• 대한기계학회논문집
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• 제12권5호
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• pp.959-967
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• 1988

본 연구에서는 반능동형 감쇠기의 작동기준을 설정하고 그것의 타당성을 조사 하는 것이 주목적이어서 속도에 대한 고려는 제외하였다.이때 반능동형 감쇠계가 고정된 감쇠계수를 갖는 감쇠기로 구성된 계보다 얼마만큼 성능이 향상되며 능동형 감 쇠기(감쇠계수를 제한된 영역내에서 순간순간 조절하여 변화시킬 수 있는 감쇠기)를 갖는 계에 얼마만큼 접근하는가가 비교되어진다.

• 동력기계공학회지
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• 제12권6호
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• pp.42-49
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• 2008

The most important job in the container terminal area is to handle the cargo effectively in the limited time. To achieve this object, many strategies have been introduced and applied to. If we consider the automated container terminal, it is necessary that the cargo handling equipments are equipped with more intelligent control systems. From the middle of the 1990's, an automated rail-mounted gantry crane(RMGC) and rubber-tired gantry crane(RTG) have been developed and widely used to handle containers in the yards. Recently, in these cranes, the many equipments like CCD cameras and sensors are mounted to cope with the automated terminal environment. In this paper, we try to support the development of more intelligent automated cranes which make the cargo handling be performed effectively in the yards. For this plant, the modelling, tracking control, anti-sway system design, skew motion suppressing and complicated motion control and suppressing problems must be considered. Especially, in this paper, the system modelling and tracking control approach are discussed. And, we design the tracking control system incorporating an observer based on the 2DOF servo system design approach to obtain the desired state informations. In the case of observer design, a weighted $H_{\infty}$ error bound approach for a state estimator is considered. Based on an algebraic Riccati equation(inequality) approach, a necessary and sufficient condition for the existence of a full-order estimator which satisfies the weighted $H_{\infty}$ error bound is introduced. Where, the condition for existence of the estimator is denoted by a Linear Matrix Inequality(LMI) which gives an optimized solution and observer gain. Based on this result, we apply it to the tracking control system design for the transfer crane.

• 한국정밀공학회지
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• 제22권5호
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• pp.103-112
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• 2005

This paper presents one-axis high precision scanning system and illustrates the design of modified $X-Y-{\theta}$ stage as a tracker using VCM and commercialized air bearings for it. The scanning system for 100nm resolution is composed of the 3-axis stage and one axis long stroke linear motor stage as a follower. In this study a previous proposed and presented structure of VCM for the fine stage is modified. The tracker has 3 DOF($X-Y-{\theta}$ motions by four VCM actuators which are located on the same plane. So 4 actuating forces are suggested and designed to create least pitch and roll motions. This article will show about the design especially about optimal design. The design focus of this fine stage is to have high acceleration to accomplish high throughput. The optimal design of maximizing acceleration is performed in restrained size. The most sensitive constraint of this optimal design is heat dissipation of coil. There are 5 design variables. Because the relationship between design variables and system parameters are quite complicated, it is very difficult to set design variables manually. Due to it, computer based optimal design procedure using MATLAB is used. Then, this paper also describes the procedures of selecting design variables for the optimal design and a mathematical formulation of the optimization problem. Based on the solution of the optimization problem, the final design of the stage is also presented. The results can be verified by MAXWELL. The designed stage has the acceleration of about 5 $m/s^{2}$ with 40kg total mass including wafer chuck and interferometer mirror. And the temperature of coil is increased $50^{\circ}C$. In addition, the tracker is controlled by high precision controller system with HP interferometer for it and linear scaler for the follower. At that time, the scanning system has high precision resolution about 5nm and scanning resolution about 40nm in 25mm/s constant speed

• Earthquakes and Structures
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• 제13권2호
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• pp.165-176
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• 2017

Multi-Axial Testing System (MATS) is a 6-DOF loading system located at National Center for Research on Earthquake Engineering (NCREE) in Taiwan for advanced seismic testing of structural components or sub-assemblages. MATS was designed and constructed for a large variety of structural testing, especially for the specimens that require to be subjected to vertical and longitudinal loading simultaneously, such as reinforced concrete columns and lead rubber bearings. Functionally, MATS consists of a high strength self-reacting frame, a rigid platen, and a large number of servo-hydraulic actuators. The high strength self-reacting frame is composed of two post-tensioned A-shape reinforced concrete frames interconnected by a steel-and-concrete composite cross beam and a reinforced concrete reacting base. The specimen can be anchored between the top cross beam and the bottom rigid platen within a 5-meter high and 3.25-meter wide clear space. In addition to the longitudinal horizontal actuators that can be installed for various configurations, a total number of 13 servo-hydraulic actuators are connected to the rigid platen. Degree-of-freedom control of the rigid platen can be achieved by driving these actuators commanded by a digital controller. The specification and information of MATS in detail are described in this paper, providing the users with a technical point of view on the design, application, and limitation of MATS. Finally, future potential application employing advanced experimental technology is also presented in this paper.

• 한국추진공학회지
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• 제21권2호
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• pp.60-71
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• 2017

정지궤도 발사체의 시스템 옵션별 성능 해석을 위하여 3자유도 궤적모델을 이용한 궤도 해석 프로그램을 작성하였다. 이 프로그램을 이용하여 추진제의 종류와 엔진방식, 클러스터링 수, 그리고 발사장 위치 등을 옵션으로 두고 발사궤적과 정지천이궤도 투입성능을 추정하였다. 해석의 결과를 통하여 국내 발사장을 이용하여 임무 달성을 가능케 하는 다양한 설계 방안의 가능성과 함께 정지궤도 발사체의 설계 방향을 파악할 수 있었다.

