• Coupled systems mechanics
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• 제11권6호
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• pp.525-542
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• 2022

In this work we present an advanced approach to the design of small wind turbine support steel structures. To this end we use an improved version of previously developed geometrically exact beam models. Namely, three different geometrically exact beam models are used, the first two are the Reissner and the Kirchhoff beam models implementing bi-linear hardening response and the third is the Reissner beam capable of also representing connections response. All models were validated in our previous research for a static response, and in this work they are extended to dynamic response. With these advanced models, we can perform analysis of four practical solutions for the installation of small wind turbines in new or existing buildings including effects of elastoplastic response to vibration problems. The numerical simulations confirm the robustness of numerical models in analyzing vibration problems and the crucial effects of elastoplastic response in avoiding resonance phenomena.

• 전자공학회논문지T
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• 제36T권2호
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• pp.21-31
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• 1999

대규모 시스템 제어와 관련하여 몇 개의 부시스템으로 분할하여 처리하는 계층별 제어이론이 많이 연구되어 왔으며 특히 치수가 높은 대규모 비선형 시스템의 경우에 고차의 비선형 미분방정식을 동시에 적분을 해야하고 많은 계산량을 필요로 하므로 해를 구하기가 어려운 문제가 있다. 1980년대 Singh과 Hassan은 상호예측 알고리즘(two level prediction algorithm)을 제시한바 있고 이 방법은 비선형 대규모 시스템의 최적제어에 효과적이나 시스템 행렬 Q, R, S, H에 따라 제한된 최적화 구간에서만 성립되는 등 최적화 구간의 길이와 수렴성 여부가 행렬 값에 영향을 받는 알고리즘상의 단점이 있다. 본 연구에서는 수렴조건으로부터 평가함수에 구속조건(quadratic penalty term)을 부여하지 않는 새로운 개선된 알고리즘을 제시 적용하여 시스템 행렬 결정을 위한 과정 없이 수렴속도의 향상과 함께 최적의 수렴성 및 최적화 구간을 얻도록 했다. 분할된 비선형 시스템의 최적제어를 위해서는, 대수 반복연산만으로 2점 경계치 문제(two point boundary value problem)를 해결함으로써 기존의 수치 해석법에 비해 연산이 간단한 블록펄스 변환 방법을 사용해서 처리했다.

• 한국지능시스템학회논문지
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• 제20권5호
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• pp.617-623
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• 2010

본 논문에서는 차륜형 역진자에 적용되는 LMI 제어기 설계와 그 수치 시뮬레이션이 수행되었다. 차륜형 역진자는 2개의 평형점을 갖고 있는 역진자의 일종이다. 불안정한 평형점에 대하여 평형을 유지하기 위하여 차륜형 역진자는 지속적으로 제어되어야 한다. 경사면을 고려하여 차륜형 역진자의 동역학 방정식이 유도되었다. 경사면을 적극적으로 고려하여 차륜형 역진자를 안정화 시킬 수 있는 제어기를 구성하는데 선형행렬부등식 기법이 적용되었다. LMI 기반 제어기가 평면과 경사면에 대해서 유효함을 보이기 위해서 다양한 수치 시뮬레이션이 수행되었다.

• 한국수학교육학회지시리즈E:수학교육논문집
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• 제35권3호
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• pp.323-340
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• 2021

본 사례 연구의 목적은 중학교 1학년 학생 2명을 대상으로 실시한 수업에서 공변 추론 수준에 따른 연립방정식 문장제를 해결하고 일반화하는 과정에서 나타나는 유사성을 비교·분석하는 것이다. 그 결과, 값의 조정 수준으로 추론하는 학생 S는 연립방정식 문장제에 주어진 양들에 대해 정적인 이미지를 가졌고, 부드러운 연속 공변 수준으로 추론하는 학생 D는 문제 상황의 양들에 대해 동적인 이미지를 갖고 양들 사이의 불변인 관계를 식과 그래프로 나타내었다. 이와 같은 연구 결과는 연립방정식 문장제의 학습에서 공식이나 전략의 사용에 앞서 주어진 상황에서 다양한 양들 사이의 관계를 추론하는 활동이 문제해결력 신장에 도움을 줄 수 있으며, 학생들의 공변 추론을 강화하기 위한 대수 교수·학습 방안에 대한 논의가 앞으로도 계속 이루어져야 함을 시사한다.

