• Wind and Structures
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• v.22 no.3
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• pp.349-368
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• 2016

A preconditioning technique is presented for a simultaneous solution to wind-membrane interaction. In the simultaneous equations, a linear elastic model was employed to deal with the fluid-structure data transfer at the interface. A Lagrange multiplier was introduced to impose the specified boundary conditions at the interface and strongly coupled simultaneous equations are derived after space and time discretization. An initial linear elastic model preconditioner and modified one were derived by treating the linearized elastic model equation as a saddle point problem, respectively. Accordingly, initial and modified fluid-structure interaction (FSI) preconditioner for the simultaneous equations were derived based on the initial and modified linear elastic model preconditioners, respectively. Wind-membrane interaction analysis by the proposed preconditioners, for two and three dimensional membranous structures respectively, was performed. Comparison was made between the performance of initial and modified preconditioners by comparing parameters such as iteration numbers, relative residuals and convergence in FSI computation. The results show that the proposed preconditioning technique greatly improves calculation accuracy and efficiency. The priority of the modified FSI preconditioner is verified. The proposed preconditioning technique provides an efficient solution procedure and paves the way for practical application of simultaneous solution for wind-structure interaction computation.

• Proceedings of the KSME Conference
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• 2003.04a
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• pp.923-928
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• 2003

This paper presents the motion control of a mobile robot with arc sensor for lattice type welding. Its dynamic equation and motion control method for welding speed and seam tracking are described. The motion control is realized in the view of keeping constant welding speed and precise target line even though the robot is driven along a straight line or comer. The mobile robot is modeled based on Lagrange equation under nonholonomic constraints and the model is represented in state space form. The motion control of the mobile robot is separated into three driving motions of straight locomotion, turning locomotion and torch slider controls. For the torch slider control, the proportional integral derivative (PID) control method is used. For the straight locomotion, a concept of decoupling method between input and output is adopted and for the turning locomotion, the turning speed is controlled according to the angular velocity value at each point of the comer with range of $90^{\circ}$ constrained to the welding speed. The proposed control methods are proved through simulation results and the results have proved that the mobile robot has enough ability to apply the lattice type welding line.

• Journal of Mechanical Science and Technology
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• v.16 no.1
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• pp.83-93
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• 2002

This paper presents a motion control method and its simulation results of a mobile robot for a lattice type welding. Its dynamic equation and motion control methods for welding speed and seam tracking are described. The motion control is realized in the view of keeping constant welding speed and precise target line even though the robot is driven for following straight line or curve. The mobile robot is modeled based on Lagrange equation under nonholonomic constraints and the model is represented in state space form. The motion control of the mobile robot is separated into three driving motions of straight locomotion, turning locomotion and torch slider control. For the torch slider control, the proportional-integral-derivative (PID) control method is used. For the straight locomotion, a concept of decoupling method between input and output is adopted and for the turning locomotion, the turning speed is controlled according to the angular velocity value at each point of the corner with range of 90$^{\circ}$ constrained to the welding speed. The proposed control methods are proved through simulation results and these results have proved that the mobile robot has enough ability to apply the lattice type welding line.

• Journal of Power System Engineering
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• v.22 no.1
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• pp.11-17
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• 2018

The steady-state, incompressible and three-dimensional numerical analysis was carried out to evaluate the internal flow fields characteristics of wind tunnel contractions made by Morel's curve equations. The turbulence model used in this study is a realizable ${\kappa}-{\varepsilon}$ well known to be excellent for predicting the performance of the flow separation and recirculation flow as well as the boundary layer with rotation and strong back pressure gradient. As a results, when the flow passes through the interior space of the analytical models, the flow resistance at the inlet of the plenum chamber is the largest at $Z_m=300$, 400 mm, but the smallest at $Z_m=700mm$. The maximum turbulence intensity in the test section is about 2.5% when calculated by the homogeneous flow, so it is improved by about 75% compared to the 10% turbulence intensity at the inlet of the plenum chamber due to the contraction.

