• 제목/요약/키워드: Structure actuator

검색결과 709건 처리시간 0.031초

대형 구조물의 진동제어를 위한 반능동형 댐퍼의 설계 (Design of Semi-Active Tendon for Vibration Control of Large Structures)

  • 김상범;윤정방;구자인
    • 한국소음진동공학회:학술대회논문집
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    • 한국소음진동공학회 2000년도 추계학술대회논문집
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    • pp.282-286
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    • 2000
  • In this paper, magneto-rheological(MR) damper is studied for vibration control of large infra structures under earthquake. Generally, active control devices need a large control force and a high power supply system to reduce the vibration effectively. Large and miss tuned control force may induce the dangerous situation such that the generated large control force acts to amplify the structural vibration. Recently, to overcome the weaknesses of the active control, the semi-active control method is suggested by many researchers. Semi-active control uses the passive control device of which the characteristics can be modified. Control force of the semi-active device is not generated from the actuator with power supply. It is generated as a dynamic reaction force of the device same as in the passive control case, so the control system is inherently stable and robust. Unlike the case of passive control, control force of semi-active control is adjusted depending on the measured response of the structure, so the vibration can be reduced more effectively against various unknown environmental loads. Magneto-rheological(MR) damper is one of the semi-active devices. Dynamic characteristics of the MR material can be changed by applying the magnetic fields. So the control of MR damper needs only small power. Response time of MR to the input voltage is very short, so the high performance control is possible. MR damper has a high force capacity so it is adequate to the vibration control of large infra structure. Because MR damper has a nonlinear property, normal control method used in active control may not be effective. Clipped optimal control, modified bang-bang control etc. have been suggested to MR damper by many researchers. In this study, sliding mode fuzzy control(SMFC) is applied to MR damper. Genetic algorithm is used for the controller tuning. To verify the applicability of MR damper and suggested algorithm, numerical simulation on the aseismic control is carried out. Simulation model is three-story building structure, which was used in the paper of Dyke, et al. The control performance is compared with clipped optimal control. The present results indicate that the SMFC algorithm can reduce the earthquake-induced vibration very effectively.

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한국형틸팅열차 틸팅기구장치 부하특성 평가 연구(II) - 대차/차체 인터페이스 조정에 의한 정적부하 영향분석 (Study for Loading Characteristic of Tilting Mechanism on Korea Tilting Train (II) - Adjustmemt for Interface of carbody and Bogie)

  • 고태환;이왕상;이범상
    • 한국철도학회:학술대회논문집
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    • 한국철도학회 2011년도 정기총회 및 추계학술대회 논문집
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    • pp.951-956
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    • 2011
  • As the evaluation of loading characteristic on tilting mechanism is the most important one of the function test of tilting mechanism, the changing characteristic of load must be investigated on tilting of carbody for both the static and running condition of train. In this study, we reduced the load of tilting mechanism by adjusting the interface of carbody and bogie such as the weight balance, level of underframe, height of leveling valve, height of axle box and center position of tilting actuator with the characteristic curve of load for optimal condition of the tilting mechanism obtained in the previous study. Furthermore, the factor and effect of the interfacial structures respecting the load of tilting mechanism was evaluated by analyzing the changing characteristic of load obtained in the process of adjustment of interfaces. From these data, we will propose the maintenance standards for interfacial structures and tilting mechanism in order to minimize the load of tilting mechanism by analyzing in detail the characteristic of load for the main factors of the interfacial structure effecting on the load of tilting mechanism.

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DC 모터를 이용한 동력 의족 시스템 개발 (Development of a Powered Knee Prosthesis using a DC Motor)

  • 김원식;김석윤;이영삼
    • 제어로봇시스템학회논문지
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    • 제20권2호
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    • pp.193-199
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    • 2014
  • In this paper, we present an overview of the structure of a lab-built powered knee prosthesis and the control of it. We build a powered prosthesis prototype on the basis of previous researches and aim at obtaining the essential technology related with its control. We adopt the slider-crank mechanism with a DC motor as an actuator to manipulate the knee joint. We also build an embedded control system for the prosthesis with a 32-bit DSP controller as a main computation unit. We divide the gait phase into five stages and use a FSM (Finite State Machine) to generate a torque reference needed for each stage. We also propose to use a position-based impedance controller for driving the powered knee prosthesis stably. We perform some walking experiments at fixed speeds on a tread mill in order to show the feature of the built powered prosthesis. The experimental results show that our prosthesis has the ability to provide a functional gait that is representative of normal gait biomechanics.

