• Journal of Advanced Marine Engineering and Technology
• /
• v.41 no.1
• /
• pp.105-110
• /
• 2017

This paper introduces a heave compensation system for offshore crane when it subjected to unexpected disturbances such as ocean waves, tidal currents or winds and their external force. The dynamic model consists of a crane which is considered to behave in the same manner as a rigid body, a hydraulic driven winch, an elastic rope and a payload. To keep the payload from moving upwards and downwards, PD(Proportional-Derivative) control was applied by using linearization. In order to achieve a better performance, the sliding mode control and the nonlinear generalized predictive control algorithm was applied according to the time-delay. As a result, the oscillating amplitude of the payload was reduced by the control algorithm. Considering the time-delay involved in the system to be one second, nonlinear generalized predictive controller with a robust controller was a suitable control algorithm for this heave compensation system because it made the position of te payload reach the desired position with the minimum error. This paper presented a control algorithm using the robust control and its simulation results.

• Transactions of the Korean Society of Mechanical Engineers A
• /
• v.35 no.3
• /
• pp.235-240
• /
• 2011

A flexible hose attached to a mother ship experiences various motions that depend on the movement of the mother ship and that of underwater vehicle. Although the motion of the hose is a very important factor that determines how a mother ship should be steered in a real situation, it is difficult to experimentally obtain information about the hose motion. Therefore, we study the motion of the hose analytically. The ANCF(absolute nodal coordinate formulation) was used to model the hose, because this formulation can relax the Euler-Bernoulli theory and the Timoshenko beam theory and allow the deformation of the cross section. The mother ship is assumed to be a rigid body with 6 degrees of freedom. The motion of the hose is predominantly affected by the behavior of the mother ship and by the fluid flow.

• Journal of Advanced Navigation Technology
• /
• v.20 no.3
• /
• pp.175-181
• /
• 2016

This paper introduces a heave compensation system for offshore crane when it gets unexpected disturbances and external force. The dynamic model consists of crane assumed to be the rigid body, hydraulic driven winch, elastic rope and payload. To keep the payload from moving up and down, PD control algorithm is applied. By using the control, the oscillating amplitude of the payload is reduced. Also by using the estimated values involved with time-delay, the relative motion of payload in heave direction is dramatically shortened. This paper shows using the control algorithm with estimated value having time-delay 0.1 second is enough to heave compensation system.

• Journal of Korean Society of Transportation
• /
• v.18 no.4
• /
• pp.107-115
• /
• 2000

We suggest a method which solves the planar, two vehicle collision reconstruction problem. The method based on the Principle of impulse and momentum determines the pre-impact velocity components from Post-impact velocity components, vehicle Physical data and collision geometry. A novel feature is that although the impact coefficients such as the restitution coefficient and the impulse ratio are unknown, the method can estimate automatically the coefficients and calculate the pre-impact velocity components. This reverse calculation is important for vehicle accident reconstruction, since the pre-impact velocities are unknown and Post-impact Phase is the starting Point in a usual collision analysis. However. an inverse solution is not always Possible with the analytical rigid-body impact model. Mathematically, one does not exist under the common velocity condition. On the other hand, our method has a capability of reverse calculation under the condition if the absorbed energy during the collision process can be estimated using the crush profile. To validate the developed collision reconstruction a1gorithm, we use car-to-car collision test results. The analysis and experimental results agree well in the impact coefficients and the Pre-impact velocity components.

• Journal of the Computational Structural Engineering Institute of Korea
• /
• v.24 no.5
• /
• pp.513-520
• /
• 2011

In this paper, the advanced explicit algorithm is proposed to simulate the stress-erection process analysis of Strarch system. The Strarch(Stressed-Arch) system is a unique and innovative structural system and member prestress comprising prefabricated plane truss frames which are erected by a post-tensioning stress-erection procedure. The flexible bottom chord which have sleeve and gap detail are closed by the reaction force of prestressing tendon. The prestress imposing to the tendon will make the Strarch system to be erected. This post tensioning process is called as "stress-erection process". During the stress-erection process, the plastic rigid body rotation is occurred to the flexible top chord by the excessive amount of plastic strain, and the structural characteristic becomes to be unstable. In this study, the large deformational beam-column element with plastic hinge is used to model the flexible top chord, and the advanced Dynamic Relaxation method(DRM) are applied to the unstable problem of stress-erection process of Strarch system. Finally, the verification of proposed explicit algorithm is evaluated by analysing the stress-erection of real project of Strarch system.

