• Journal of the Korean Society for Precision Engineering
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• v.13 no.12
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• pp.106-113
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• 1996

This paper presents a modeling of undersea robot manipulators and a control scheme appropriate for manipulating the manipulators working under the unstrcuctured sea water environment. Under the sea, the added mass and added moment of inertia, buoyancy, and drag forces should be considered in modeling the dynamics of the robot manipulators. Due to the complexity of them, the desired dynamics of manipulators can not be accomplished by the conventional control schemes. Hence, a sliding mode control is applied to control the modeling error.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.17 no.9
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• pp.688-693
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• 2016

This paper describes the parachute dynamics modeling and simulation results for the development of training simulator of a HALO (High Altitude Low Opening) parachute, which is currently in use for military purposes. The target parachute is a rectangular shaped parafoil and its dynamic model is derived based on the real geometry data as the 9-DOF nonlinear equations of dynamics. The simulation was conducted through the moment of inertia and its aerodynamic derivatives to reflect the real characteristics based on the MATLAB/Simulink. In particular, its modeling includes the typical characteristics of the added mass and moment of inertia, which is shown in the strong effects in Lighter-Than-Air(LTA) flight vehicle. The proposed dynamic modeling was evaluated through the simulation under the spiral turning flight conditions of the asymmetric control inputs and compared with the performance index in the target parachute manual.

• KSCE Journal of Civil and Environmental Engineering Research
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• v.30 no.3A
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• pp.241-256
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• 2010

This study intends to develop an aerodynamic girder for suspension bridge with width corresponding to 1/70 of the main span length. In the first step of present study, parametric study for the effects of major structural properties on aerodynamic stability of bridges was performed. The span length and natural frequency of bridges were found to be free from girder width, girder height, and aspect ratio of width to height. The empirical equation according to confidence interval was proposed to estimate the natural frequencies of bridges from span length. From the sensitivity analysis, it was revealed that the torsional frequency was dominant parameter among various structural properties that affected flutter velocity mostly. The final aerodynamic bridge section which satisfied the flutter criteria was found from section wind tunnel tests for 30 cross sectional models. The aerodynamic stability of the developed cross section was verified by multimode flutter analysis. The present economical cross section can be used for long span suspension bridge.

• Journal of Advanced Marine Engineering and Technology
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• v.39 no.7
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• pp.709-715
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• 2015

Underwater gliders do not typically have separate propellers for forward motion. They generate propulsive forces based on the difference between their buoyancy and gravity. They can control the volume from the buoyancy engine to adjust the propulsive force. In addition, the attitude of the underwater glider is controlled by a rubberless motion controller. The motion controller can change the mass center and moment of inertia of the inner moving mass. Owing to the change in these parameters, the attitude of the underwater glider is changed. In this study, we derive nonlinear, six degree of freedom (DOF) mathematical models for the motion controller and buoyancy engine. Using these equations, we perform dynamic simulations of the proposed underwater glider, and verify the suitability of the design and dynamic performances of the proposed underwater glider. We then perform the motion control simulation for the pitch and roll angle, and analyze the dynamic performance according to the pitch and roll angles.

• Journal of Advanced Marine Engineering and Technology
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• v.36 no.5
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• pp.635-644
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• 2012

In order to design a wave energy generating system, a 6-DOF analysis technique is applied to the three-Dimensional CFD analysis on of a floating body and the behavior is interpreted according to the nature of the incoming wave. A wave period of 5.5s & amplitude of 0.57m from Marado is chosen. 12 case of natural pitching period from 1.25 to 2.8s has been modeled. The relation between tuning factor & pitch angle for the waves generated is compared to analyze the effects of energy absorption variables, namely mass moment of inertia, angular velocity and angular acceleration. From the results obtained, we conclude that model L is the maximum power absorbed, 6kW approximately. A maximum pitch angle of 1.91 degree was attained by Model F, and the maximum displacement of nearly 0.7m was attained by Model L among models D, F and L.

