• Journal of the Korean Society of Manufacturing Process Engineers
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• v.19 no.6
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• pp.1-8
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• 2020

This paper proposes a method for measuring friction forces and creating a friction model for a rotary motion control system as well as an autonomous vehicle testbed. The friction forces versus the velocity were measured, and the viscous friction, Coulomb friction, and stiction were identified. With a nominal PID (proportional-integral-derivative) controller, we observed the adverse effects due to friction, such as excessive steady-state errors, oscillations, and limit-cycles. By adding an adequate friction model as part of the augmented nonlinear dynamics of a plant, we were able to conduct a simulation study of a motion control system that well matched experimental results. We have observed that the implementation of a model-based friction compensator improves the overall performance of both motion control systems, i.e., the rotary motion control system and the Altino testbed for autonomous vehicle development. By utilizing a better simulation tool with an embedded friction model, we expect that the overall development time and cost can be reduced.

• Proceedings of the Korean Operations and Management Science Society Conference
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• 2004.05a
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• pp.48-51
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• 2004

The estimation of NC machining time is of significance since it provides shop floor engineers with information for the determination of the productivity of the floor as well as process schedules. The NC machining time commonly depends on NC programs since they have various important information such as tool positions, feed rates, and other miscellaneous functions. Thus, nominal NC machining time can be easily acquired based on the programs. Actual machining time, however, cannot be simply obtained because of the dynamic characteristics of a NC machine controller such as acceleration and deceleration. Hence, this study presents a NC machine time estimation model for sculptured surfaces, considering the dynamic characteristics. The estimation model uses the distribution of NC blocks according to a factor influencing the machining time. Finally, machining time is estimated by a statistical machining time estimation model representing the relationship between the block distribution and the machining time. The parameters in the model are searched out by a genetic algorithm.

• The Transactions of the Korean Institute of Electrical Engineers D
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• v.54 no.10
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• pp.587-594
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• 2005

An adaptive observer for rotor resistance is designed to estimate rotor flux for the a-b model of an induction motor assuming that rotor speed and stator currents are measurable. A singularly perturbed model of the motor is used to design an Adaptive sliding mode observer which drives the estimated stator currents to their true values in the fast time scale. The adaptive observer on the sliding surface is based on the equivalent switching vector and both the estimated fluxes and the estimated rotor resistance converge to their true values. A speed controller considering the effects of parameter variations and external disturbance is proposed in this paper. First, induction motor dynamic model at nominal case is estimated. based on the estimated model, speed controller is designed to match the prescribed speed tracking specifications. Then a dead-time compensator and a robust controller are designed to reduce the effects of parameter variations and external disturbances. the desired speed tracking control performance can be preserved under wide operating range, and good speed load regulating performance. Some simulated results are provided to demonstrate the effectiveness of the Proposed controller.

• Proceedings of the Korea Electromagnetic Engineering Society Conference
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• 2003.11a
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• pp.208-212
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• 2003

An airborne radar is an essential aviation electronic system of the helicopter to perform various missions in all-weather environments. This paper presents the conceptual design results of the multi-mode pulsed Doppler radar system testbed model for helicopter. Due to the inherent flight nature of the hovering vehicle which is flying in low-altitude and low speed, as well as rapid maneuvering, the moving clutters from the platform should be suppressed by using a special MTD (Moving Target Detector) processing. For the multi-mode radar system model design, the flight parameters of the moving helicopter platform were assumed: altitude of 3 Km, average cruising velocity of 150knots. The multi-mode operation capability was applied such as short-range, medium-range, and long-range depending on the mission of the vehicle. The nominal detection ranges is 30 Km for the testbed experimental model, but can be expanded up to 75 Km for the long range weather mode. The detection probability of each mode is also compared in terms of the signal-to noise ratio of each mode, and the designed radar system specifications ate provided as a design results.

• Composites Research
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• v.17 no.2
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• pp.34-39
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• 2004

In this paper, a modified and representative unit cell model was employed to study the tensile behaviour of closed-cell metallic foams with varying spatial density distribution as well as material imperfections. The density variation was assumed to follow a statistical probability distribution of the Gaussian type. A multiple cell finite element model, utilising the modified unit cell, was developed. The model exhibits deformation patterns similar to those observed in tensile testing. The nominal stress-strain curve obtained from quasistatic tensile of the foam was compared with experimental findings and was found to be in good agreement in the scheme of maximum strength only if the appropriate density distribution and volume fraction of internal imperfections are taken into account. Moreover, maximum tensile strength of the aluminium foam was found to be more sensitive to the volume fraction of imperfection than standard deviation of the density.

