• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1993년도 한국자동제어학술회의논문집(국제학술편); Seoul National University, Seoul; 20-22 Oct. 1993
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• pp.172-178
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• 1993

This paper deals with the modeling and experiment of a robot system for force/impact control performance. The basic model is composed of a direct drive motor, servo amplifier, link, force sensor and environments. Based on the developed model, the stability of the whole system was analyzed via root locus method. For the force control, integral force compensation with velocity feedback method shows the best performance of all the explicit force control strategies. In dealing with impact, PID position control and the explicit force control method were implemented. Instead of add more damping to the robot system by velocity feedback, we developed a new passive damping method and it was also applied to enhance the damping characteristic of the system.

• Structural Engineering and Mechanics
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• 제85권1호
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• pp.119-133
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• 2023

Impact event is the key factor influencing the operational state of the mechanical equipment. Additionally, nonlinear factors existing in the complex mechanical equipment which are currently attracting more and more attention. Therefore, this paper proposes a novel hybrid-separate identification strategy to solve the force identification problem of the nonlinear structure under impact excitation. The 'hybrid' means that the identification strategy contains both l1-norm (sparse) and l2-norm regularization methods. The 'separate' means that the nonlinear response part only generated by nonlinear force needs to be separated from measured response. First, the state-of-the-art two-step iterative shrinkage/thresholding (TwIST) algorithm and sparse representation with the cubic B-spline function are developed to solve established normalized sparse regularization model to identify the accurate impact force and accurate peak value of the nonlinear force. Then, the identified impact force is substituted into the nonlinear response separation equation to obtain the nonlinear response part. Finally, a reduced transfer equation is established and solved by the classical Tikhonove regularization method to obtain the wave profile (variation trend) of the nonlinear force. Numerical and experimental identification results demonstrate that the novel hybrid-separate strategy can accurately and efficiently obtain the nonlinear force and impact force for the nonlinear structure.

• Steel and Composite Structures
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• 제43권2호
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• pp.229-240
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• 2022

The main objective of this work is presenting a mathematical model for the concrete slab with fiber reinforced polymer (FRP) layer under the impact load. Impacts are assumed to occur normally over the top slab and the interaction between the impactor and the structure is simulated using a new equivalent three-degree-of-freedom (TDOF) spring-mass-damper (SMD) model. The structure is assumed viscoelastic based on Kelvin-Voigt model. Based on the sinusoidal shear deformation theory (SSDT), energy method and Hamilton's principle, the motion equations are derived. Applying DQM, the dynamic deflection and contact force of the structure is calculated numerically so that the effects of mass, velocity and height of impactor, boundary conditions, FRP layer, structural damping and geometrical parameters of structure are shown on the dynamic deflection and contact force of system. Results show that considering structural damping leads to lower dynamic deflection and contact force. In addition, increasing the impact velocity of impactor yields to increases in the maximum contact force and deflection while the contact duration is decreased. The result shows that the contact force and the central deflection of the structure decreases and the contact time decreases with assuming FRP layer.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2006년도 춘계학술대회논문집
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• pp.1065-1070
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• 2006

The beam structure models with an impactor or contact parts under impact forces have teen applied to the design of mechanical and electronic accessories. Switches, hard-disk pick-ups and sensors are typical structural examples of the structure to be designed to colliding with other parts of structures. In this paper, in order to examine the relationships between the changes of the stiffness and damping of the impactor and vibrations of the dynamic characteristics of the impact model of a cantilevered beam with an impactor, impact force of the impactor and response characteristics of the cantilevered beam were analyzed by both numerical simulation and experiment. Since the stiffness and damping of the impactor have high nonlinear characteristics, the contact model using revised Herz-model was established by experiments. Also, the results of numerical analyses for dynamic response and impact force of a cantilevered beam with an impactor have a good agreement with experimental results.

