• 한국공작기계학회:학술대회논문집
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• 한국공작기계학회 2001년도 추계학술대회(한국공작기계학회)
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• pp.91-96
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• 2001

When it is considered that many vehicle rides on the road and ride quality is an important method to evaluate vehicle performance with handling, running-over-bump manoeuvre may be suitable for testing ride quality. In this paper, a computed model has roughly steering system and lumped mass, connected by joint each rigid body, and suspension that has beam elements and has shock absorber as force element to represent nonlinear characteristics. A computer simulations for passing over a bump were made with two velocities. One side of vehicle passed over bump in due consideration of driver's habit that driver is subject to avoid a bad ride quality. On simulation, vertical acceleration, pitch angle and roll angle were measured at the mass center of chassis each case.

• 소음진동
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• 제5권4호
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• pp.525-536
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• 1995

In this study, an ROC(Reduced Order Controller) is designed to increase the flutter velocity of an aircraft wing, and the effect of ROC on the flight performance is also analyzed. The aircraft wing used in the paper is modelled as a 3 DOF two-dimensional rigid body. In the disign of controller, LQG and BACR(Balanced Augmented Controller Reduction) strategy is used as control algorithm and controller reduction method respectively. Simulation has been conducted to evaluate the effectiveness of ROC on the active flutter control, compared to FOC(Full Order Controller). It has been found that ROC using BACR is much effective than FOC in the sense of computation effort, without sacrificing the active flutter control performance.

• 한국소음진동공학회논문집
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• 제19권10호
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• pp.1043-1052
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• 2009

In this work, a master-slave manipulator system which will be used for handling objects contaminated by radioactivity has been addressed. The links of manipulators are driven independently by individual motors installed on the base and the driving torque is transmitted through pre-tensioned tendons. Since the measurable variables are the positions and rates of master/slave motors, only a constrained specific bilateral control structure is available. In the consideration of the flexibility of the tendon and constrained control structure, we derived a necessity for tendon design to prevent uncontrollable vibration mode through a modal analysis. Based on a reduced rigid body model, a control design was suggested and tendons were selected. The feasibility of the proposed analysis and tendon design were verified along with some simulation results.

• 한국자동차공학회논문집
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• 제12권3호
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• pp.177-183
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• 2004

The out-of-positioned small female drivers are most likely to be injured during airbag deployment due to their stature and proximity to the steering wheel and airbag module. In order to investigate the injury mechanisms, some experimental studies with Hybrid III 5% female dummy and with female cadavers could be found from the open literatures. However, the given information from those experimental studies is quite limited to the standard conditions and might not be enough to estimate the airbag inflation aggressiveness regarding on the occupant responses and injury. In this study, a finite element analysis has been performed in order to investigate the airbag-induced injuries. A finite element 5% female human model in anatomical details has been developed. The validation results of the model are also introduced in this paper.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1988년도 한국자동제어학술회의논문집(국제학술편); 한국전력공사연수원, 서울; 21-22 Oct. 1988
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• pp.1006-1013
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• 1988

We have shown how unstructured modeling was used to derive a general stability condition in Part 1. In Part 2, we focus on the particular dynamics (structures modeling) of the robot manipulator and environment. Using rigid body dynamics, the stability condition for the direct drive robots has been achieved in terms of the Jacobian and robot tracking controller. Combining the structured and unstructured modeling, a stability condition for a particular application can be obtained. This approach has been used to analyze compliant motion on the University of Minnesota robot using a feedforward torque controller. We have obtained a stability condition for this application. Through both simulation and experiment, the sufficiency of this condition has been demonstrated. For a sufficient stability condition, recall that if the condition is satisfied, then the stability is guaranteed; however, if the condition is violated, no conclusion can be made.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1988년도 한국자동제어학술회의논문집(국내학술편); 한국전력공사연수원, 서울; 21-22 Oct. 1988
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• pp.614-619
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• 1988

In this paper, an arbitrary mission of a spacecraft from launch to orbit injection is investigated for some launch trajectories. Launch sites are selected arbitrarily from various locations in Korea. For this study, a general purpose simulation program is developed. In this program, the Earth is assumed to be a rotating ellipsold. The launch vehicle is treated as a 3-D, 6-DOF rigid body. The developed program has been evaluated by calibrating it to the 3-stage N-1 rocket developed in Japan and launched at Tanegasima. The simulated trajectory from the first-stage ignition to burnout of third-stage main engine is compared with the previously tested N-1 rocket trajectory in Japan. The result shows that the program works properly. Using the proven program, we have investigated possible launch locations in Korea, namely Marado, Sungsan and Kuryongpo. The problem of polar orbit injection is also examined.

• 한국정밀공학회지
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• 제13권2호
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• pp.176-184
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• 1996

The paper describes the vibration characteristics of the mechanical system consisting of a uniform Timoshenko beam with a guided mass and an elastic spring support. The free end of the beam does not rotate and the spring attatched to the guided mass is elastically restrained against translation. The guided mass is assumed to be a rigid body having a finite size, but not a mass point as it has been assumed so far. The effect of magnitudes, rotary inertia and the size of the guided mass on the vibration characteristics is fully investigated by the numerical simulation using FEM and experiment. In order to verify the eigenvalue sensitivity for considered system, comparison exact solutions with FEM is conducted, and a good agreement between two solutions is also highlighted.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2004년도 춘계학술대회논문집
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• pp.233-236
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• 2004

In this paper, a new sensorless vibration control scheme is proposed for a flexible manipulator system. A robust sliding mode controller incorporating with a ‘reaction moment observer’ used for the estimation of the reaction moment reciprocally acting on flexible arm and hub inertia is introduced to achieve desired control target. The rigid body dynamics of the single-link flexible manipulator is simply considered in the design of the sliding mode controller. Then, the reaction moment is estimated by the proposed reaction moment observer to suppress the residual vibration of the flexible arm. The performance of the proposed control scheme is verified by computer simulation and experiment.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2000년도 춘계학술대회논문집
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• pp.291-298
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• 2000

This paper describes a theoretical and experimental investigation into an active vibration isolation system in which four electromagnetic actuators are installed in parallel with each of four passive mounts placed between a piece of equipment and a vibrating base structure. Decentralised velocity feedback control is employed, where each actuator is operated independently by feeding back the absolute equipment velocity at the same location. Although one end of each actuator acts at the sensor positions on the equipment, the control system is not collocated because of the reactive forces acting on the flexible base structure, whose dynamics are strongly coupled with the mounted equipment. Isolation of low frequency vibration is considered where the equipment can be modelled as a rigid body and the mounts as lumped parameter springs and dampers. Control mechanisms are discussed, and some experimental and simulation results are reported.

• 대한기계학회논문집A
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• 제28권8호
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• pp.1212-1220
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• 2004

The structural unbalance mass and laundry are the important sources of the severe vibrations of automatic washing machines. In this paper, a mathematical model is developed for the dynamic analysis of the vertical axis automatic washing machines of pulsator-type. In the model, the rigid body motion of tub assembly is represented by six degrees of freedom and the dynamics of automatic hydraulic balancer is represented by one degree of freedom. The fundamental elastic modes of the tub shell and four suspension bars are also taken into account in the mathematical model, based on analytical and experimental modal analysis results. The 12 degrees of freedom equations of motion are derived by using the Lagrange's equations and the present dynamic model is evaluated by comparing the numerical simulation results with experimentally measured data.