• Journal of Mechanical Science and Technology
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• 제19권2호
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• pp.505-519
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• 2005

In this paper, we develop an anti-sway control in proposed techniques for an ATC system. The developed algorithm is to build the optimal path of container motion and to calculate an anti-collision path for collision avoidance in its movement to the finial coordinate. Moreover, in order to show the effectiveness in this research, we compared NNP PID controller to be tuning parameters of controller using NN with 2 DOF PID controller. The simulation and experimental results show that the proposed control scheme guarantees performances, trolley position, sway angle and settling time in NNP PID controller than other controller. As the results in this paper, the application of NNP PID controller is analyzed to have robustness about disturbance which is wind of fixed pattern in the yard. Accordingly, the proposed algorithm in this study can be readily used for industrial applications.

• 대한기계학회논문집
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• 제18권2호
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• pp.260-270
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• 1994

With the prevalent use of robot, the interests in moving speed of robot have been increasing for the purpose of upgrading performance of production. But the faster robot manipulator moves, the worse working accuracies are. And mechanical vibration is more and more serious with the increment of the moving speed of robot. So, the study on the cause and control method of robot vibration is one of the points of issue in robotics. This paper focuses on the vibration of 3 DOF parallel link drive mechanism robot. We assume that links of robot manipulator are `rigid' and joints are `flexible elements'. Governing equations of robot system including controller, servo amplifier, D.C servo motor, transmission with elasticity, and manipulator dynamics are derived. On the basis of modelling, we define `controller stiffness' by the proportional gain of controller and `stiffness of transmission'. Numerical and experimental research is performed to study vibration phenomena of robot induced from the variation of these two defined stiffnesses, and its results are shown.

• Geomechanics and Engineering
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• 제1권2호
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• pp.121-142
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• 2009

The paper deals with the applications of spectral finite element method to the dynamic analysis of framed foundations supporting high speed machines. Comparative performance of approximate dynamic stiffness methods formulated using static stiffness and lumped or consistent or average mass matrices with the exact spectral finite element for a three dimensional Euler-Bernoulli beam element is presented. The convergence of response computed using mode superposition method with the appropriate dynamic stiffness method as the number of modes increase is illustrated. Frequency proportional discretisation level required for mode superposition and approximate dynamic stiffness methods is outlined. It is reiterated that the results of exact dynamic stiffness method are invariant with reference to the discretisation level. The Eigen-frequencies of the system are evaluated using William-Wittrick algorithm and Sturm number generation in the $LDL^T$ decomposition of the real part of the dynamic stiffness matrix, as they cannot be explicitly evaluated. Major's method for dynamic analysis of machine supporting structures is modified and the plane frames are replaced with springs of exact dynamic stiffness and dynamically flexible longitudinal frames. Results of the analysis are compared with exact values. The possible simplifications that could be introduced for a typical machine induced excitation on a framed structure are illustrated and the developed program is modified to account for dynamic constraint equations with a master slave degree of freedom (DOF) option.

• 대한기계학회논문집A
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• 제35권4호
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• pp.359-365
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• 2011

기동형 경계 로봇은 공항이나 항구 등의 공공 지역을 보호하기 위한 기동형 차량 시스템에 고정되어 있는 경계 로봇을 말한다. 이러한 기동형 경계 로봇은 사격 시스템, 카메라 시스템, 임베디드 시스템 그리고 AHRS 센서로 구성되어 있다. 또한 고각과 방위각을 위한 2 축 제어가 가능하도록 설계되었다. 안정화된 영상과 사격을 위해 이 시스템은 차량의 모션으로부터 발생하는 외란에 대한 보상을 통해 안정화가 되어야 한다. 본 논문에서는 ADAMS 와 Matlab/Simulink 를 이용해서 기동형 경계로봇의 가상 모델을 생성하고 제안한 안정화 알고리즘을 시뮬레이션을 통해 검증하였다. 또한 가상모델에 상응하는 모형의 기동형 경계 로봇과 6 축 모션 시뮬레이터를 이용하여 안정화 알고리즘을 실험적으로 검증하였다.

• Wind and Structures
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• 제12권5호
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• pp.413-424
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• 2009

A series of wind tunnel free-decay sectional model dynamic tests were conducted to examine the effects of torsional-to-vertical natural frequency ratio of 2DOF bridge dynamic systems on the aerodynamic and dynamic properties of bridge decks. The natural frequency ratios tested were around 2.2:1 and 1.2:1 respectively, with the fundamental vertical natural frequency of the system held constant for all the tests. Three 2.9 m long twin-deck bridge sectional models, with a zero, 16% (intermediate gap) and 35% (large gap) gap-to-width ratio, respectively, were tested to determine whether the effects of frequency ratio are dependent on bridge deck cross-section shapes. The results of wind tunnel tests suggest that for the model with a zero gap-width, a model to approximate a thin flat plate, the flutter derivatives, and consequently the aerodynamic forces, are relatively independent of the torsional-to-vertical frequency ratio for a relatively large range of reduced wind velocities, while for the models with an intermediate gap-width (around 16%) and a large gap-width (around 35%), some of the flutter derivatives, and therefore the aerodynamic forces, are evidently dependent on the frequency ratio for most of the tested reduced velocities. A comparison of the modal damping ratios also suggests that the torsional damping ratio is much more sensitive to the frequency ratio, especially for the two models with nonzero gap (16% and 35% gap-width). The test results clearly show that the effects of the frequency ratio on the flutter derivatives and the aerodynamic forces were dependent on the aerodynamic cross-section shape of the bridge deck.