• Journal of Computational Design and Engineering
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• v.3 no.4
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• pp.312-321
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• 2016

Dynamic behaviour of a slider-crank mechanism associated with a smart flexible connecting rod is investigated. Effect of various mechanisms' parameters including crank length, flexibility of the connecting rod and the slider's mass on the dynamic behaviour is studied. Two control schemes are proposed for elastodynamic vibration suppression of the flexible connecting rod and also obtaining a constant angular velocity for the crank. The first scheme is based on feedback linearization approach and the second one is based on a sliding mode controller. The input signals are applied by an electric motor located at the crank ground joint, and two layers of piezoelectric film bonded to the top and bottom surfaces of the connecting rod. Both of the controllers successfully suppress the vibrations of the elastic linkage.

• Proceedings of the KIEE Conference
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• 1991.07a
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• pp.813-816
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• 1991

Direct-drive SCARA-type industrial robots are increasingly used in the assembly process of small mechanical parts as well as electronic components, which uses direct-drive (DD) motors instead of reduction gear-type conventional motors for the actuators of manipulator arms. There are many advantages in using DD motors for robots, such as no backlash, low friction, high mechanical stiffness capability for fast and precise arm control, and high repeatability of positioning. However, there exist a number of difficulties which must be overcome to ensure proper construction and operation; increasing effects of load veriation and nonlinear and coupling dynamics, severe vibration caused by resonance of the manipulator components and low mechanical damping, etc. In order to handle these difficulties, lots of efforts have been made such as reduction of the arm inertia and elimination of the resonance, Performance evaluation of a recently developed, domestic DD robot shows that it works excellently compared with conventional robots. It, however, requires proved reliability and price competitiveness against its foreign counterparts.

• Smart Structures and Systems
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• v.15 no.4
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• pp.1103-1120
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• 2015

A self-sensing magnetorheological (MR) damper with embedded piezoelectric force sensor has recently been devised to facilitate real-time close-looped control of structural vibration in a simple and reliable manner. The development and characterization of the self-sensing MR damper are presented based on experimental work, which demonstrates its reliable force sensing and controllable damping capabilities. With the use of experimental data acquired under harmonic loading, a nonparametric dynamic model is formulated to portray the nonlinear behaviors of the self-sensing MR damper based on NARX modeling and neural network techniques. The Bayesian regularization is adopted in the network training procedure to eschew overfitting problem and enhance generalization. Verification results indicate that the developed NARX network model accurately describes the forward dynamics of the self-sensing MR damper and has superior prediction performance and generalization capability over a Bouc-Wen parametric model.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.156.5-156
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• 2001

Stabilized tracking platform in a missile consisting of a flat planar antenna, pitch/yaw gimbals, gear trains, and current controlled DC drive motors for pitch and yaw gimbal must have a capability to track a target as an inertial sensor in the presence of missile body motion such as maneuvering and vibration. Because of this reason, tracking a target from dynamic platform requires a servo architecture that includes a outer tracking loop(position loop) and inner rate loop that stabilizes the line of sight(LOS). This paper presents a gimbaled platform model including nonlinear phenomena due to viscous and Coulomb friction based on experimental data and torque equilibrium equation, the design concept for the inner tacholoop having P controller structure ...

• Smart Structures and Systems
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• v.18 no.1
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• pp.17-29
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• 2016

In this paper, the possibility of using human induced loading (HIL) to detect a decrease of tension in the cable-stays of an existing footbridge is investigated. First, a reliable finite elements model of an existing footbridge is developed by calibration with experimental data. Next, estimates of the tension in the cables are derived and their dependency on the modal features of the deck is investigated. The modelling of the HIL is briefly discussed and used to perform the nonlinear, large strain, dynamic finite elements analyses. The results of these analyses are assessed with focus on characterizing the time histories of the tension in the cables under pedestrian crossing and their effects on the deck response for different initial conditions. Finally, the control perspective is introduced in view of further research.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.12 no.5
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• pp.527-534
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• 1987

Two phase voltage controlled oscillation was realized by using the Electronic analog simulation of nonlinear simultaneous 2st order equation in terms of vibration and it's usefullness was sustined. Sinde it is complex and expensive to implement the circuits actually which composits and multiplicate the two phase signal squared respectively, this paper is obtained the simplificotion and switching circuit. The circuit introducced in this paper had propotionality of frequency to control input voltage, rapid response time, and little phase error, also this circuit operated with very low THD(Total Harmonic Distortion) and constant amplitude at higher than 10 :1 of frequency ratio.

• Proceedings of the KSR Conference
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• 2006.11b
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• pp.1276-1281
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• 2006

In general, the wheel-skid prevention of braking system is very important in modern railway applications. This is because wheel-skid can lead to an increase in noise and vibration from wheels with flat points, as well as an increased braking distance. However conventional anti-skid control has problems because wheel adhension and skid characteristics are very difficult nonlinear systems and time consuming to accurately model. In this paper, we design a fuzzy controller using a model of relation between ahdension and braking force, we show that anti-skid fuzzy controller has a very good performance, performing better than the previous conventional controller.

• Steel and Composite Structures
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• v.18 no.2
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• pp.481-496
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• 2015

A Lead Extrusion Damper (LED) is experimentally studied under various frequencies and displacement amplitudes. Experimental results show that the force-displacement hysteresis loops of the LED are close to rectangular and the force-velocity hysteresis loops exhibit nonlinear hysteretic characteristic. Also, the LED can provide consistent energy dissipation without any stiffness degradation. Based on the experimental results, a mathematical model is then proposed to describe the effects of frequency and displacement on property of LED. It can be proved from the comparison between experimental and numerical results that the mathematical model can accurately describe the mechanical behavior of LED. Subsequently, the seismic responses of the Schwedler reticulated shell structure with LEDs are analyzed by ANSYS software, in which three different installation forms of LEDs are considered. It can be concluded that the LED can effectively reduce the displacement and acceleration responses of this type of structures.

• Journal of the Computational Structural Engineering Institute of Korea
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• v.23 no.4
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• pp.435-443
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• 2010

This study presents key parameters for the structure installed with MR controller in reducing its responses. MR controller is regarded as Bingham model of which control forces are frictional and viscous ones. The parameters are identified as friction force ratios, $R_f$ and $R_h$ which are, respectively, ratio of MR controller friction force to static restoring force for free vibration and ratio of the friction force to amplitude of harmonic force. Structure-MR controller system shows nonlinear response behavior due to friction force. Energy balance strategy is adopted to transform the behavior to linear one with equivalent damping ratio. Finally, proposed equivalent linear process is compared to the nonlinear one, which turns out to give acceptably good results.

• Journal of the Computational Structural Engineering Institute of Korea
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• v.24 no.4
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• pp.457-462
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• 2011

In this study, a simplified design procedure for friction dampers of a multi-story structure in order to reduce seismic response is proposed. To get insight for control effect of the structure with friction dampers is difficult, because of a nonlinear characteristic by a friction damper. Since a control force of a friction damper is influenced by coupling velocity between floors, adjoining modes are coupled. Thus structural response are derived by assuming steady-state response in resonance. As it is impossible that an exact solution is obtained for seismic load, first, a closed form solution can be achieved under harmonic vibration. Second, to convert a three-story building into a single-degree-of-freedom(SDOF) structure, modal analysis is performed. Third, an equivalent damping ratio is derived with utilizing closed form solution. And response reducing factor is proposed by it. Finally, friction force of a damper is designed for using response reducing factor, and then designed dampers are verified for seven seismic data. The nonlinear analysis results confirm the validity of the proposed procedure.