• 한국자동차공학회논문집
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• 제15권2호
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• pp.135-142
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• 2007

MADYMO human model with the detail neck was used to investigate the reaction force of neck and neck injury from rear impact directions. In the validation simulation, head acceleration, thorax acceleration and the global kinematics of the head and neck were correlated well with experimental data. Acceleration data from three 15 km/h low speed car rear impact pendulum tests(rear-end, offset, oblique) were used to simulate the model. In the simulation results, the reaction force on the facet joint and discs in the oblique rear impact were higher than rear-end, offset rear impacts. Further research is still needed in order to neck injury analysis about different crash parameters.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2004년도 춘계학술대회
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• pp.503-507
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• 2004

The radiated sound pressure induced by low-velocity impact is obtained by solving the Rayleigh integral equation. This paper established the sound analysis procedure using impact analysis model. For structurally radiated noise, the sound field is directly coupled to the structural motion. Therefore the impact response should be analyzed. The impact response is computed using the spring-mass model. And the influence of damage on the sound pressure and impacted force history of laminated were investigated. The results show that both radiated sound pressure and impact force history are strongly influenced by damage on laminated.

• 한국소음진동공학회논문집
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• 제16권7호
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• pp.754-761
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• 2006

This paper presents the dynamic characteristics of MR impact damper for vehicle collision system. Various types of mechanism have been proposed to reduce force transmitted to the vehicle chassis and finally to protect occupants from injury. In the case of head-on collision, the bumper makes main role of isolation material for collision attenuation. In this study, the proposed bumper system consists of MR impact damper and structures. The MR impact damper utilizes MR fluid which has reversible properties with applied magnetic field. The MR fluid operates under flow mode. The bellows is used for generation of fluid flow. A mathematical model of the MR impact damper is derived incorporating with Bingham model of the MR fluid. Field dependent damping force is investigated with time and frequency domain. The MR impact damper is then incorporated with vehicle crash system. The governing equation of motion of vehicle model is formulated considering occupant model. Dynamic characteristics of vehicle collision system investigated with computer simulation.

• International Journal of Naval Architecture and Ocean Engineering
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• 제11권1호
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• pp.482-494
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• 2019

In this paper, the oblique water-entry impact of a vehicle with a disk cavitator is studied experimentally and numerically. The effectiveness and accuracy of the numerical simulation are verified quantitatively by the experiments in this paper and the data available in the literature. Then, the numerical model is used to simulate the hydrodynamic characteristics and flow patterns of the vehicle under different entry conditions, and the axial force is found to be an important parameter. The influences of entry angle, entry speed and cavitator area on the axial force are studied. The variation law of the force coefficient and the dimensionless penetration distance at the peak of the axial force are revealed. The research conclusions are beneficial to engineering calculations on the impact force of a vehicle with a disk cavitator over a wide range of water-entry parameters.

• Journal of Advanced Research in Ocean Engineering
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• 제4권4호
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• pp.146-162
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• 2018

The unsteady problem of a rigid body impact onto a floating plate is studied. Both the plate and the water are at rest before impact. The plate motion is caused by the impact force transmitted to the plate through an elastic layer with viscous damping on the top of the plate. The hydrodynamic force is calculated by using the second-order model of plate impact by Iafrati and Korobkin (2011). The present study is concerned with the deceleration experienced by a rigid body during its collision with a floating object. The problem is studied also by a fully-nonlinear computational-fluid-dynamics method. The elastic layer is treated with a moving body-fitted grid, the impacting body with an immersed boundary method, and a discrete-element method is used for the contact-force model. The presence of the elastic layer between the impacting bod- ies may lead to multiple bouncing of them, if the bodies are relatively light, before their interaction is settled and they continue to penetrate together into the water. The present study is motivated by ship slamming in icy waters, and by the effect of ice conditions on conventional free-fall lifeboats.

• 한국군사과학기술학회지
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• 제13권4호
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• pp.511-519
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• 2010

This paper presents the modeling and validation of a pile-driver breech fatigue testing system model to replicate actual high pressure in a large caliber gun barrel. A hysteresis damping function was incorporated in the nonlinear impact force model. Test of real pile-driver breech fatigue testing system had been performed for model validation. Comparison of the experimental result and model simulation during impact were made. Numerical studies were performed to evaluate how the actual chamber pressure pattern in the live firing of gun barrel was affected by parameters' variation. Some of the parameters simulated included input velocity, damping coefficient and stiffness. As a result, a variety of actual chamber pressure pattern could be reproduced and controlled through current simulation model.