• Tribology and Lubricants
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• 제14권4호
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• pp.15-22
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• 1998

Recently, the importance of variable displacement piston pump is increasing in industrial world. Especially, most consumers require various range of pressures and flow rates. Pressure compensator is a system controlling flow rate in piston pump at low cost and, therefore, satisfies the need of consumers. However, the system has serious problems, such as response and leakage. The response and leakage are affected by clearance between actuator piston and cylinder, roughness of surface, and spool overlap. In this paper, these effects are investigated experimentally, and optimal clearance and chamfer is obtained. While diameter of cylinder is fixed and diameter of actuator piston is changed in this experiment, response and leakage are measured. Also parameters such as roughness and processing accuracy are changed for piston of fixed clearance. Experimental setup modelled into several parts of actuator piston, cylinder, spool, and swash plate. Input pressure is changed by function generator and proportional valve. The result of this experiment shows that leakage increases very much in proportion to the increase of clearance, and especially leakage occurs enormously when clearance is more than 0.002. The response is not good because as clearance increases leakage increases and as clearance decreases viscous damping effect increases. Accordingly, it is found out that optimal clearance range exists for tile response, within about 0.0012∼0.0014, at this time. Futhermore, the better roughness and geometrical accuracy of actuator piston are, the smaller are leakage and friction. The paper informs that response and leakage are influenced by and geometrical accuracy of actuator piston, roughness of surface, and the clearance between actuator piston and cylinder, and that optimal design of actuator piston in the pressure compensator is possible.

• Journal of Mechanical Science and Technology
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• 제19권3호
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• pp.778-791
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• 2005

A novel pneumatic artificial muscle actuator (PAM actuator), which has achieved increased popularity to provide the advantages such as high strength and high power/weight ratio, low cost, compactness, ease of maintenance, cleanliness, readily available and cheap power source, inherent safety and mobility assistance to humans performing tasks, has been regarded during the recent decades as an interesting alternative to hydraulic and electric actuators. However, some limitations still exist, such as the air compressibility and the lack of damping ability of the actuator bring the dynamic delay of the pressure response and cause the oscillatory motion. Then it is not easy to realize the performance of transient response of pneumatic artificial muscle manipulator (PAM manipulator) due to the changes in the external inertia load with high speed. In order to realize satisfactory control performance, a variable damper-Magneto­Rheological Brake (MRB), is equipped to the joint of the manipulator. Superb mixture of conventional PID controller and a phase plane switching control method brings us a novel controller. This proposed controller is appropriate for a kind of plants with nonlinearity, uncertainties and disturbances. The experiments were carried out in practical PAM manipulator and the effectiveness of the proposed control algorithm was demonstrated through experiments, which had proved that the stability of the manipulator can be improved greatly in a high gain control by using MRB with phase plane switching control method and without regard for the changes of external inertia loads.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.1983-1989
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• 2005

Industrial robots are powerful, extremely accurate multi-jointed systems, but they are heavy and highly rigid because of their mechanical structure and motorization. Therefore, sharing the robot working space with its environment is problematic. A novel pneumatic artificial muscle actuator (PAM actuator) has been regarded during the recent decades as an interesting alternative to hydraulic and electric actuators. Its main advantages are high strength and high power/weight ratio, low cost, compactness, ease of maintenance, cleanliness, readily available and cheap power source, inherent safety and mobility assistance to humans performing tasks. The PAM is undoubtedly the most promising artificial muscle for the actuation of new types of industrial robots such as Rubber Actuator and PAM manipulators. However, some limitations still exist, such as the air compressibility and the lack of damping ability of the actuator bring the dynamic delay of the pressure response and cause the oscillatory motion. In addition, the nonlinearities in the PAM manipulator still limit the controllability. Therefore, it is not easy to realize motion with high accuracy and high speed and with respect to various external inertia loads in order to realize a human-friendly therapy robot To overcome these problems a novel controller, which harmonizes a phase plane switching control method with conventional PID controller and the adaptabilities of neural network, is newly proposed. In order to realize satisfactory control performance a variable damper - Magneto-Rheological Brake (MRB) is equipped to the joint of the manipulator. Superb mixture of conventional PID controller and a phase plane switching control using neural network brings us a novel controller. This proposed controller is appropriate for a kind of plants with nonlinearity uncertainties and disturbances. The experiments were carried out in practical PAM manipulator and the effectiveness of the proposed control algorithm was demonstrated through experiments, which had proved that the stability of the manipulator can be improved greatly in a high gain control by using MRB with phase plane switching control using neural network and without regard for the changes of external inertia loads.

