• Earthquakes and Structures
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• 제12권2호
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• pp.153-163
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• 2017

The underlying goal of the present paper is to investigate soil and structural uncertainties on impedance functions and structural response of soil-shallow foundation-structure (SSFS) system using Monte Carlo simulations. The impedance functions of a rigid massless circular foundation resting on the surface of a random soil layer underlain by a homogeneous half-space are obtained using 1-D wave propagation in cones with reflection and refraction occurring at the layer-basement interface and free surface. Firstly, two distribution functions (lognormal and gamma) were used to generate random numbers of soil parameters (layer's thickness and shear wave velocity) for both horizontal and rocking modes of vibration with coefficients of variation ranging between 5 and 20%, for each distribution and each parameter. Secondly, the influence of uncertainties of soil parameters (layer's thickness, and shear wave velocity), as well as structural parameters (height of the superstructure, and radius of the foundation) on the response of the coupled system using lognormal distribution was investigated. This study illustrated that uncertainties on soil and structure properties, especially shear wave velocity and thickness of the layer, height of the structure and the foundation radius significantly affect the impedance functions, and in same time the response of the coupled system.

• Smart Structures and Systems
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• 제20권2호
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• pp.207-217
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• 2017

Because of the inevitable uncertainties such as structural parameters, external excitations and measurement noises, the effects of uncertainties should be taken into consideration in structural damage detection. In this paper, two probabilistic structural damage detection approaches are proposed to account for the underlying uncertainties in structural parameters and external excitation. The first approach adopts the statistical moment-based structural damage detection (SMBDD) algorithm together with the sensitivity analysis of the damage vector to the uncertain parameters. The approach takes the advantage of the strength SMBDD, so it is robust to measurement noise. However, it requests the number of measured responses is not less than that of unknown structural parameters. To reduce the number of measurements requested by the SMBDD algorithm, another probabilistic structural damage detection approach is proposed. It is based on the integration of structural damage detection using temporal moments in each time segment of measured response time history with the sensitivity analysis of the damage vector to the uncertain parameters. In both approaches, probability distribution of damage vector is estimated from those of uncertain parameters based on stochastic finite element model updating and probabilistic propagation. By comparing the two probability distribution characteristics for the undamaged and damaged models, probability of damage existence and damage extent at structural element level can be detected. Some numerical examples are used to demonstrate the performances of the two proposed approaches, respectively.

• Journal of Power Electronics
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• 제7권2호
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• pp.159-173
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• 2007

In this paper, an intelligent sliding-mode position controller (ISMC) for achieving favorable decoupling control and high precision position tracking performance of permanent-magnet synchronous motor (PMSM) servo drives is proposed. The intelligent position controller consists of a sliding-mode position controller (SMC) in the position feed-back loop in addition to an on-line trained fuzzy-neural-network model-following controller (FNNMFC) in the feedforward loop. The intelligent position controller combines the merits of the SMC with robust characteristics and the FNNMFC with on-line learning ability for periodic command tracking of a PMSM servo drive. The theoretical analyses of the sliding-mode position controller are described with a second order switching surface (PID) which is insensitive to parameter uncertainties and external load disturbances. To realize high dynamic performance in disturbance rejection and tracking characteristics, an on-line trained FNNMFC is proposed. The connective weights and membership functions of the FNNMFC are trained on-line according to the model-following error between the outputs of the reference model and the PMSM servo drive system. The FNNMFC generates an adaptive control signal which is added to the SMC output to attain robust model-following characteristics under different operating conditions regardless of parameter uncertainties and load disturbances. A computer simulation is developed to demonstrate the effectiveness of the proposed intelligent sliding mode position controller. The results confirm that the proposed ISMC grants robust performance and precise response to the reference model regardless of load disturbances and PMSM parameter uncertainties.

