• International Journal of Naval Architecture and Ocean Engineering
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• 제8권3호
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• pp.252-261
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• 2016

A spar-type floating substructure that is being widely used for offshore wind power generation is vulnerable to resonance in the heave direction because of its small water plane area. For this reason, the stable dynamic response of this floating structure should be ensured by accurately identifying the resonance characteristics. The purpose of this study is to analyze the characteristics of the combination resonance between the excitation frequency of a regular wave and natural frequencies of the floating substructure. First, the nonlinear equations of motion with two degrees of freedom are derived by assuming that the floating substructure is a rigid body, where the heaving motion and pitching motions are coupled. Moreover, to identify the characteristics of the combination resonance, the nonlinear term in the nonlinear equations is approximated up to the second order using the Taylor series expansion. Furthermore, the validity of the approximate model is confirmed through a comparison with the results of a numerical analysis which is made by applying the commercial software ANSYS AQWA to the full model. The result indicates that the combination resonance occurs at the frequencies of ${\omega}{\pm}{\omega}_5$ and $2{\omega}_{n5}$ between the excitation frequency (${\omega}$) of a regular wave and the natural frequency of the pitching motion (${\omega}_{n5}$) of the floating substructure.

• 전기학회논문지
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• 제56권5호
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• pp.944-957
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• 2007

In general mechanical servo systems, friction deteriorates the performance of controllers by its nonlinear characteristics. Especially, friction phenomenon causes steady-state tracking errors and limit cycles in position and velocity control systems, even though gains of controllers are tuned well in linear system model. Even if sensor is used higher accuracy level, it is difficult to improve tracking performance of the position to the same level with a general control method such as PID type. Therefore, many friction models were proposed and compensation methods have been researched actively. In this paper, we consider that the variation of mover's mass is various by loading and unloading. The normal force variation occurs by it and other parameters. Therefore, the proposed control system is composed of main position controller and a friction compensator. A parameter estimator for a nonlinear friction model is designed by adaptive control law and adaptive backstopping control method.

• International Journal of Naval Architecture and Ocean Engineering
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• 제6권1호
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• pp.98-118
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• 2014

An auto weather-vaning system for a Dynamic Positioning (DP) vessel is proposed. When a DP vessel is operating, its position keeping is hindered by ocean environmental disturbances which include the ocean current, wave and wind. Generally, most ocean vessels have a longitudinal length that is larger than the transverse width. The largest load acts on the DP vessel by ocean disturbances, when the disturbances are incoming in the transverse direction. Weather-vaning is the concept of making the heading angle of the DP vessel head toward (or sway from) the disturbance direction. This enables the DP vessel to not only perform marine operations stably and safely, but also to maintain its position with minimum control forces (surge & sway components). To implement auto weather-vaning, a nonlinear controller and a disturbance observer are used. The disturbance observer transforms a real plant to the nominal model without disturbance to enhance the control performance. And the nonlinear controller deals with the kinematic nonlinearity. The auto weather-vaning system is completed by adding a weather-vaning algorithm to disturbance based controller. Numerical simulations of a semi-submersible type vessel were performed for the validation. The results show that the proposed method enables a DP vessel to maintain its position with minimum control force.

• 대한전기학회논문지:전기기기및에너지변환시스템부문B
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• 제49권9호
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• pp.607-617
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• 2000

This paper deals with the dynamic performance of Cheju-Haenam HVDC system. The purpose of the simulation study is to verify the control characteristics of the HDVC and to analyse the dynamic performances. Especially because the HVDC system consists of analogue controller and digital controller the simulation is achieved with specification model considered nonlinear function. The dynamic performance simulations is performed by PSCAD/EMTDC

• Smart Structures and Systems
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• 제19권2호
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• pp.213-224
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• 2017

The electromagnetic field can cause an essential change of the dynamic behavior of the railgun. The evaluation of the dynamics performance of railgun is a mandatory task. Here, a nonlinear electromagnetic force equation of the railgun is given in which the clearance, the thickness and the width of the rail are considered. Based on it, the nonlinear electromechanical coupled dynamics equations of Euler beam rails for the railgun are proposed. Using the equations, the nonlinear free vibration frequency of the railgun is investigated and the effects of the system parameters on the frequency are analyzed. The nonlinear forced responses of the rail to the electromagnetic excitation are investigated as well. The results show that as the nonlinearity of the railgun system is considered, the vibration frequencies of the railgun system increase; as the current in the rail increases, the difference between the natural frequencies and the nonlinear vibration frequencies increases significantly; the nonlinearity of the railgun system is more obvious for smaller distance between the two rails, smaller rail thickness, and smaller stiffness of the elastic foundation; the unstable dynamics state of the rail system occurs when the armature runs to the exit of the railgun. The results are useful for design and application of the railgun system.