• Transactions of the Korean Society of Mechanical Engineers A
• /
• v.40 no.5
• /
• pp.497-503
• /
• 2016

In this study, we formulate an acoustical topology optimization problem to optimally design a partition layout inside the expansion chamber of a muffler. The lower-limit insertion loss value at a target frequency is constrained, and the partition volume is selected as an object function. In this study, we calculate the insertion loss outside the duct, while to determine the noise-attenuation performance, we use the insertion loss value calculated inside the duct or transmission loss value obtained in a previous study. We employ the finite-element model for acoustical analysis, and we determine the transmission of an incident acoustic wave through each finite element using the functions of design variables that change continuously between "0" and "1." The rigid body elements, which totally reflect incident waves, build up partitions. Finally, we compare optimal topologies that depend on the target frequency and the allowed lower-limit value of insertion loss.

• Journal of the Korean Society for Precision Engineering
• /
• v.28 no.3
• /
• pp.292-300
• /
• 2011

Control systems in machinery equipment provide correction signals to motion units in order to reduce or cancel out the mismatches between sensor feedback signals and command or desired values. In this paper, we introduce a simulator for control characteristics of machinery equipment. The purpose of the simulator development is to provide mechanical system designers with the ability to estimate how much dynamic performance can be achieved from their design parameters and selected devices at the designing phase. The simulator has a database for commercial parts, so that the designers can choose appropriate components for servo controllers, motors, motor drives, and guide ways, etc. and then tune governing parameters such as controller gains and friction coefficients. The simulator simulates the closed-loop control system which is built and parameter-tuned by the designer and shows dynamic responses of the control system. The simulator treats the moving table as a 6 degrees-of-freedom rigid body and considers the motion guide blocks stiffness, damping and their locations as well as sensor locations. The simulator has been under development for one and a half years and has a few years to go before the public release. The primary achievements and features will be presented in this paper.

• Journal of the Korean Society for Railway
• /
• v.11 no.3
• /
• pp.225-232
• /
• 2008

AWS (all wheel steering) is applied to improve the stability and the turning performance. Most automotive cars are mainly controlled by FWS (front wheel steering) system except some cars which are made to improve their stability by using AWS. Articulated vehicles with a pivoting joint for easy turn are difficult to make a sharp turn because of the long body and long wheelbase. Therefore applying AWS to the articulated vehicles is effective to reduce the turning radius. The AWS control method for the articulated vehicles is currently applied to only Phileas vehicles which were developed by APTS. The paper on the design of a controller to guide an articulated vehicle along the path was published but control algorithm for manual driving has not been reported. In the present paper, steering, characteristics of the Phileas vehicles have been analyzed and then new algorithm has been proposed. To verify the AWS algorithm, Commercial S/W, ADAMS was used for validity of the dynamic model and algorithm.

• Transactions of the Korean Society of Mechanical Engineers A
• /
• v.34 no.3
• /
• pp.283-289
• /
• 2010

Owing to the increasing worldwide interest in green technology and renewable energy sources, flywheel energy storage systems (FESSs) are gaining importance as a viable alternative to traditional battery systems. Since the energy storage capacity of an FESS is proportional to the principal mass-moment of inertia and the square of the running speed, a design that maximizes the principal inertia while operatingrunning at the highest possible speed is important. However, the requirements for the stability of the system may impose a constraint on the optimal design. In this paper, an optimal design of an FESS that not only maximizes the energy capacity but also satisfies the requirements for system stability and reduces the sensitivity to external disturbances is proposed. Cross feedback control in combination with a conventional proportional-derivative (PD) controller is essential to reduce the effect of gyroscopic coupling and to increase the stored energy and the specific energy density.

• Journal of the Korean Society for Railway
• /
• v.15 no.5
• /
• pp.485-497
• /
• 2012

Recently, with increasing social interests on noise and vibration induced by railway traffic, the application of floating slab track that can efficiently reduce the railway vibration is increasing. In this study, to more accurately understand the dynamic behavior of the floating slab track, a laboratory mock-up test has been performed, and the static and dynamic behaviors at frequency range near the system resonance frequency were explored. Based on the test results, the design of the floating slab track and the structural analysis model used in the design have been verified. The analytic and test results demonstrate that the dominant frequency of the floating slab track occurs at the frequencies between vertical rigid body mode natural frequency and bending mode natural frequency, and the dominant deformation mode is close to the bending mode. This suggests that in the design of the floating slab track, the bending rigidity of the slab and the boundary conditions at slab joints and slab ends should be taken into consideration. Also, the analytic results by the two-dimensional finite element analysis model using Kelvin-Voigt model, such as static and dynamic deflections and force transmissibility, are found in good agreement with the test results, and thus the model used in this study has shown the reliability suitable to be utilized in the design of the floating slab track.