• Earthquakes and Structures
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• 제24권5호
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• pp.353-364
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• 2023

In this study, a method has been proposed for the static and dynamic nonlinear analysis of multi-storey buildings, which takes into account the contribution of axial deformations in vertical load-bearing elements, which are especially important in tall and narrow structures. Shear deformations on the shear walls were also taken into account in the study. The presented method takes into account the effects that are not considered in the fishbone and flexural-shear beam models developed in the literature. In the Fishbone model, only frame systems are modeled. In the flexural shear beam model developed for shear wall systems, shear deformations and axial deformations in the walls are neglected. Unlike the literature, with the model proposed in this study, both shear deformations in the walls and axial deformations in the columns and walls are taken into account. In the proposed model, multi-storey building is represented as a sandwich beam consisting of Timoshenko beams pieced together with a double-hinged beam. At each storey, the total moment capacities of the frame beams and the coupled beams in the coupled shear walls are represented as the equivalent shear capacity. On the other hand, The sums of individual columns and walls moment at the relevant floor level are represented as equivalent moment capacity at that floor level. At the end of the study, examples were solved to show the suitability of the proposed method in this study. The SAP2000 program is employed in analyses. In a conclusion, it is observed that among the solved examples, the proposed sandwich beam model gives good results. As can be seen from these results, it is seen that the presented method, especially in terms of base shear force, gives very close results to the detailed finite element method.

• International Journal of Control, Automation, and Systems
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• 제4권3호
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• pp.325-332
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• 2006

The dynamic responses of human standing postural control were investigated when subjects were exposed to long-term horizontal vibration. It was hypothesized that the motion of standing posture complexity mainly occurs in the mid-sagittal plane. The motor-driven support platform was designed as a source of vibration. The AC Servo-controlled motors produced anterior/posterior (AP) motion. The platform acceleration and the trunk angular velocity were used as the input and the output of the system, respectively. A method was proposed to identify the complexity of the standing posture dynamics. That is, during AP platform motion, the subject's knee, hip and neck were tightly constrained by fixing assembly, so the lower extremity, trunk and head of the subject's body were individually immovable. Through this method, it was assumed that the ankle joint rotation mainly contributed to maintaining their body balance. Four subjects took part in this study. During the experiment, the random vibration was generated at a magnitude of $0.44m/s^2$, and the duration of each trial was 40 seconds. Measured data were estimated by the coherence function and the frequency response function for analyzing the dynamic behavior of standing control over a frequency range from 0.2 to 3 Hz. Significant coherence values were found above 0.5 Hz. The estimation of frequency response function revealed the dominant resonance frequencies between 0.60 Hz and 0.68 Hz. On the basis of our results illustrated here, the linear model of standing postural control was further concluded.

• 한국지능시스템학회논문지
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• 제27권2호
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• pp.144-149
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• 2017

본 논문에서는 650MHz에서 2,700MHz의 주파수 대역에서 우수한 동적영역과 선형성 특성을 나타내는 RF-수신기를 설계하고, 왜곡신호(누설 또는 혼변조)를 측정할 수 있는 지능형, 광대역 RF-왜곡신호 계측시스템을 구현하였다. 광대역 특성의 RF-수신모듈은 저 잡음특성과 동적영역 관계를 분석하여 RF수신단의 선형화 파라미터를 최적화시켰다. 지능형 디지털-왜곡(혼변조) 측정시스템에서는 측정하려는 왜곡(혼변조)신호를 PC상의 GUI 로 처리하여 원하는 계측파라미터를 PC 모니터에 나타내었다. 설계된 계측장치를 650MHz-2700MHz 까지 가변시켜 왜곡신호를 측정한 결과, -127.8dBc에서 -138dBc까지 나타내어 지능형 디지털 계측기로 이용될 수 있음을 보였다.

