• 대한토목학회논문집
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• 제33권2호
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• pp.443-453
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• 2013

하이브리드 실험은 수치해석 모형과 물리적 부분구조 모형사이의 상호작용을 통하여 구조물의 거동을 예측하는 실험법이다. 본 연구에서는 지진하중 재하 시 1경간 2층 강 뼈대 구조물에 대한 다자유도 하이브리드 실험을 수행하고 유효성을 확보하는데 그 목적이 있다. 이를 위해 전용 하이브리드 수치해석 프로그램인 FEAPH을 개발하였으며, 최적화된 시스템을 구축하였다. FEAPH은 고정 반복법(Fixed iteration)과 병렬화(Parallelization) 기법을 적용하여 순차적 해석에서 발생되는 비효율적 연산을 개선하였다. 또한, 종전에 데이터 통신과 부분구조물과 해석프로그램간의 인터페이스를 간략화하여 하이브리드 시스템 구성을 최적화 하였다. 그 결과, 입력 가진시간(30초) 대비 약 10%의 실험시간이 소요되었다. 시스템의 신뢰성을 검증하고 선형실험과 강 뼈대 구조물의 동적거동을 예측하기 위해 비선형 실험을 수행하였으며 수치해석과의 변위응답이력은 거의 일치 하였다. 그러나 최대변위에 대한 응답은 다소 차이를 보였으며, 이는 재료 비선형성에 대한 해석상의 오차와 영구변형에 의해 발생한 것으로 판단된다. 따라서 적절한 재료 비선형 모델과 알고리즘의 개선이 이루어지면, 실시간 하이브리드 시스템은 구조물의 동적거동을 예측하는데 유용하게 활용될 것이며, 추후 진동대 실험을 대체할 수 있는 효과적인 실험 방법이 될 것으로 판단된다.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2002년도 춘계학술대회논문집
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• pp.89-96
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• 2002

A two-degree of freedom model is suggested to understand the basic dynamical behaviors of the interaction between two masses of the friction induced vibration system. The two masses may be considered as the pad and the disk of the brake, The phase space analysis is performed to understand complicated dynamics of the non-linear model. Attractors in the phase space are examined for various conditions of the parameters of the model especially by emphasizing on the damping parameters. In certain conditions, the attractor becomes a limit cycle showing the stick-slip phenomena. In this paper, not only the existence of the limit cycle but also the size of the limit cycle is examined to demonstrate the non-linear dynamics that leads the unstable state. For the two different cases of the system frequency ((1)two masses with same natural frequencies, (2) with different natural frequencies), the propensity of limit cycle is discussed in detail. The results show an important fact that it may make the system worse when too much damping is present in the only one part of the masses.

• 한국소음진동공학회논문집
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• 제12권7호
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• pp.502-509
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• 2002

A two-degree of freedom model Is suggested to understand the basic dynamical behaviors of the interaction between two masses of the friction induced vibration system. The two masses may be considered as the pad and the dusk of the brake. The phase space analysis is performed to understand complicated dynamics of the non-linear model. Attractors in the phase space are examined for various conditions of the parameters of the model especially by emphasizing on the damping parameters. In certain conditions, the attractor becomes a limit cycle showing the stick-slip phenomena. In this Paper, not only titre existence of the limit cycle but also the sloe of the limit cycle is examined to demonstrate the non-linear dynamics that leads the unstable state. For the two different cases of the system frequency[(1) Two masses with same natural frequencies, (2) with different natural frequencies] . the propensity of limit cycle Is discussed In detail. The results show an important fact that it may make the system worse when too much damping Is present in the only one part of the masses.

• 로봇학회논문지
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• 제12권2호
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• pp.194-205
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• 2017

A redundantly actuated planar 3-degree-of-freedom parallel mechanism is analyzed to show its high application potential as a haptic device. Its structure along with the closed form forward position solutions is briefly discussed. Then its geometric and kinematic characteristics via singularity analysis, the kinematic isotropy index, and the input-output force transmission ratio are investigated both for the redundantly actuated cases and for the non-redundantly actuated case. In addition, comparative joint torque simulations of the mechanism with different number of redundant actuations as well as without redundant actuation are conducted to confirm the improved joint torque distribution characteristics. Through these analyses it is shown that the geometric and kinematic characteristics of the redundantly actuated mechanism are superior to the ones of the mechanism without redundant actuation. Thus, it can be concluded that the suggested planar mechanism with redundant actuation has a very high potential for haptic device applications.

