• International Journal of Control, Automation, and Systems
• /
• v.5 no.6
• /
• pp.614-620
• /
• 2007

This paper considers vibration suppression of a mechanical transfer system, where the work is connected with the hand flexibly. We adopt the idea of jerk reduction of the hand. From the equation of motion, we first derive a state equation including the jerk and acceleration of the hand, but excluding the displacement and velocity of the work. Then, we design optimal state feedback for a suitable cost function, and show by simulation that jerk reduction of the hand is effective for vibration suppression of the work and improvement of the settling time. Since state feedback including the jerk and acceleration is not practical, we propose a computation method for optimal feedback using displacements and velocities in the state only.

• Transactions of the Korean Society of Automotive Engineers
• /
• v.19 no.1
• /
• pp.17-24
• /
• 2011

TMED(Transmission Mounted Electric Device) parallel hybrid configuration can realize EV(Electric Vehicle) mode by disengaging the clutch between an engine and a transmission-mounted motor to improve efficiencies of low load driving and regenerative braking. In the EV mode, however, jerk can be induced since there are insufficient damping elements in the drive-train. Though the jerk gives demoralizing influence upon driving comport, adding a physical damper is not applicable due to constraints of the layout. This study suggests the jerk reduction control, composed of active damping method and torque profiling method, to suppress the jerk without hardware modification. The former method creates a virtual damper by generating absorbing torque in the opposite direction of the oscillation. The latter method reduces impulse on the mated gear teeth of the drive-train by limiting the gradient of traction torque when the direction of the torque is reversed. To validate the effectiveness of the suggested strategy, a series of vehicle tests are carried out and it is observed that the amplitude of the oscillation can be reduced by up to 83%.

• Transactions of the Korean Society of Mechanical Engineers A
• /
• v.28 no.1
• /
• pp.31-39
• /
• 2004

This paper presents design solutions for cam type transfer unit in which feeding, lifting, and clamping motions are generated by cams. In order to achieve faster transfer motion, each designed cam must satisfy the given specifications such as velocity, acceleration, jerk, pressure angle, cam thickness, and torque. To reduce absolute torque magnitude and torque variation, a conjugate cam and a torque reduction cam are used respectively. The conjugate cam eliminates the redundant pre-load by using complementary cam to avoid jumping between a cam and a follower. The torque reduction cam reduces the torque variation by applying opposite torque to a cam shaft. The experimental result shows the reductions of the absolute torque value and torque variation. The improvement of working speed and life span of cam type transfer unit can be expected.

• Computers and Concrete
• /
• v.27 no.1
• /
• pp.29-39
• /
• 2021

This study aimed to develop a method for the determination of the damaged story in reinforced concrete (RC) structure with ambient vibrations, based on modified jerk energy methodology. The damage was taken as a localized reduction in the stiffness of the structural member. For loading, random white noise excitation was used, and dynamic responses from the finite element model (FEM) of 4 story RC shear frame were extracted at nodal points. The data thus obtained from the structure was used in the damage detection and localization algorithm. In the structure, two damage configurations have been introduced. In the first configuration, damage to the structure was artificially caused by a local reduction in the modulus of elasticity. In the second configuration, the damage was caused, using the Elcentro1940 and Kashmir2005 earthquakes in real-time history. The damage was successfully detected if the frequency drop was greater than 5% and the mode shape correlation remained less than 0.8. The results of the damage were also compared to the performance criteria developed in the Seismostruct software. It is demonstrated that the proposed algorithm has effectively detected the existence of the damage and can locate the damaged story for multiple damage scenarios in the RC structure.

• Journal of Navigation and Port Research
• /
• v.41 no.5
• /
• pp.297-302
• /
• 2017

The tracking filter plays a key role in accurate estimation and prediction of maneuvering the vessel's position and velocity. Different methods are used for tracking. However, the most commonly used method is the Kalman filter and its modifications. The ${\alpha}-{\beta}-{\gamma}$ filter is one of the special cases of the general solution provided by the Kalman filter. It is a third order filter that computes the smoothed estimates of position, velocity, and acceleration for the nth observation, and predicts the next position and velocity. Although found to track a maneuvering target with good accuracy than the constant velocity ${\alpha}-{\beta}$ filter, the ${\alpha}-{\beta}-{\gamma}$ filter does not perform impressively under high maneuvers, such as when the target is undergoing changing accelerations. This study aims to track a highly maneuvering target experiencing jerky motions due to changing accelerations. The ${\alpha}-{\beta}-{\gamma}$ filter is extended to include the fourth state that is, constant jerk to correct the sudden change of acceleration to improve the filter's performance. Results obtained from simulations of the input model of the target dynamics under consideration indicate an improvement in performance of the jerky model, ${\alpha}-{\beta}-{\gamma}-{\eta}$ algorithm as compared to the constant acceleration model, ${\alpha}-{\beta}-{\gamma}$ in terms of error reduction and stability of the filter during target maneuver.

• Journal of Institute of Control, Robotics and Systems
• /
• v.18 no.12
• /
• pp.1079-1085
• /
• 2012

For precise motion control, S-curve velocity profile is generally used but it has disadvantage of relatively long calculation time for floating-point arithmetics. In this paper, we present a new generating method for velocity profile to reduce delay time of profile generation so that it overcomes such disadvantage and enhances the efficiency of precise motion control. In this approach, the velocity profile is designed based on the gamma correction expression that is generally used in image processing to obtain a smoother movement without any critical jerk. The proposed velocity profile is designed to support both T-curve and S-curve velocity profile. It can generate precise profile by adding an offset to the velocity profile with decimals under floating point that are not counted during gamma correction arithmetic operation. As a result, the operation time is saved and the efficiency is improved. The proposed method is compared with the existing method that generates velocity profile using ring buffer on a 8-bit low-cost MCU. The result shows that the proposed method has no delay in generating driving profile with good accuracy of each cycle velocity. The significance of the proposed method lies in reduction of the operation time without degrading the motion accuracy. Generated driving signal also shows to verify effectiveness of the proposed method.