• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.19 no.5
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• pp.596-602
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• 2010

In this study, a fmite element model was developed for analysis of feeding a structure in open loop control The finite element analysis (FEA) can simulate dynamic behavior of the structure of a machine tool rapidly traveling with a screw feeding driving system. The feeding mechanism was implemented with screw element of the FEA tool used in this study. The procedure was developed for the dynamic transient FEA. First, motion parameters such as jerk and velocity were introduced for the structure to be fed in open loop control When its traveling distance was determined, set-points for the distance were generated based on the motion parameters. The set-points were applied to the FE model constructed for the traveling structure. The FEA was executed and evaluated. In this study, the FEA procedure was applied to the column of a machine tool and the dynamic behavior of the column was evaluated. The FEA helps in evaluation of the motion characteristics of a structure. The convergence time of the structure vibration posterior to feeding termination can be estimated and the stiffness of the flexible structure is also evaluated against jerk, and acceleration. It provides the feeding force which is helpful in selection of the feeding motor.

• Smart Structures and Systems
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• v.31 no.2
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• pp.101-111
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• 2023

Structural health monitoring (SHM) covers a range of damage detection strategies for buildings. In real-time, SHM provides a basis for rapid decision making to optimise the speed and economic efficiency of post-event response. Previous work introduced an SHM method based on identifying structural nonlinear hysteretic parameters and their evolution from structural force-deformation hysteresis loops in real-time. This research extends and generalises this method to investigate the impact of a wide range of flag-shaped or pinching shape nonlinear hysteretic response and its impact on the SHM accuracy. A particular focus is plastic stiffness (K_p), where accurate identification of this parameter enables accurate identification of net and total plastic deformation and plastic energy dissipated, all of which are directly related to damage and infrequently assessed in SHM. A sensitivity study using a realistic seismic case study with known ground truth values investigates the impact of hysteresis loop shape, as well as added noise, on SHM accuracy using a suite of 20 ground motions from the PEER database. Monte Carlo analysis over 22,000 simulations with different hysteresis loops and added noise resulted in absolute percentage identification error (median, (IQR)) in K_p of 1.88% (0.79, 4.94)%. Errors were larger where five events (Earthquakes #1, 6, 9, 14) have very large errors over 100% for resulted K_p as an almost entirely linear response yielded only negligible plastic response, increasing identification error. The sensitivity analysis shows accuracy is reduces to within 3% when plastic drift is induced. This method shows clear potential to provide accurate, real-time metrics of non-linear stiffness and deformation to assist rapid damage assessment and decision making, utilising algorithms significantly simpler than previous non-linear structural model-based parameter identification SHM methods.

• Earthquakes and Structures
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• v.3 no.5
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• pp.749-766
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• 2012

Structural control through integration of passive damping devices within the building structure has been increasingly implemented internationally in the last years and has proven to be a most promising strategy for earthquake safety. In the present paper an alternative configuration of an innovative energy dissipation mechanism that consists of slender tension only bracing members with closed loop and a hysteretic damper is investigated in its dynamic behavior. The implementation of the adaptable dual control system, ADCS, in frame structures enables a dual function of the component members, leading to two practically uncoupled systems, i.e., the primary frame, responsible for the normal vertical and horizontal forces and the closed bracing-damper mechanism, for the earthquake forces and the necessary energy dissipation. Three representative international earthquake motions of differing frequency contents, duration and peak ground acceleration have been considered for the numerical verification of the effectiveness and properties of the SDOF systems with the proposed ADCS-configuration. The control mechanism may result in significant energy dissipation, when the geometrical and mechanical properties, i.e., stiffness and yield force of the integrated damper, are predefined. An optimum damper ratio, DR, defined as the ratio of the stiffness to the yield force of the hysteretic damper, is proposed to be used along with the stiffness factor of the damper's- to the primary frame's stiffness, in order for the control mechanism to achieve high energy dissipation and at the same time to prevent any increase of the system's maximum base shear and relative displacements. The results are summarized in a preliminary design methodology for ADCS.

• International Journal of Automotive Technology
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• v.8 no.4
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• pp.445-453
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• 2007

This paper presents a robust controller design approach for improving vehicle dynamic roll motion performance and guaranteeing the closed-loop system stability in spite of vehicle parameter variations resulting from aging elements, loading patterns, and driving conditions, etc. The designed controller is linear parameter-varying (LPV) in terms of the time-varying parameters; its control objective is to minimise the $H_{\infty}$ performance from the steering input to the roll angle while satisfying the closed-loop pole placement constraint such that the optimal dynamic roll motion performance is achieved and robust stability is guaranteed. The sufficient conditions for designing such a controller are given as a finite number of linear matrix inequalities (LMIs). Numerical simulation using the three-degree-of-freedom (3-DOF) yaw-roll vehicle model is presented. It shows that the designed controller can effectively improve the vehicle dynamic roll angle response during J-turn or fishhook maneuver when the vehicle's forward velocity and the roll stiffness are varied significantly.

