of accurate modeling or output derivative to avoid the noise existence in the real missile system. The proposed autopilot consisting of a two-loop structure, controls pitch and yaw accelerations, and stabilizes the roll angle simultaneously. The Closed loop stability is studied. Numerical simulation is provided to evaluate performance of the suggested autopilot and to compare it with an existing autopilot in the literature concerning the robustness against the lumped disturbances, and the aforesaid considerations. Finally, the proposed autopilot is integrated in a six degree of freedom flight simulation model to evaluate it with several target scenarios, and the results are shown.

• 대한토목학회논문집
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• 제4권3호
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• pp.53-61
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• 1984

본(本) 연구(硏究)에서는 2차원(次元) 탄성(彈性) 뼈대 구조물(構造物)의 기하학적(幾何學的) 비선형(非線型) 해석(解析)을 위하여 Total Lagrangian 방법(方法)에 의한 보 유한요소(有限要素)(NB6)의 Formulation을 보여주고 있다. 이 보 요소(要素)는 3 차원(次元) 연속체(連續體)로부터 깊은 보 가정(假定) 이용(利用)하여 유도(誘導)되며 3개(個)의 기준절점(基準節點)과 3개(個)의 상대절점(相對節點)으로 이루어진다. 보의 운동방정식(運動方程式)은 Galerkin의 가중잔차법(加重殘差法)으로 Discretization 되며 요소강도(要素剛度) 및 질량(質量)매트릭스는 Newton-Raphson 방법(方法)으로 해하중(每荷重) 단계(段階)마다 반복계산(反復計算)되어 감소적분법(減少積分法)으로 구해진다. 본(本) 연구(硏究)에서 제안(提案)되는 NB6 비선형(非線形) 보 요소(要素) 정확도(正確度)와 효율성(效率性) 고찰(考察)하기 위하여 몇 가지 예제(例題) 해석(解析)하였다.

• 대한기계학회논문집A
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• 제27권5호
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• pp.666-672
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• 2003

This paper presents a design of the controller for vehicle lateral dynamics using active yaw moment. Vehicle lateral motion is incorporated with directional controllability and stability. These are conflicting each other from the view of vehicle handling performance. To compromise the trade-off between these two aspects, we suggest a new control algorithm based on the sliding mode with time-varying switching surface according to the body side slip angle. The controller can deal with the nonlinear region in vehicle driving condition and be robust to the parameter uncertainties in the plant model. Control performance is evaluated from the simulation for the vehicle of real parameters on the road with various tire-road frictions.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2000년도 춘계학술대회논문집A
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• pp.458-463
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• 2000

This paper presents a design of the controller for vehicle lateral dynamics using active yaw moment. Vehicle lateral motion is incorporated with directional controllability and stability. These are conflicting each other from the view of vehicle handling performance. To compromise the trade-off between these two aspects, we suggest a new control algorithm based on the sliding mode with time-varying switching surface according to the body side slip angle. The controller can deal with the nonlinear region in vehicle driving and be robust to the parameter uncertainties in the plant model. Control performance was evaluated from the simulation.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1992년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 19-21 Oct. 1992
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• pp.927-930
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• 1992

VSS identification approach is based on following concept, i.e. while in sliding motion, the switching of control inputs refects system uncertainites. Therefore, if there exist some operations that make the information form the switiching control inputs be achievable, then the unknown parameters can be actually identification mechanisms which can fully make use of the available information. Two different types of VSS identifiers are taken into consideration. The first type uses adjustable model whose structure is similar to that of identified systems. From the viewpoint of contro, this type of VSS identifiers may be regraded as direct identifier vecause the identified system is handled as an open loop. On the other hand, if the identified system is controlable in the sense of VSS(sliding mode can be generated through chosing control inputs), the second type of VSS identifier, the indirect VSS identifier, can be constructed according to the linerized system strucutre while staying in sliding mode. Therefroe it can be applied to some nonlinear systems which are not linear in parametric space by general identification algorithms, whereas linear in parametric space when sliding mode is existed.