• Smart Structures and Systems
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• 제26권3호
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• pp.373-390
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• 2020

Hybrid simulation (HS) is a versatile tool for structural performance evaluation under dynamic loads. Although real structural responses are often multiple-directional owing to an eccentric mass/stiffness of the structure and/or excitations not along structural major axes, few HS in this field takes into account structural responses in multiple directions. Multi-directional loading is more challenging than uni-directional loading as there is a nonlinear transformation between actuator and specimen coordinate systems, increasing the difficulty of suppressing loading error. Moreover, redundant actuators may exist in multi-directional hybrid simulations of large-scale structures, which requires the loading strategy to contain ineffective loading of multiple actuators. To address these issues, lately a new strategy was conceived for accurate reproduction of desired displacements in bi-directional hybrid simulations (BHS), which is characterized in two features, i.e., iterative displacement command updating based on the Jacobian matrix considering nonlinear geometric relationships, and force-based control for compensating ineffective forces of redundant actuators. This paper performs performance validation and application of this new mixed loading strategy. In particular, virtual BHS considering linear and nonlinear specimen models, and the diversity of actuator properties were carried out. A validation test was implemented with a steel frame specimen. A real application of this strategy to BHS on a full-scale 2-story frame specimen was performed. Studies showed that this strategy exhibited excellent tracking performance for the measured displacements of the control point and remarkable compensation for ineffective forces of the redundant actuator. This strategy was demonstrated to be capable of accurately and effectively reproducing the desired displacements in large-scale BHS.

• Structural Engineering and Mechanics
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• 제89권6호
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• pp.589-599
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• 2024

This study presents the usability of the high-rate single-frequency Precise Point Positioning (SF-PPP) technique based on 20 Hz Global Positioning Systems (GPS)-only observations in detecting dynamic motions. SF-PPP solutions were obtained from post-mission and real-time GNSS corrections. These include the International GNSS Service (IGS)-Final, IGS real-time (RT), real-time MADOCA (Multi-GNSS Advanced Demonstration tool for Orbit and Clock Analysis), and real-time products from the Australian/New Zealand satellite-based augmentation systems (SBAS, known as SouthPAN). SF-PPP results were compared with LVDT (Linear Variable Differential Transformer) sensor and single-frequency relative positioning (SF-RP) solutions. The findings show that the SF-PPP technique successfully detects the harmonic motions, and the real-time products-based PPP solutions were as accurate as the final post-mission products. In the frequency domain, all GNSS-based methods evaluated in this contribution correctly detect the dominant frequency of short-term harmonic oscillations, while the differences in the amplitude values corresponding to the peak frequency do not exceed 1.1 mm. However, evaluations in the time domain show that SF-PPP needs high-pass filtering to detect accurate displacement since SF-PPP solutions include trends and low-frequency fluctuations, mainly due to atmospheric effects. Findings obtained in the time domain indicate that final, real-time, and MADOCA-based PPP results capture short-term dynamic behaviors with an accuracy ranging from 3.4 mm to 8.5 mm, and SBAS-based PPP solutions have several times higher RMSE values compared to other methods. However, after high-pass filtering, the accuracies obtained from PPP methods decreased to a few mm. The outcomes demonstrate the potential of the high-rate SF-PPP method to reliably monitor structural and earthquake-induced ground motions and vibration frequencies of structures.

• 제어로봇시스템학회논문지
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• 제20권5호
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• pp.537-542
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• 2014

This paper proposes a control system to keep the balance of a unicycle robot. The robot consists of the disk and wheel, for balancing and driving respectively, and the tile angle is measured and used for balancing by the IMU sensor. A PID controller is designed based on a non-model based algorithm to prove that it is possible to control the unicycle robot without any approximated linear system model such as the sliding mode control algorithm. The PID controller has the advantage that it is simple to design the controller and it does not require an unnecessary complex formula. In this paper, assuming that the pitch and roll axis are dynamically decoupled, each of the two controllers are designed separately. A reaction wheel pendulum method is used for the control of the roll axis, that is, for balancing and an inverted pendulum concept is used for the control of the pitch axis. To confirm the performance of the proposed controllers using MATLAB Simulink, the dynamic equations of the robot are derived.