• Steel and Composite Structures
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• v.4 no.2
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• pp.149-167
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• 2004

Offshore platforms have to serve in harsh environments and hence are likely to be damaged due to wave induced fatigue and environmental corrosion. Welded tubular joints in offshore platforms are most vulnerable to fatigue damage. Such damages endanger the integrity of the structure. Therefore it is all the more essential to assess the capacity of damaged structure from the point of view of its safety. Eight internally ring stiffened fatigue damaged tubular joints with nominal chord and brace diameter of 324 mm and 219 mm respectively and thickness 12 mm and 8 mm respectively were tested under axial brace compression loading to evaluate the reserve capacity of the joints. These joints had earlier been tested under fatigue loading under corrosive environments of synthetic sea water and hence they have been cracked. The extent of the damage varied from 35 to 50 per cent. One stiffened joint was also tested under axial brace tension loading. The residual strength of fatigue damaged stiffened joint tested under tension loading was observed to be less than one fourth of that tested under compression loading. It was observed in this experimental investigation that in the damaged condition, the joints possessed an in-built load-transfer mechanism. A bi-linear stress-strain model was developed in this investigation to predict the reserve capacity of the joint. This model considered the strain hardening effect. Close agreement was observed between the experimental and predicted results. The paper presents in detail the experimental investigation and the development of the analytical model to predict the reserve capacity of internally ring stiffened joints.

• Journal of Korea Society of Industrial Information Systems
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• v.13 no.2
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• pp.1-7
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• 2008

This paper presents a method to design a repetitive controller that is robust to variations in the system parameters. The uncertain parameters are specified probabilistically by their probability distribution functions. Instead of working with the distribution functions directly, the repetitive controller is designed from a set of models that are generated from the specified probability functions. With this multiple-model design approach, any number of uncertain parameters that follow any type of distribution functions can be treated. furthermore, the controller is derived by minimizing a frequency-domain based cost function that produces monotonic convergence of the tracking error as a function of repetition number. Numerical illustrations show how the proposed multiple-model design method produces a repetitive controller that is significantly more robust than an optimal repetitive controller designed from a single nominal model of the system.

• Journal of the Society of Naval Architects of Korea
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• v.54 no.6
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• pp.476-484
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• 2017

The purpose of this paper is to verify the structural integrity of a region with numerous penetration-holes in offshore structures such as semi-submersible rig and FPSO. In order to effectively check the yielding and buckling strength of plate members with penetration-holes, a screening analysis program was developed with the FE analysis tool to generate fine meshed model using the theoretical and analysis methods. When a hole is appeared in the plate structure members, the flow of stress is altered such that concentrations of stress form near the hole. Stress concentrations are of concern during both preliminary and detail design and need to be addressed from the perspectives of strength. To configure the geometrical shape, very fine meshed FE analysis is needed as the most accurate method. However, this method is practically impossible to apply for the strength verifications for all perforated plates. In this paper, screening analysis method was introduced to reduce analysis tasks prior to detailed FE analysis. This method is applied to not only the peak stress calculation combined stress concentration factor with nominal stress but also nominal equivalent stress calculation considering cutout effects. The areas investigated by very fine meshed analysis were to be chosen through screening analysis without any reinforcements for penetration-holes. If screening analysis results did not satisfy the acceptance criteria, direct FE analysis method as the 2nd step approach were applied with one of the coarse meshed model considering hole or with the very fine meshed model considering the hole shape and size. In order to effectively perform the local fine meshed analysis, automatic model generating program was developed based on the MSC/PATRAN which is pre-post FE analysis program. Buckling strength was also evaluated by Common Structure Rule (CSR) adopted by IACS as the stress obtained from very fine meshed FE analysis. Due to development of the screening analysis program and automatic FE modeling program, it was able to reduce the design periods and structural analysis costs.

• Journal of the Society of Naval Architects of Korea
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• v.34 no.1
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• pp.1-10
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• 1997

Viscous flow around actual ship is calculated by an use of RANS equations. The propriety of this computing method, usefulness to hull form design and the scale effect which is the effect of viscous flow depending on the scale of ship model are investigated. Reynolds stress is modelled by using k-${\varepsilon}$ turbulence model and the law of wall is applied near the body. Body fitted coordinates are introduced for the treatment of the arbitrary 3-dimensional shape of the ship hull form. The transformed equations in the computational domain are numerically solved by an employment of FVM. In the calculation of pressure, SIMPLE method is adopted and the solution of the discretized equation is obtained by the line-by-line method with the use of TDMA The calculations of two ships, 4410 TEU container carrier and 50,000 DWT class bulk carrier, are performed at model and actual ship scale. The results are compared and discussed with the model test results which are viscous resistance, nominal wake distribution at propeller plane and limiting streamline on the hull surface. They describe the effect of stem form and the scale effect very well. In particular, the calculated nominal wake distribution and limiting streamline are agreed qualitatively with the experiments and the viscous resistance values are estimated within ${\pm}5%$ difference from the resistance tests.

• Journal of the Korean Society for Precision Engineering
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• v.17 no.8
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• pp.78-86
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• 2000

This study identified a linear time-invariant mathematical model of each stand of a five-stand tandem cold mill. Two model identification methods are applied to construct a linear model of each stand of the tandem cold mill. For the model identification the input-output data that have interstand interference property in tandem cold rolling are obtained from a nonlinear simulator of the tandem cold mill. And a linear model of each stand is identified with N4SD(numerical algorithms for subspace state space system identification) method based on a state-space model and Least Square algorithm based on a transfer function. Furthermore a modeling error of the tandem cold mill is quantitatively analyzed from a maximum singular value plot of error function between an identified nominal model and uncertain model. In conclusion the comparison of the output signals between the existing Taylor linearized model the identified linear model and the nonlinear model of the tandem cold mill shows the accuracy and the applicability of the proposed identified model.