• Journal of the Korean Society for Railway
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• v.5 no.3
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• pp.174-180
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• 2002

In multibody dynamics, DAE(Differential Algebraic Equations) that combine differential equations of motion and kinematic constraint equations should be solved. To solve these equations, either coordinate partitioning method or constraint stabilization method is commonly used. The most typical coordinate partitioning methods are LU decomposition, QR decomposition, and SVD(singular value decomposition). The objective of this research is to suggest a hybrid coordinate partitioning method in the dynamic analysis of multibody systems containing singular configurations. Two coordinate partitioning methods, i.e. LU decomposition and QR decomposition for constrained multibody systems, are combined for a new hybrid coordinate partitioning method. The proposed hybrid method reduces the simulation time while keeping accuracy of the solution.

• Journal of the Korean Magnetics Society
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• v.5 no.5
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• pp.790-794
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• 1995

Differential equations governing dynamic behavior of toroid-shaped ferro-magnetic material having a small gap of uniform width were derived incorporating Maxwell equations of electromagnetic induction relevent to the system and Newtonian equation of motion. Once the external uniform magnetic field was applied within the material through dc-circuit around the toroid, gap begin to change which lead to the abrupt variation of field in the material and gap according to the differential equations already derived. Characteristics of current and electromotive force with respect to time in the circuit consisting of inductance and resistance in series could be predicted from numerical solutions of these equations. As current in the circuit increasesl, magnetic field in the material increases, thus, the gap starts to shrink due to increased attractive force between gap and elastic restoring force in the material. With an appropriate selection of elastic constant of toroidal ferromagnetic material and design of gap structure it is possible to obtain the specified in both linear and nonlinear magnetic characteristics, such as current dependent and independent inductance.

• Transactions on Control, Automation and Systems Engineering
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• v.4 no.2
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• pp.169-175
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• 2002

A sliding mode control of spacecraft attitude tracking with actuator, especially reaction wheel, is presented. The sliding mode controller is derived based on quaternion parameterization for the kinematic equations of motion. The reaction wheel dynamic equations represented by wheel input voltage are presented. The input voltage to wheel is calculated from the sliding mode controller and reaction wheel dynamics. The global asymptotic stability is shown using a Lyapunov analysis. In addition the robustness analysis is performed for nonlinear system with parameter variations and disturbances. It is shown that the controller ensures control objectives for the spacecraft with reaction wheels.

• 제어로봇시스템학회:학술대회논문집
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• 1993.10b
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• pp.480-485
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• 1993

A method for obtaining optimal orbital maneuvers of a space vehicle has been developed by combining feedback linearization method with the elegance of the Lambert's theorem. To obtain solutions to nonlinear orbital maneuver problems. The full nonlinear equations of motion for space vehicle in polar coordinate system are transformed exactly into a controllable linear set in Brunovsky canonical form by using feedback linearization by choosing position vector as fully observable output vector. These equations are used to pose a linear optimal tracking problem with a solutions to Lambert's problem and a linear analytical solution of continuous low thrust problem as reference trajectories.

• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.11 no.7
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• pp.247-252
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• 2001

The paper deals with a theoretical study on the redial vibration of cylindrical piezoelectric transducers The differential equations of piezoelectric radial motion have been derived in terms of the radial displacement and electrical potential. Applying mechanical and electrical boundary conditions has yielded the characteristic equations of natural vibration. Numerical resutls of the fundamental natural frequency have been compared with experimental observations for the transducers of several sizes, and have shown a good agreement.

• Steel and Composite Structures
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• v.11 no.5
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• pp.403-421
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• 2011

In the present manuscript, geometrically nonlinear free vibration analysis of thin laminated plates resting on non-linear elastic foundations is investigated. Winkler-Pasternak type foundation model is used. Governing equations of motions are obtained using the von Karman type nonlinear theory. The method of discrete singular convolution is used to obtain the discretised equations of motion of plates. The effects of plate geometry, boundary conditions, material properties and foundation parameters on nonlinear vibration behavior of plates are presented.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.92.1-92
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• 2001

Sliding mode control of spacecraft attitude tracking with actuator, especially reaction wheel, is presented. The sliding mode controller is derived based on quaternion parameterization for the kinematic equations of motion. The reaction wheel dynamic equations represented by wheel input voltage are presented. The input voltage to wheel is calculated from the sliding mode controller and reaction wheel dynamics. The global asymptotic stability is shown using a Lyapunov analysis. In addition the robustness analysis is taken for nonlinear system with parameter variations and disturbances. It is shown that the controller ensures control objectives for the spacecraft with reaction wheels.

• 제어로봇시스템학회:학술대회논문집
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• 1988.10a
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• pp.50-53
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• 1988

This paper presents an approach to the position control of a robot manipulator by using a self-tuning pole-placement controller with an inverse model. The linearized independent difference equations of manipulator motion are obtained, and the parameters of these models are estimated on line. The controller is composed of two parts, the primary controller obtains desired torques by using an inverse model and the secondary controller computes variational torques on the basis of induced perturbation equations by minimizing a quadratic criterion with a closed-loop pole-placement. Simulation is performed to demonstrate the effectiveness of this approach.

• Publications of The Korean Astronomical Society
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• v.18 no.1
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• pp.11-14
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• 2003

In the earlier papers we analyzed the axisymmetric, nonstationary electrodynamics of the central black hole and a surrounding thin accretion disk in an active galactic nucleus. Based on those papers we analyze the axisymmetric, nonstationary force-free black hole magnetosphere and the motion of the plasma. We concentrate on deriving the totally new equations for the entropy incrrease and the angular momentum, energy extraction of the black hole.

• Transactions of the Korean Society of Mechanical Engineers
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• v.19 no.2
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• pp.338-347
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• 1995

Equations of motion and continuity equations of a hydraulic breaker are derived. Hydraulic pressures are defined with 6 state variables corresponding to 6 control volumes. Impact analysis procedure of the piston and chisel is developed based on the finite element nodal displacement description. Computer simulation is performed with given design parameters and the results are compared with experimental results.