• 동력기계공학회지
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• 제18권2호
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• pp.77-82
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• 2014

The air spring is widely used in various fields such as a suspension system and an anti-vibration system because the natural frequency is kept constant regardless of the change in the load, spring constant is easy to change, and, vibration and shock isolation performance are excellent. The purpose of this study is to derive a nonlinear governing equation of an air spring, to analyze the effect of the various parameters on the dynamic stiffness of the air spring, and, to suggest a more efficient design method of an air spring system. In order to do so, this study investigates the impact of all the parameters that could affect the dynamic stiffness of the air spring while changing the excitation amplitude and the frequency with a developed governing equation.

• 한국정밀공학회지
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• 제17권1호
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• pp.216-223
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• 2000

A robot arm with free joints has some advantages over conventional ones. A light weight and low power consumed arm can be made by a reduction of the number of joint actuators. And this arm can easily overcomes actuator failure due to unexpected accident. In general such underactuated arm does not have controllability because of the lack of joint actuators. The two-link arm with a free joint introduced in this paper is also uncontrollable in the sense of linear system theory. However, the linearized system sometimes can not represent the inherent dynamic behavior of the nonlinear system. In this paper the dynamic characteristics of the two-link arm with a free joint in view of global motion including damping and friction effect of the joints is investigated. In the case of considering only the damping effect, the controllable goal positions are confined to a specific trajectories. But in the case of considering the friction effect, the system can be controlled to arbitrary positions using the friction of the free joint as a holding brake. Also numerical example of position control is presented.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2007년도 추계학술대회논문집
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• pp.853-861
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• 2007

To understand the concept of dynamic motion in two degree nonlinear coupled system, free vibration not including damping and excitation is investigated with the concept of nonlinear normal mode. Stability analysis of a coupled system is conducted, and the theoretical analysis performed for the bifurcation phenomenon in the system. Bifurcation point is estimated using harmonic balance method. When the bifurcation occurs, the saddle point is always found on Poincare's map. Nonlinear phenomenon result in amplitude modulation near the saddle point and the internal resonance in the system making continuous interchange of energy. If the bifurcation in the normal mode is local, the motion remains stable for a long time even when the total energy is increased in the system. On the other hand, if the bifurcation is global, the motion in the normal mode disappears into the chaos range as the range becomes gradually large.

• Journal of Advanced Marine Engineering and Technology
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• 제20권2호
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• pp.33-39
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• 1996

This paper presents the linearized fuzzy modeling technique of nonlinear dynamical system and the stability analysis of fuzzy control system. Firstly, the nonlinear system is partitionized by multiple linear fuzzy subcontrol systems based on fuzzy linguistic variables and fuzzy rules. Secondly, the disturbance adaptaion controllers which guarantee the global asymptotic stability of each fuzzy subsystem by an optimal feedback control law are designed and the stability analysis procedures of the total fuzzy control system using Lyapunov functions and eigenvalues are discussed in detail through a given illustrative example.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1994년도 추계학술대회 논문집
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• pp.945-952
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• 1994

In this paper, a mathematical model for a belt driven system is proposed to analyse the vibtation characteristics of the driving units with belts and the free and forced vibration analyses are carried out. The mathematical model for model for the belt-driven system includes belts,pulleys, spindle and bearings. Using the Hamilton principle, the 4 nonlinear governing equations and the 12 nonlinear boundary conditions are derived. To linearize and discretize the nonlinear govering equations and boundary conditions, the perturbation method and Galerkin method are used. Also, the free vibration analyses for the various parameters of the belt driven system, which are belt tension, belt length, material property of belt, belt speed and pulley mass are made. The forced vibration analyses of the system are made and the dynamic responses for the main parmeters are analysed with the belt driven system.