• Computers and Concrete
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• 제2권6호
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• pp.423-437
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• 2005

In this study two single-bay, three-storey space frames, one with brick masonry infill in the second and third floors representing a soft-storey frame and the other without infill were designed and their 1:3 scale models were constructed according to non-seismic detailing and the similitude law. The models were excited with an intensity of earthquake motion as specified in the form of response spectrum in Indian seismic code IS 1893-2002 using a shake table. The seismic responses of the soft-storey frame such as fundamental frequency, mode shape, base shear and stiffness were compared with that of the bare frame. It was observed that the presence of open ground floor in the soft-storey infilled frame reduced the natural frequency by 30%. The shear demand in the soft-storey frame was found to be more than two and a half times greater than that in the bare frame. From the mode shape it was found that, the bare frame vibrated in the flexure mode whereas the soft-storey frame vibrated in the shear mode. The frames were tested to failure and the damaged soft-storey frame was retrofitted with concrete jacketing and, subjected to same earthquake motions as the original frames. Pushover analysis was carried out using the software package SAP 2000 to validate the test results. The performance point was obtained for all the frames under study, therefore the frames were found to be adequate for gravity loads and moderate earthquakes. It was concluded that the global nonlinear seismic response of reinforced concrete frames with masonry infill can be adequately simulated using static nonlinear pushover analysis.

• Smart Structures and Systems
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• 제4권3호
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• pp.319-342
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• 2008

Identification of the nonlinear hysteretic behavior of a reinforced concrete (RC) bridge pier subjected to earthquake loads is carried out based on acceleration measurements of the earthquake motion and bridge responses. The modified Takeda model is used to describe the hysteretic behavior of the RC pier with a small number of parameters, in which the nonlinear behavior is described in logical forms rather than analytical expressions. Hence, the modified extended Kalman filter is employed to construct the state transition matrix using a finite difference scheme. The sequential modified extended Kalman filter algorithm is proposed to identify the unknown parameters and the state vector separately in two steps, so that the size of the problem for each identification procedure may be reduced and possible numerical problems may be avoided. Mode superposition with a modal sorting technique is also proposed to reduce the size of the identification problem for the nonlinear dynamic system with multi-degrees of freedom. Example analysis is carried out for a continuous bridge with a RC pier subjected to earthquake loads in the longitudinal and transverse directions.

• 한국정밀공학회지
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• 제26권4호
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• pp.100-106
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• 2009

The current tendency toward light weight and fast machines has lead to a need to suppress vibration of flexible dynamic systems. Input shaping is an efficient tool to eliminate transient and residual vibration caused by motion of these systems. This paper proposes a new formulation of the design method for multi-mode input shapers to eliminate residual vibration in flexible dynamic systems. The essence of the proposed method is to minimize the number of impulses to be n+1 for n-mode input shapers. This paper also suggests a solution procedure to solve the complex-valued nonlinear matrix equation for the input shapers. The proposed method is applied to two-mode input shapers. This paper discusses characteristics of several input shapers obtained under the same condition. Simulations and experiments show that the proposed method is very useful for designing multi-mode input shapers.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 1994년도 추계학술대회논문집; 한국종합전시장, 18 Nov. 1994
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• pp.35-39
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• 1994

One of the important characteristics of the response of nonlinear systems is the existence of subharmonic resonances. When some conditions in parameter space are satisfied. It is possible even in the presence of damping for a periodically excited nonlinear system to possess a response which is the combination of a contribution at the excitation frequency and a component at the system natural frequency. The system natural frequency being a submultiple of the excitation frequency implies that the resulting response is a subharmonic oscillation. In general, there also co-exists, for the system, a response at the excitation frequency, and initial conditions determine which of the steady-state responses is achieved in an experiment or a numerical simulation. In single-degree-of-freedom systems with harmonic excitation, depending on the type of the nonlinearity, e.g., cubic or quadratic the frequency of subharmonic response is respectively, one-third or one-half of that of the excitation frequency. Although subharmonic resonance is one of the principal characteristics of a nonlinear system the subharmonic responses of structures in the presence of internal resonances have been studied very rarely. In this work, we consider subharmonic responses in the two-mode approximation of the plate equations. It is assumed that the two modes are in one-to-one internal resonance. Constant and periodic steady-state solutions of the averaged equations are studied. Finally, the results of direct time integration of the original equations of motion are presented and compared with those obtained from the averaged equations.

• 대한기계학회논문집
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• 제16권9호
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• pp.1711-1721
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• 1992

본 연구에서는 Nayfeh등과 이원경과 소강영은 조화가진하의 핀과 꺽쇠로 고정 된 보(hinged-clamped beam)의 강제 진동 해석을 통하여 점근적으로 안정한 정상상태 응답이 둘 이상 존재할 수 있음을 알게 되었다. 본 연구에서는 이 경우에 접근적으 로 안정한두 정상상태 응답을 구하고 이들 안정한 해로 각각 흡인되는 초기조건들의 집합인 흡인영역을 보간사상법(interpolated mapping method)과 직접 수치적분에 의해 구한 후 서로 비교하였다.