• Journal of Mechanical Science and Technology
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• v.16 no.12
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• pp.1613-1626
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• 2002

This paper presents hybrid control of an active suspension system with a full-car model by using H$\sub$$\infty$/ and nonlinear adaptive control methods. The full-car model has seven degrees of freedom including heaving, pitching and rolling motions. In the active suspension system, the controller shows good performance: small gains from the road disturbances to the heaving, pitching and rolling accelerations of the car body. Also the controlled system must be robust to system parameter variations. As the control method, H$\sub$$\infty$/ controller is designed so as to guarantee the robustness of a closed-loop system in the presence of uncertainties and disturbances. The system parameter variations are taken into account by multiplicative uncertainty model and the system robustness is guaranteed by small gain theorem. The active system with H$\sub$$\infty$/ controller can reduce the accelerations of the car body in the heaving, pitching and rolling directions. The nonlinearity of a hydraulic actuator is handled by nonlinear adaptive control based on the back-stepping method. The effectiveness of the controllers is verified through simulation results in both frequency and time domains.

• Transactions of the Korean Society of Machine Tool Engineers
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• v.14 no.2
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• pp.83-90
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• 2005

A mirror cam mechanism a kind of conjugate cam mechanism consists of two cams, two rollers, and two links. Since profiles of two mirror cam are identical, a simultaneous machining of two cams is achievable. Some machining errors on cam profiles do not result in the internal acting force, which often causes problems in high speed cam mechanism between two links. Also, since angular accelerations of two links are same, the internal acting force by the difference of the angular accelerations does not occur in the mechanism. Thus the mirror cam mechanism is very useful in high speed machinery. This paper studies a design method as well as a machining method, and develops an exclusive CAD/CAM software for mirror cam profiles. The developed CAD/CAM software is applied to a typical mirror cam mechanism and a mock-up equipment is built in order to test the machinism mirror cm. Experimental investigations show that the contact between cam surface and roller surface according to cam rotation agrees well with the simulation on the developed CAD/CAM software.

• Transactions of the Korean Society of Machine Tool Engineers
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• v.12 no.2
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• pp.71-78
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• 2003

This research proposes an implementation method of linearized equations of motion for multibody systems with closed loops. The null space of the constraint Jacobian is first pre-multiplied to the equations of motion to eliminate the Lagrange multiplier and the equations of motion are reduced down to a minimum set of ordinary differential equations. The resulting differential equations are functions of all relative coordinates, velocities, and accelerations. Since the variables are tightly coupled by the position, velocity, and acceleration level coordinates, direct substitution of the relationships among these variables yields very complicated equations to be implemented. As a consequence, the reduced equations of motion are perturbed with respect to the variations of all variables, which are coupled by the constraints. The position velocity and acceleration level constraints are also perturbed to obtain the relationships between the variations of all relative coordinates, velocities, and accelerations and variations of the independent ones. The Perturbed constraint equations are then simultaneously solved for variations of all variables only in terms of the variations of the independent variables. Finally, the relationships between the variations of all variables and these of the independent ones are substituted into the variational equations of motion to obtain the linearized equations of motion only in terms of the independent variables variations.

• International Journal of Ocean System Engineering
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• v.2 no.3
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• pp.151-159
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• 2012

The characteristics of an impact load and pressure were experimentally investigated. Drop tests were carried out using a modified Wigley with CB = 0.56. The vertical force, pressures, and vertical accelerations were measured. A 6-component load cell was used to measure the forces, piezo-electric sensors were used to capture the impact pressure, and strain-gauge type accelerometers were used to measure the vertical accelerations. A 50-kHz sampling rate was applied to capture the peak values. The repeatability of the measured data was confirmed and the basic characteristics of the impact load and pressure such as the linearity to the falling height were observed for all of the measurements. A simple formula was derived to extract the physical impact load from the measured force based on a simple mass-sensor-mass diagram, which was validated by comparing impact forces with existing data using the mathematical model of Faltinsen and Chezhian (2005). The effects of the elasticity of the model and change in acceleration during the water entry were investigated. It is interesting to observe that the impact loads occurred and reached peak values at the same time duration after water entry for all drop heights.

• Ocean Systems Engineering
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• v.1 no.4
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• pp.263-283
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• 2011

The performance of a rig tie-down system on a TLP (Tension Leg Platform) is investigated for 10-year, 100-year, and 1000-year hurricane environments. The inertia loading on the derrick is obtained from the three-hour time histories of the platform motions and accelerations, and the dynamic wind forces as well as the time-dependent heel-induced gravitational forces are also applied. Then, the connection loads between the derrick and its substructure as well as the substructure and deck are obtained to assess the safety of the tie-down system. Both linear and nonlinear inertia loads on the derrick are included. The resultant external forces are subsequently used to calculate the loads on the tie-down clamps at every time step with the assumption of rigid derrick. The exact dynamic equations including nonlinear terms are used with all the linear and second-order wave forces considering that some dynamic contributions, such as rotational inertia, centripetal forces, and the nonlinear excitations, have not been accounted for in the conventional engineering practices. From the numerical simulations, it is seen that the contributions of the second-order sum-frequency (or springing) accelerations can be appreciable in certain hurricane conditions. Finally, the maximum reaction loads on the clamps are obtained and used to check the possibility of slip, shear, and tensile failure of the tie-down system for any given environment.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.23 no.7 s.166
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• pp.1155-1163
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• 1999