• Proceedings of the KSME Conference
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• 2001.06b
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• pp.319-324
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• 2001

This paper presents the motion control of a mobile robot with arc sensor for lattice type welding. Its dynamic equation and motion control method for welding speed and seam tracking are described. The motion control is realized in the view of keeping constant welding speed and precise target line even though the robot is driven along a straight line or corner. The mobile robot is modeled based on Lagrange equation under nonholonomic constraints and the model is represented in state space form. The motion control of the mobile robot is separated into three driving motions of straight locomotion, turning locomotion and torch slider controls. For the torch slider control, the proportional integral derivative (PID) control method is used. For the straight locomotion, a concept of decoupling method between input and output is adopted and for the turning locomotion, the turning speed is controlled according to the angular velocity value at each point of the comer with range of $90^{\circ}$ constrained to the welding speed. The experiment has been done to verify the effectiveness of the proposed controllers. These results are shown to fit well by the simulation results.

• Journal of the Institute of Electronics Engineers of Korea SC
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• v.44 no.5
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• pp.18-29
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• 2007

The main objective of this paper is to propose a new stability analysis method for a networked control system with multiple packet transmission. The new scheduling method that can guarantee the maximum time delay and discrete switch state equation model which represent a network data loss is proposed. The equivalent model of a MIMO(multi-input multi-output) networked control system is derived from a state space model of linear time invariant interconnected systems in the form of asynchronous dynamical system. Using this model, this paper presents new stability theorems that can determine stability of the networked control system with regard to time delay, data loss, and the number of transmission packets. Simulation results verify the effectiveness of proposed stability analysis method.

• Proceedings of the KSME Conference
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• 2004.11a
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• pp.55-60
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• 2004

This study is concerned to the perforation phenomena of the oblique dual-plate by projectile. Experiment and simulation related to that was carried out. the variables considered in this phenomena include the electrolytic zinc coated steel sheet and carbon steel rod. In the former, the confirmation and projectile velocity possible phenomena of real phenomena is done, the latter, the effect of parameter such as time-step and grid space length is analized by using the three-dimensional Lagrangian explicit time-integration finite element code, HEMP. this code use the eight node hexahedral elements and in this study, Von-Mises Criteria is used as the strength model, Mie-Gruneisen is as the Equation of State. the simulation was performed by contrast with the experiment. through the calibration of the parameter of lagrangian code, reasonable result was approached.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2008.11a
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• pp.743-748
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• 2008

This paper presents an inertia type of piezostack based active mount for unmanned aero vehicle (UAV) camera system. After identifying the stiffness and damping properties of the rubber element and piezostack a mechanical model of the active mount system is established. The governing equation of mount is them derived and expressed in a state space farm. Subsequently, a sliding mode controller which is robust to uncertain parameters is designed in order to reduce the vibration imposed according to the military specification associated with UAV camera mount system operation. Control performances such as acceleration and transmitted force are evaluated through both computer simulation and experimental implementation.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2006.11a
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• pp.519-522
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• 2006

Accurate modeling of a dynamic system from experimental data is the bases for the model updating or heath monitoring of the system. Modal analysis or modal test is a routine process to get the modal parameters of a dynamic system. The modal parameters include the natural frequencies, damping ratios and mode shapes. This paper presents a new method that can derive the equations of motion for a dynamic system from the modal parameters obtained by the modal analysis or modal test. The present method based on the relation between the eigenvalues and eigenvectors of the state space equation derives the mass, damping and stiffness matrices of the system. The modeling of a cantilevered beam from modal parameters is an example to prove the efficiency and accuracy of the present method. Using the lateral displacements only, not the rotations, gives limited information for the system. The numerical verification up to now gives reasonable results and the verification with the test data is scheduled.

• Journal of Institute of Control, Robotics and Systems
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• v.6 no.5
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• pp.356-366
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• 2000

In this paper, a nonlinear $H_2/H_\infty/LTR$ control for the flexible inverted pendulum of a parallel type with Coulomb friction is presented. The dynamic equation for this system is derived by the Hamilton's principle and assumed-mode method. This hard nonlinear system can be modeled by a the quasi-linear state space model using the REF method. It is shown that the $H_2/H_\infty$ control can be applied to the nonlinear controller design of the system having Coulomb frictions if the proper LTR conditions are satisfied. In order to present the usefulness of the suggested control method, the nonlinear $H_2/H_\infty/LTR$ controller is designed to control the Position of the end point of the flexible inverted pendulum that has Coulomb frictions present in actuator parts. The results are given via computer simulations.