A study on the dynamic instabilities of a smart embedded micro-shell induced by a pulsating flow: A nonlocal piezoelastic approach

  • Atabakhshian, Vahid;Shooshtaria, Alireza
    • Advances in nano research
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    • 제9권3호
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    • pp.133-145
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    • 2020
  • In this study, nonlinear vibrations and dynamic instabilities of a smart embedded micro shell conveying varied fluid flow and subjected to the combined electro-thermo-mechanical loadings are investigated. With the aim of designing new hydraulic sensors and actuators, the piezoelectric materials are employed for the body and the effects of applying electric field on the stability of the system as well as the induced voltage due to the dynamic behavior of the system are studied. The nonlocal piezoelasticity theory and the nonlinear cylindrical shell model in conjunction with the energy approach are utilized to mathematically modeling of the structure. The fluid flow is assumed to be isentropic, incompressible and fully develop, and for more generality of the problem both steady and time dependent flow regimes are considered. The mathematical modeling of fluid flow is also carried out based on a scalar potential function, time mean Navier-Stokes equations and the theory of slip boundary condition. Employing the modified Lagrange equations for open systems, the nonlinear coupled governing equations of motion are achieved and solved via the state space problem; forth order numerical integration and Bolotin's method. In the numerical results, a comprehensive discussion is made on the dynamical instabilities of the system (such as divergence, flutter and parametric resonance). We found that applying positive electric potential field will improve the stability of the system as an actuator or vibration amplitude controller in the micro electro mechanical systems.

병렬구조 신 압연기의 최적설계 : 조작성 및 제어성능의 최대화 (Optimal Design of a New Rolling Mill Based upon Stewart Platform Manipulator : Maximization of Kinematic Manipulability)

  • 홍금식;이승환;최진태
    • 제어로봇시스템학회논문지
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    • 제8권9호
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    • pp.764-775
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    • 2002
  • A kinematic and dynamic optimal design of a new parallel-type rolling mill based upon Stewart platform manipulator is investigated. To provide sufficient degrees-of-freedom in the rolling process and the structural stability of each stand, a parallel manipulator with six legs is considered. The objective of this new parallel-type rolling mill is to permit an integrated control of the strip thickness, strip shape, pair crossing angle, uniform wear of the rolls, and tension of the strip. By splitting the weighted Jacobian matrices Into two parts, the linear velocity, angular velocity, force, and moment transmissivities are analyzed. A manipulability measure, the ratio of the manipulability ellipsoid volume and the condition number of a split Jacobian matrix, is defined. Two kinematic parameters, the radius of the base and the angle between two neighboring Joints, are optimally designed by maximizing the global manipulability measure in the entire workspace. The maximum force needed in the hydraulic actuator is also calculated using the structure determined through the kinematic analysis and the Plucker coordinates. Simulation results are provided.

고배속 CD-RW Drive를 위한 중점 서보 및 편심 보상 제어 (Center Compensation Servo and Eccentric Compensation Control for High Speed CD-RW Drive System)

  • 김동원;박귀태;서삼준
    • 제어로봇시스템학회논문지
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    • 제10권12호
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    • pp.1202-1209
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    • 2004
  • This paper presents a design methodology of a Digital Servo Signal Processor for high speed CD-RW drive systems. The proposed Digital Servo Signal Processor enables us to develop CD-related systems for the very high speed applications and is one of the key components of the CD-RW systems. The proposed center compensation servo control is newly built for an actuator shaking due to the fast response of a step motor when it jumps to a long distance. A control method compensating for eccentricity of a disc is implemented for operating robustly at a higher rotational speed. This servo mechanism is more size efficient and less power consumed because it is implemented using a ARM7 embedded processor and hardware digital filters. Furthermore, it is convenient to upgrade firmware for the future required functions. From experimental results, we can see that the performance of the control system is improved greatly. The proposed servo algorithm shows a shorter setting time including a pull-in time and a faster access time. It can be applied easily to the DVD-ROM and the DVD-RAM which have the same optical structure.