• Journal of the Korean Society for Precision Engineering
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• v.5 no.2
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• pp.23-32
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• 1988

A control system for improving the moving accuracy of robotic manipulators with elastic joints is devloped. The dynamics of manipulator system is splitted into two sub-dynamics; of arm-link and actuator rotor- link, which are coupled statically through joint torque. Two contorl loops are implemented respectively around both sub-dynamic systems. Computed torque algorithm with acceleration feedback is used for the arm-link control loop, and for the actuator rotor-link control loop PID algorithm is adopted. The resulting control system is tested through a series of computer simulation for a PUMA type manipulator, The reaults show good performance of the developed control system for wide range of joint stiffness and moving speed.

• Journal of the Korean Society for Precision Engineering
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• v.23 no.9 s.186
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• pp.142-148
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• 2006

Hydraulic excavators have been popular devices in construction fields because of their multi-workings and economic efficiency. The mathematical models of excavators have many nonlinearities because of opening characteristics and dead zone of main control valve(MCV), oil temperature variation, etc. The objective of this paper is to develop a simulator for hydraulic excavator using AMESim. Components and their circuits are expressed graphically. Also, parameters and nonlinear characteristics are considered in a text style. From the simulation results, fixed spring stiffness of MCV can not obtain the satisfactory accuracy of spool displacement under whole P-Q diagrams. Closed loop type MCV containing a proportional gain, is proposed in this paper that can reduce displacement error. The ability of closed loop MCV is verified through comparing with normal type MCV using AMESim simulator. The excavator simulator can be used to forecast the attachment behaviors when components, mechanical attachments and hydraulic circuits change, or other control algorithms are applied. The simulator could be a kind of development platform for new excavators.

• Proceedings of the KSME Conference
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• 2000.04a
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• pp.481-486
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• 2000

This paper presents vibration control performance of a passenger vehicle installed with olectro-rheological(ER) engine mounts. As a first step, a mixed-mode ER engine mount is modeled and manufactured. After verifying the controllability of the dynamic stiffness by the intensity of the electric field, ER engine mounts are incorporated with a full-car model. The governing equation of motion is then formulated by considering engine excitation force. A skyhook controller to attenuate vibration motions is designed. The controller is implemented through hardware-in-the-loop simulation and control responses are presented in the both frequency and time domains.

• Proceedings of the KIPE Conference
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• 2003.07b
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• pp.544-547
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• 2003

The purpose of this paper is to develop the straightforward design guidelines of PD/PID speed controller for Industry servo drives with plug and play concept. The controller gains are uniquely determined from the current control loop dynamics, speed loop delay, and mechanical parameters. In order to eliminate the mechanical friction uncertainties, an automatic PD/PI control mode switching algorithm Is introduced using online spectrum analysis of motor torque command. The dynamic performance of the proposed scheme assures a fast tracking response curve with minimal oscillation and settling time over the whole operating conditions. For comprehensive comparison of conventional PI control scheme, extensive test is carried out on actual servo system.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.2182-2186
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• 2003

This paper presents the differential type resonant accelerometer (DRXL) and its performance test results. The DRXL is the INS grade, surface micro-machined sensor. The proposed DRXL device produces a differential digital output upon an applied acceleration, and the principle is a gap-dependent electrical stiffness variation of the electrostatic resonator with torsion beam structures. Using this new operating concept, we designed, fabricated and tested the proposed device. The final device was fabricated by using the wafer level vacuum packaging process. To test the performance of the DRXL, a nonlinear self-oscillation loop is designed using describing function technique. The oscillation loop is implemented using discrete electronic elements. The performance test of the DRXL shows that the sensitivity of the accelerometer is 12 Hz/g and its long term bias stability is about $2mg(1{\sigma})$. The turn on repeatability, bandwidth, and dynamic range are 4.38 mg, 100 Hz, and ${\pm}\;70g$, respectively.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2005.06a
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• pp.864-870
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• 2005

Hydraulic excavators have been popular devices in construction field because of its multi-workings and economic efficiency. The mathematical models of excavators have many nonlinearities because of nonlinear opening characteristics and dead zone of main control valve, oil temperature variation, etc. The objective of this paper is to develop a simulator for hydraulic excavator using AMESim. Components and whole circuit are expressed graphically. Parameters and nonlinear characteristics are inputted in text style. From the simulation results, fixed spring stiffness of MCV can't satisfy accuracy of spool displacement under whole P-Q diagrams. Closed loop type MCV containing proportional gain is proposed in this paper that can reduce displacement error. The ability of closed loop MCV is verified through comparing with normal type MCV using AMESim simulator. The simulator can be used to forecastexcavator behavior when new components, new mechanical attachments, hydraulic circuit changes, and new control algorithm are applied. The simulator could be a kind of development platform for various new excavators.