This study deals with the vibration ride quality for passenger car when running on straight highway at the speed of 70km/h. Ten accelerations were measured at four positions, three axes each at the feet, hip, and head, and one axis at the back. Five seats that have different static sponge stiffness were used, and two subjects were participated. These accelerations were analyzed to produce the ride values such as component ride value and overall ride value. It was hard to see the difference of ride value by the change of sponge stiffness. However we could rank the ride quality by the total vibration exposed to passengers. From the transfer function between the hip and the foot, the fundamental mode was observed to be around 5.8Hz. Also the transfer function between the head and hip was studied. The optimal damping ratio of the seat was calculated according to the seat natural frequency with human weighting filter which makes the optimal damping ratio different from that without weighting filter.

• Journal of Mechanical Science and Technology
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• v.15 no.8
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• pp.1090-1096
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• 2001

In this paper, new methods for efficiently solving linear acceleration equations of multibody dynamic simulation exploiting sparsity for real-time simulation are presented. The coefficient matrix of the equations tends to have a large number of zero entries according to the relative joint coordinate numbering. By adequate joint coordinate numbering, the matrix has minimum off-diagonal terms and a block pattern of non-zero entries and can be solved efficiently. The proposed methods, using sparse Cholesky method and recursive block mass matrix method, take advantages of both the special structure and the sparsity of the coefficient matrix to reduce computation time. The first method solves the η$\times$η sparse coefficient matrix for the accelerations, where η denotes the number of relative coordinates. In the second method, for vehicle dynamic simulation, simple manipulations bring the original problem of dimension η$\times$η to an equivalent problem of dimension 6$\times$6 to be solved for the accelerations of a vehicle chassis. For vehicle dynamic simulation, the proposed solution methods are proved to be more efficient than the classical approaches using reduced Lagrangian multiplier method. With the methods computation time for real-time vehicle dynamic simulation can be reduced up to 14 per cent compared to the classical approach.

• Earthquakes and Structures
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• v.7 no.6
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• pp.1283-1301
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• 2014

Ground motion modification is extensively used in seismic design of civil infrastructure, especially where few or no recorded ground motions representative of the design scenario are available. A site in Los Angeles, California is used as a study site and 28 ground motions consistent with the design earthquake scenario are selected. The suite of 28 ground motions is scaled and modified in the time domain (TD) and frequency domain (FD) before being used as input to a bilinear SDOF system. The median structural responses to the suites of scaled, TD-modified, and FD-modified motions, along with ratios of he modified-to-scaled responses, are investigated for SDOF systems with different periods, strength ratios, and post-yield stiffness ratios. Overall, little difference (less than 20%) is observed in the peak structural accelerations, velocities, and displacements; displacement ductility; and absolute accelerations caused by the TD-modified and FD-modified motions when compared to the responses caused by the scaled motions. The energy absorbed by the system when the modified motions are used as input is more than 20% greater than when scaled motions are used as input. The observed trends in the structural response are predominantly the result of changes in the ground motion characteristics caused by modification.

• Proceedings of the KSR Conference
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• 2007.05a
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• pp.477-485
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• 2007

When Korean High Speed Train (KTX) runs over a high-speed railway bridge, the high-speed railway bridge gives quite large acceleration response. Local vibration at the large cross section, the impact from equally spaced sleepers, the vibration due to elastomeric bearings, and the vibration from the train itself are the causes of this acceleration response. Maximum peaks of the accelerations measured at the bridges are sometimes going over the limit value. Although it is smaller than 0.35G, the limit from the Korean Bridge Design Manual(BRDM), this acceleration response should be reduced for the safety of running trains with high speed. In this paper, to reduce the acceleration response by controlling excessive local vibration at the large cross section, vibration reduction method is studied. The result shows that the effect of elastomeric bearings on the vibration of the bridge is very large and that the vibration reduction device is effective against wing mode local vibration PSC box girder bridge for the high-speed railway, which usually has very large cross section, although it has little effect on global vibration modes such as flexural and twisting modes. The test of the vibration reduction device on the bridge in service has been performed in this study.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2004.05a
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• pp.125-130
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• 2004

The vibration and buckling characteristics of the capsule for fuel irradiation test are studied. The natural frequencies of the capsule in air and under water are obtained by modal testing and finite element(FE) analysis using ANSYS program, and accelerations with flow are measured to estimate the compatibility with the operation requirement of the HANARO reactor. The experimental fundamental frequency of the capsule in the x and z direction is 8.5Hz and 8.75Hz in air, and 7.5Hz and 7.75Hz under water, respectively. The maximum amplitude of accelerations under the normal operating condition is measured as 11.0m/s$^2$ that is within the allowable vibrational limit(18.99m/s$^2$) of the reactor structure. Also, the maximum displacement at 100% flow is calculated as 0.13mm which is not interference with other nearby structures. FE analysis results show that the natural frequencies are found to be similar to those of the modal testing when three supporting parts are considered as simply supported conditions. From the buckling analysis, when the loading tool is applied, the critical buckling load of the capsule is 233N.