A study on the novel linear actuator using MR fluid

  • Song, Joo-Young;Ahn, Kyoung-Kwan;Ahn, Young-Kong
    • 제어로봇시스템학회:학술대회논문집
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    • 제어로봇시스템학회 2004년도 ICCAS
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    • pp.296-300
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    • 2004
  • A new MR cylinder with built-in valves using MR fluid (MR valve) is proposed for fluid power control systems. The MR or Magneto-Rheololgical fluid is a newly developed functional fluid whose obvious viscosity is controlled by the applied magnetic field intensity. The MR cylinder is composed of cylinder with small clearance and piston with electromagnet. The differential pressure is controlled by the applied magnetic field intensity. It has the characteristics of simple, compact and reliable structure. The size of MR cylinder and piston has ${\varphi}$60mm${\times}$259mm and ${\varphi}$58mm${\times}$136.5mm in face size respectively and 0.8mm in gap length. Through experiments on the static characteristics, it is found that the differential pressure is controlled by the applied magnetic field intensity under little influence of the flow rate, which corresponds to a pressure control valve. Effectiveness of the MR cylinder is demonstrated through the position control of one link MR manipulator.

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PZT 캔틸레버 구동기와 마이크로 시소구조를 적용한 저전압 SPDT MEMS RF 스위치 구현 (Implementation of a Low Actuation Voltage SPDT MEMS RF Switch Applied PZT Cantilever Actuator and Micro Seesaw Structure)

  • 이대성;김원효;정석원;조남규;성우경;박효덕
    • 대한전자공학회:학술대회논문집
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    • 대한전자공학회 2005년도 추계종합학술대회
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    • pp.147-150
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    • 2005
  • Low actuation voltage and no contact stiction are the important factors to apply MEMS RF switches to mobile devices. Conventional electrostatic MEMS RF switches require several tens of voltages for actuation. In this paper we propose PAS MEMS RF switch which adopt PZT actuators and seesaw cantilevers to meet the above requirements. The fundamental structures of PAS MEMS switch were designed, optimized, and fabricated. Through the developed processes PAS SPDT MEMS RF switches were successfully fabricated on 4" wafers and they showed good electrical properties. The driving voltage was less than 5 volts. And the insertion loss was -0.5dB and the isolation was 35dB at 5GHz. The switching speed was about 5kHz. So these MEMS RF switches can be applicable to mobile communication devices or wireless multi-media devices at lower than 6GHz.

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초소형 유도탄 구동날개 시스템의 플러터 예측에 관한 연구 (Study on the Flutter Prediction of the Miniature Guided-bullet Control Surface System)

  • 이성헌;조영기;조한진;방효충
    • 한국군사과학기술학회지
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    • 제20권1호
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    • pp.148-157
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    • 2017
  • Miniature guided-bullet is an advanced military technology of developing guided missile which is designed to hit a target precisely while having easily carriable miniature size. A key issue of developing such system involves size reduction of the original guided missile system, and this in turn arouses stiffness issue regarding small and thin sized control surface. In this study, procedures on how to calculate the critical flutter speed of special type of control surface with the change of its dimension or material property is arranged. During this procedure, design parameters related to critical flutter speed are abridged to help preliminary design of similar structure even faster than time-consuming, and cumbersome computer analysis.

Development, implementation and verification of a user configurable platform for real-time hybrid simulation

  • Ashasi-Sorkhabi, Ali;Mercan, Oya
    • Smart Structures and Systems
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    • 제14권6호
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    • pp.1151-1172
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    • 2014
  • This paper presents a user programmable computational/control platform developed to conduct real-time hybrid simulation (RTHS). The architecture of this platform is based on the integration of a real-time controller and a field programmable gate array (FPGA).This not only enables the user to apply user-defined control laws to control the experimental substructures, but also provides ample computational resources to run the integration algorithm and analytical substructure state determination in real-time. In this platform the need for SCRAMNet as the communication device between real-time and servo-control workstations has been eliminated which was a critical component in several former RTHS platforms. The accuracy of the servo-hydraulic actuator displacement control, where the control tasks get executed on the FPGA was verified using single-degree-of-freedom (SDOF) and 2 degrees-of-freedom (2DOF) experimental substructures. Finally, the functionality of the proposed system as a robust and reliable RTHS platform for performance evaluation of structural systems was validated by conducting real-time hybrid simulation of a three story nonlinear structure with SDOF and 2DOF experimental substructures. Also, tracking indicators were employed to assess the accuracy of the results.