• Journal of Aerospace System Engineering
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• v.15 no.1
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• pp.72-79
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• 2021

In this study, as part of the development of an autonomous flying personal aircraft, an equivalent model of the main wing assembly of an Optionally Piloted Personal Air Vehicle (OPPAV) was developed. Reliability of the developed equivalent model was verified by eigenvalue analysis. The main wing assembly consisted of a main wing, an inboard pod, and an outboard pod. First, for developing an equivalent model of each component, components to produce the equivalent model were divided into several sections. Nodes were then created on the axis of the equivalent model at both ends of each section. In addition, static analysis with unit force and unit moment was performed to calculate the deformation or the amount of rotation at the node to be used in the equivalent model. Equivalent axial, bending, and torsional stiffness of each section were calculated by applying the beam theory. Once the equivalent stiffness of each section was calculated, information of a mass and moment of inertia for each section was entered by creating a lumped mass in the center of each section. An equivalent model was developed using beam element. Finally, the reliability of the developed equivalent model was verified by comparison with results of mode analysis of the fine model.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2004.11a
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• pp.498-502
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• 2004

In a link-motion mechanism, numerous links are interconnected and each link executes a constrained motion at a high speed. Due to the complicated constrained motions of the constituent links, dynamic unbalance forces and moments are generated and transmitted to the main frame. Therefore unwanted vibration is produced. This degrades productivity and precise work. Based on constrained multi-body dynamics, the kinematic analysis is carried out to enable design changes to be made. This will provide the fundamental information for significantly reducing dynamic unbalance forces and moments which are transmitted to the main frame. In this work, a link-motion punch press is selected as an example of a link-motion mechanism. To calculate the mass and inertia properties of every link comprising a link-motion punch press, 3-dimensional CAD software is utilized. The main issue in this work is to eliminate the first-order unbalance force and moment in a link-motion punch press. The mass, moment of inertia link length, location of the mass center in each link have a great impact on the degree of dynamic balancing which can be achieved maximally. Achieving good dynamic balancing in a link motion punch press is quite essential fur reliable operation at high speed.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.49 no.9
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• pp.749-757
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• 2021

In transportation missions using quadrotor, the payload may change the model parameters, such as mass, moment of inertia, and center of gravity. Moreover, if position of the payload is constantly changing during flight, the effect can adversely affect the control performances. To handle this issue, we suggest Model Reference Adaptive Control based on Linear Quadratic Regulator(LQR+MRAC) to compensate the uncertainty caused by payload. Firstly, the mathematical modeling with the fixed payload is derived. Second, Linear Quadratic Regulator (LQR) is used to design the reference model and baseline controller. Also, through the Stability method, Adaptive law is derived to estimate the model parameters. To verify the performance of proposed control scheme, we compared LQR and LQR+MRAC in situations where uncertainties exist. And, when the disturbance exist, the classic MRAC and proposed controller is compared to analyze the transient response and robustness.

• Journal of Aerospace System Engineering
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• v.13 no.3
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• pp.23-31
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• 2019

The design requirements of modern satellites vary depending on the purpose of operation. Like conventional medium and large-scale satellites, small satellites which operate on low orbit may also serve military purposes. As a result, there is increased demand for high-resolution photos and videos and multi-target observation becomes important. The most important design parameter for multi-target observation is the satellites' maneuverability. For increased maneuverability, the miniaturization is required to increase the stiffness of the satellite as this decreases the mass moment of inertia of the satellite. In the case of a solar panel having relatively low stiffness compared to the satellites' body, vibrations are generated when the attitude maneuver is performed, which greatly influences the image acquisition. For verification of such vibrational characteristics, the satellites is modeled as a reduced model, and experimental zig for simulating attitude maneuver is introduced. A rigidity simulator for simulating the stiffness of the satellite is also proposed. Additionally, the objective of the experimental method is to simulate the maneuvering angle of the satellite based on the winding length of the wire using a step motor, and to experimentally verify the vibration characteristics of the satellite body and the solar panel generated during the maneuvering test.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.33 no.4
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• pp.91-99
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• 2005

Flight compatibility certification is performed to substantiate the compatibility between ALQ-X ECM pod and KF-16D/RF-4C aircraft. A certification plan for the ALQ-X flight compatibility is established. Similarity analysis, mass/inertia analysis, structural analysis/test, and ground vibration test/flutter analysis are made to support the safety of MIL-HDBK-1763 Test 250 (Captive compatibility flight profile). Aircraft flew along flight envelope boundary with representative ALQ-X configurations. Handling qualities are evaluated by comparing flight characteristics of the aircraft with and without ALQ-X. Structural integrity and endurance is evaluated using measured flight test data. Results of these flight tests showed that ALQ-X is compatible with KF-16D/RF-4C without altering the flight envelope which has originally been certified for ALQ-88 and ALQ-119 ECM pods. ALQ-X certification program made following technical achievements: Type III certification for foreign designed fighter, flutter analysis program development using GVT results, and utilization of MIL-STD-1553B data bus in flight test.