• 대한토목학회논문집
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• 제10권2호
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• pp.91-102
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• 1990

본 연구는 다양한 지반조건에 따른 동적거동해석의 안정성 및 경제성을 분석하기 위하여 토사지반을 포함하는 시험부지를 선택하여 토사지반에서는 미소변형율의 crosshole test 및 downhole test와 대변형율의 반복삼축시험, 암반에서는 미소변형율에서 현장시험인 crosshole test, downhole test와 실내시험인 sonic test를 실시해 변형율에 따른 지반의 동적전단계수, 감쇠비와 포아슨비 등을 측정하였다. 시험으로 구한 동적지반특성과 기초특성과의 상관관계를 회귀분석을 통하여 분석하였고, 지반의 설계대표치는 시험결과를 토대로 지반별 분포특성 및 영향요인을 고려하여 토사지반에서는 비선형 응력-변형모델로, 암반에서는 미소변형율에서의 동적지반특성을 산정하였다. 상기의 지반구성방정식과 대표치 산정과정은 실제 시험결과 분석, 지반입력 data 산정에 활용 가능하도록 체계화하였다.

• 대한기계학회논문집
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• 제17권1호
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• pp.90-100
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• 1993

본 연구에서는 압전 감지기/작동기를 이용한 복합적층판의 진동제어해석을 위 하여 판요소를 사용한 능률적인 유한요소코드 개발에 있다. 운동방정식은 고전 적층 판이론과 Hamilton의 법칙을 이용하여 유도하며 압전방정식으로부터 전기적-기계적 연 계를 고려한 감지식과 작동식을 구한다.각식들은 유한요소 보간함수에 의하여 절점 변위에 대한 행렬방정식으로 변환된다. 요소마다 하나의 전기적 자유도를 가진 4-절 점 12-자유도 판요소를 사용하여 효율적인 계산을 가능하게 하였다. 압전 감지기/작 동기를 도입함에 있어 하나의 전극에 대해 압전 감지기/작동기는 하나의 감지/작동전 압을 갖는다. 각 요소에 전극번호를 부가함으로써 다양한 형상의 전극을 쉽게 모델 링하였으며 전극의 특성도 충분히 고려하였다. 전기적 하중에 의한 압전보의 변형과 변형에 대한 감지전압에 대한 계산을 수행하여 기존의 연구와 비교함으로써 본 프로그 램의 타당성을 확인하였다. 나아가 여러가지 전극형상에 대한 복합재료 평판의 시간 영역과 주파수영역에서 응답을 계산하였다.

• 한국공간구조학회논문집
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• 제9권1호
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• pp.87-94
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• 2009

본 논문은 지진하중에 대한 복층 배럴볼트 시스템의 동적거동을 조사한 것이다. 시간이력해석에 따른 지진에 대한 거동을 조사하기 위하여 6개의 다른 개각과 각 개각에 대하여 0.5초 간격으로 4개의 추가적인 고유 진동수가 고려되었다. 전체 24개의 해석모델들이 컴퓨터 해석 프로그램인 MIDAS Gen.에 의해 설계되었고 5%의 감쇠비가 고려된 3개의 지진에 대하여 시간이력해석이 수행되었다. 지진이 적용될 때 수평방향에 대한 응답반응만 고려하는 라멘 구조물과는 달리 대공간 구조물의 경우 수평방향 뿐만 아니라 상하 방향의 동적거동을 고려하는 것이 중요하다. 따라서 본 연구에서는 수평방향 지진(H)과 수직방향 지진(V)에 대하여 X-, Y- 그리고 Z- 방향에 대한 동적거동 특성에 대하여 평가하였다. 개각과 진동수에 따른 동적거동 특성을 파악하기 위하여 최대 응답이 나타나는 시간에서 배럴볼트 시스템의 특정 절점들에 대한 가속도 응답비를 살펴보았다. 본 논문에서 동적거동을 조사한 가장 중요한 목적은 본 연구의 최종 목적인 배럴볼트시스템에 대한 등가정적지진력을 구하는 식을 제안하기 위함이다.

• 한국지진공학회논문집
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• 제6권4호
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• pp.15-22
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• 2002

이 연구는 원자력발전소 구조물의 확률론적 내진성능을 평가하는 수단으로 이용되고 있는 지진취약도분석 기법에 대하여 소개하고, 지진취약도분석에 입력자료로 제공되는 기본변수의 특성에 대하여 논의하였다. 특히, 지진취약도 분석결과에 지대한 영향을 미칠 수 있는 입력변수의 하나인 응답스펙트럼형태계수의 정의 방법을 개선하였다. 새로운 응답스펙트럼형태계수는 구조물의 고유진동모드별 기여도가 전체 구조응답에 미치는 영향을 고려할 수 있도록 모드별 기여도를 이용하여 표현하였다. 대표적인 원자력발전소 구조물을 대상으로 예제분석을 수행하고, 제안된 응답스펙트럼형태계수의 유용성 및 적용성을 검증하였다. 특히, 이 논문의 방법은 복합모드감쇠특성을 갖는 구조물의 경우에도 효과적으로 적용될 수 있음을 확인하였다.