• Architectural research
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• 제14권3호
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• pp.99-108
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• 2012

An innovative multi-story Semi-Active Tuned Mass Damper (SATMD) building system is proposed to control seismic response of existing structures. The application of adding new stories as large tuned mass and semi-active (SA) resettable actuators as central features of the control scheme is derived. For the effective control of the structures, the optimal tuning parameters are considered for the large mass ratio, for which a previously proposed equation is used and the practical optimal stiffness is allocated to the actuator stiffness and rubber bearing stiffness. A two-degree-of freedom (2-DOF) model is adopted to verify the principal efficiency of the suggested structural control concept. The simulations for this study utilizes the three ground motions, from SAC project, having probability of exceedance of 50% in 50 years, 10% in 50 years, and 2% in 50 years for the Los Angeles region. 12-story moment resisting frames, which are modified as '12+2' and '12+4' story structures, are investigated to assess the viability and effectiveness of the system that aims to reduce the response of the buildings to earthquakes. The control ability of the SATMD scheme is compared to that of an uncontrolled and an ideal Passive Tuned Mass Damper (PTMD) building system. From the performance results of suggested '12+2' and '12+4' story retrofitting case studies, SATMD systems shows significant promise for application of structural control where extra stories might be added.

• 신재생에너지
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• 제7권3호
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• pp.74-82
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• 2011

Because concern on the problem of the limited energy is growing and the wind energy is considered as one of the biggest solutions, the researches on the wind energy and turbine are accomplished vigorously. The simulation tools on the non-linear characteristics of wind turbine system are various and it could describe the non-linear characteristics well but, the tool and methodology to apply non-linear control theory rarely exist. In this paper, the application procedure of sliding mode control theory to 2-DOF non-linear wind turbine system is suggested and the application results of it are also shown as compared with a torque loop control theory.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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• pp.295-298
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• 1996

In this paper, a self-tuning optimal control algorithm is proposed to retain the optimal performance of an active suspension system, when the vehicle has some time varying parameters and parameter uncertainties. We consider a 2 DOF time-varying quarter car model which has the parameter variation of sprung mass, suspension spring constant and suspension damping constant. Instead of solving algebraic riccati equation on line, we propose a neural network approach as an alternative. The optimal feedback gains obtained from the off line computation, according to parameter variations, are used as the neural network training data. When the active suspension system is on, the parameters are identified by the recursive least square method and the trained neural network controller designer finds the proper optimal feedback gains. The simulation results are represented and discussed.

• Transactions on Control, Automation and Systems Engineering
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• 제3권2호
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• pp.71-76
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• 2001

This paper deals with an estimation method for sideslip angle by using an unknown disturbance observation technique in 4WS passenger car systems. Firstly, a 4WS vehicle model with 3DOF is derived under the constant velocity and same tyres properties. The vehicle dynamics is transformed into the linear state space model with considering the external disturbances. Secondly, and unknown disturbance observer is introduced and its property which estimating the states of system without any disturbance information is shown. Lastly, the estimated sideslip angle of the 4WS vehicle system is verified through numerical simulation.

• 한국산업융합학회 논문집
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• 제18권4호
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• pp.224-230
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• 2015

In this paper, it is presented a learning controller for repetitive walking control of biped walking robot. We propose the iterative learning control algorithm which can learn periodic nonlinear load change ocuured due to the walking period through the intelligent control, not calculating the complex dynamics of walking robot. The learning control scheme consists of a feedforward learning rule and linear feedback control input for stabilization of learning system. The feasibility of intelligent control to biped robotic motion is shown via dynamic simulation with 25-DOF biped walking robot.

• International Journal of Naval Architecture and Ocean Engineering
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• 제7권2호
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• pp.409-425
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• 2015

In this paper, we employ a dynamics modeling method for investigating a multi-body dynamics system of semi-submersible autonomous underwater vehicles consisting of a towing vehicle operated near the water surface, a tow cable, and a towfish. The towfish, which is towed by a marine cable for the purposes of exploration or mine hunting, is modeled with a Six-Degree-of-Freedom (6-DOF) equation of motion that reflects its hydrodynamics characteristics. The towing cable, which can experience large displacements and deformations, is modeled using an absolute nodal coordinate formulation. To reflect the hydrodynamic characteristics of the cable during motion, the hydrodynamic force due to added mass and the drag force are imposed. To verify the completeness of the modeling, a few simple numerical simulations were conducted, and the results confirm the physical plausibility of the model.