• The Journal of Korean Institute of Communications and Information Sciences
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• v.19 no.12
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• pp.2353-2363
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• 1994

This paper is concerned with the design of a robust digital controller using reduced-order observer on a robotic manipulator under the disturbance. In most cases of robotic manipulator since all state vectors are not measurable, the unmeasurable state vectors must be estimated or reconstructed. Other problems are caused by the nonlinear element like as nondifferentiable Coulomb friction, disturbance due to the gravitational pull, and the torsional spring effect of a link between the drive motor and the manipulator arm. The controller is based on feeding back the observable variables and the estimated state variables which are generated by the observer, and augmenting the system by additional discrete integrators. The feedback gain parameters are obtained by first applying the optimal control theory and then readjusting the feedback parameters to eliminate the limit cycle by using describing Function for nonlinear hybrid system.

• Wind and Structures
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• v.34 no.1
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• pp.73-80
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• 2022

This paper presents a study on amplitude-dependent self-excited aerodynamic forces of a 5:1 rectangular cylinder through free vibration wind tunnel test. The sectional model was spring-supported in a single degree of freedom (SDOF) in torsion, and it is found that the amplitude of the free vibration cylinder model was not divergent in the post-flutter stage and was instead of various stable amplitudes varying with the wind speed. The amplitude-dependent aerodynamic damping is determined using Hilbert Transform of response time histories at different wind speeds in a smooth flow. An approach is proposed to extract aerodynamic derivatives as nonlinear functions of the amplitude of torsional motion at various reduced wind speeds. The results show that the magnitude of A2^*, which is related to the negative aerodynamic damping, increases with increasing wind speed but decreases with vibration amplitude, and the magnitude of A3^* also increases with increasing wind speed but keeps stable with the changing amplitude. The amplitude-dependent aerodynamic derivatives derived from the tests can also be used to estimate the post-flutter response of 5:1 rectangular cylinders with different dynamic parameters via traditional flutter analysis.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.31 no.9
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• pp.82-87
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• 2003

This research is concerned with ground experiments for satellite solar array deployment as well as the validation of theoretical modeling technique presented in the previous paper. We carried out the experiments on the strain energy hinge with stopper to investigate he buckling characteristics of the SEH, which affects the shape and the speed of the solar array deployment. The moment-angle diagram obtained from the experiments was later combined with the theoretical deployment model. This paper also presents the details of the ground experiments performed at the Korea Aerospace Research Institute(KARI) . It was found that the ground experimental results were in good agreement with the theoretical predictions thus validating the dynamic modeling technique.

• KSCE Journal of Civil and Environmental Engineering Research
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• v.10 no.1
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• pp.57-69
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• 1990

The static nonlinear analysis of offshore pipeline is carried out by the finite element method. The governing equilibrium equation are derived by the principle of minimum potential energy and the modified Newton-Raphson procedure is used to solve the system of nonlinear algebraic equation. Geometrically nonlinear beam elements and spring elements are utilized to model the pipeline, stinger, pipe supports and seabed simultaneously. The beam element developed can be used to model redundant structures. It provides for both the torsional deformation and elongation of pipeline, and permits the use of different physical properties in each principal direction. The validity of this method is investigated by comparing the results with these obtained by other methods.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.47 no.10
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• pp.705-711
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• 2019

Dynamic behaviors of the deployable composite reflector antenna are numerically and experimentally investigated. Equations of the motion are formalized using Kane's equation by considering multibody systems with two degrees of freedom such as folding and twisting angles. To interpret structural deformations of the reflector antenna, the composite reflector is modeled using a beam model with the FSDT(First-order Shear Deformation Theory). To determine design parameters such as a torsional spring stiffness and a damping coefficient depending on deployment duration, an inverted pendulum model is simply applied. Based on the determined parameters, dynamic characteristics of the deployable reflector are investigated. In addition, its results are verified and compared through deployment tests using a gravity compensation device.