• Earthquakes and Structures
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• 제12권4호
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• pp.425-436
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• 2017

Vibration control using a tuned mass damper (TMD) is an effective technique that has been verified using analytical methods and experiments. It has been applied in mechanical, automotive, and structural applications. However, the damping of a TMD cannot be adjusted in real time. An excessive mass damper stroke may be introduced when the mass damper is subjected to a seismic excitation whose frequency content is within its operation range. The semi-active tuned mass damper (SATMD) has been proposed to solve this problem. The parameters of an SATMD can be adjusted in real time based on the measured structural responses and an appropriate control law. In this study, a stiffness-controllable TMD, called a leverage-type stiffness-controllable mass damper (LSCMD), is proposed and fabricated to verify its feasibility. The LSCMD contains a simple leverage mechanism and its stiffness can be altered by adjusting the pivot position. To determine the pivot position of the LSCMD in real time, a discrete-time direct output-feedback active control law that considers delay time is implemented. Moreover, an identification test for the transfer function of the pivot driving and control systems is proposed. The identification results demonstrate the target displacement can be achieved by the pivot displacement in 0-2 Hz range and the control delay time is about 0.1 s. A shaking-table test has been conducted to verify the theory and feasibility of the LSCMD. The comparisons of experimental and theoretical results of the LSCMD system show good consistency. It is shown that dynamic behavior of the LSCMD can be simulated correctly by the theoretical model and that the stiffness can be properly adjusted by the pivot position. Comparisons of experimental results of the LSCMD and passive TMD show the LSCMD with less demand on the mass damper stroke than that for the passive TMD.

• Earthquakes and Structures
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• 제16권3호
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• pp.349-358
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• 2019

Long span cable-stayed bridges are extremely vulnerable to dynamic excitations such as which caused by traffic load, wind and earthquake. Studies on cable-stayed bridge vibration control have been keenly interested by researchers and engineers in design new bridges and assessing in-service bridges. In this paper, a novel Hybrid-Tuned Mass Damper (H-TMD) is proposed and a hybrid control model named Mixed Logic Dynamic (MLD) is employed to build the bridge-H-TMD system to mitigate the vibrations. Firstly, the fundamental theory and modeling process of MLD model is introduced. After that, a new state switching design of the H-TMD and state space equations for different states are proposed to control the bridge vibrations. As the state switching designation presented, the H-TMDs can applied active force to bridge only if the structural responses are beyond the limited thresholds, otherwise, the vibrations can be reduced by passive components of dampers without active control forces provided. A new MLD model including both passive and active control states is built based on the MLD model theory and the state switching design of H-TMD. Then, the case study is presented to demonstrate the proposed methodology. In the case study, the control scheme with H-TMDs is applied for a long span cable-stayed bridge, and the MLD model is established and simulated with earthquake excitation. The simulation results reveal that the suggested method has a well damping effect and the established system can be switched between different control states as design excellently. Finally, the energy consumptions of H-TMD schemes are compared with that of Active Tuned Mass Damper (ATMD) schemes under variable seismic wave excitations. The compared results show that the proposed H-TMD can save energy than ATMD.

• Advances in aircraft and spacecraft science
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• 제9권3호
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• pp.169-193
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• 2022

By the present paper, both experimental and analytical models have been proposed to study the vibration behavior of partially bio-sourced sandwich panel with orthogonally stiffened core. For a variable mass fraction of Alfa fibers from 5% to 15%, impregnated in a Medapoxy STR resin, this panel were manufactured by molding the orthogonally stiffened core then attached it with both skins. Using simply supported boundary conditions, a free vibration test was carried out using an impact hammer for predicting the natural frequencies, the mode shapes and the damping coefficient versus the fibers content. In addition, an analytical model based on the Higher order Shear Deformation Theory (HSDT) was developed to predict natural frequencies and the mode shapes according to Navier's solution. From the experimental test, we have found that the frequency increases with the increase in the mass fraction of the fibers until 10%. Beyond this fraction, the frequencies give relatively lower values. For the analytical model, variation of the natural frequencies increased considerably with side-to-thickness ratio (a/H) and equivalent thickness of the core to thickness of the face (h_s/h). We concluded that, the vibration behavior was significantly influenced by geometrical and mechanical properties of the partially bio-sourced sandwich panel.