• 한국항공운항학회지
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• 제18권4호
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• pp.44-50
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• 2010

Structural vibration is a significant problem in many multi-part or multi-component assemblies. In aircraft industry, structures are composed of various fasteners, such as bolts, snap, hinge, weld or other fastener or connector (collectively "fasteners"). Due to these, prediction and design involving dynamic characteristics is quite complicated. However, the current state of the art does not provide an analytical tool to effectively predict structure's dynamic characteristics, because consideration of structural uncertainties (i.e. material properties, geometric tolerance, dimensional tolerance, environment and so on) is difficult and very small fasteners in the structure cause a huge amount of analysis time to predict dynamic characteristics using the FEM (finite element method). In this study, to resolve the current state of the art, a new approach is proposed using the FEM and probabilistic analysis. Firstly, equivalent elements are developed using simple element (e.g. bar, beam, mass) to replace fasteners' finite element model. Developed equivalent elements enable to explain static behavior and dynamic behavior of the structure. Secondly, probabilistic analysis is applied to evaluate the PDF (probability density function) of dynamic characteristics due to tolerance, material properties and so on. MCS (Monte-Carlo simulation) is employed for this. Proposed methodology offers efficiency of dynamic analysis and reality of the field as well. Simple plates joined by fasteners are taken as an example to illustrate the proposed method.

• International Journal of Control, Automation, and Systems
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• 제3권2호
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• pp.143-151
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• 2005

This paper considers a robust decentralized $H_\infty$ control problem for uncertain large-scale interconnected systems. The uncertainties are assumed to be time-invariant, norm-bounded, and exist in subsystems. A design method based on the bounded real lemma is developed for a dynamic output feedback controller, which is reduced to a feasibility problem for a nonlinear matrix inequality (NMI). It is proposed to solve the NMI iteratively by the idea of homotopy, where some of the variables are fixed alternately on each iteration to reduce the NMI to a linear matrix inequality (LMI). A decentralized controller for the nominal system is computed first by imposing structural constraints on the coefficient matrices gradually. Then, the decentralized controller is modified again gradually to cope with the uncertainties. A given example shows the efficiency of this method.

• 수산해양기술연구
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• 제30권4호
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• pp.329-340
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• 1994

This paper presents a dynamic compensation methodology for robust trajectory tracking control of uncertain robot manipulators. To improve tracking performance of the system, a full model-based feedforward compensation with continuous VS-type robust control is developed in this paper(i.e,. robust decentralized adaptive control scheme). Since possible bounds of uncertainties are unknown, the adaptive bounds of the robust control is used to directly estimate the uncertainty bounds(instead of estimating manipulator parameters as in centralized adaptive control0. The global stability and robustness issues of the proposed control algorithm have been investigated extensively and rigorously via a Lyapunov method. The presented control algorithm guarantees that all system responses are uniformly ultimately bounded. Thus, it is shown that the control system is evaluated to be highly robust with respect to significant uncertainties.

• 제어로봇시스템학회논문지
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• 제2권4호
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• pp.312-317
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• 1996

This paper proposes a neural network controller with the computed torque method. The neural network is used not to learn the inverse dynamic model but to compensate the uncertainties of robotic manipulators. When training the neural network, we use the signals present in the proposed controller, which is simpler than that proposed by Ishiguro et al., whose teaching signals of the neural network come from the robot model.

• 한국정밀공학회지
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• 제23권12호
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• pp.46-55
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• 2006

A robust motion controller based on self-organizing fuzzy control(SOFC) and feed-back tracking control technique is proposed for a two-wheel driven mobile robot. The feed-back control technique of the controller guarantees the robot follows a desired trajectory. The SOFC technique of the controller deals with unmodelled dynamics of the vehicle and uncertainties. The computer simulations are carried out to verify the tracking ability of the proposed controller with various driving situations. The results of the simulations reveal the effectiveness and stability of the proposed controller to compensate the unmodelled dynamics and uncertainties.

• 한국진공학회지
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• 제12권1호
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• pp.7-15
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• 2003

스피닝 로터 게이지는 표준기관의 고진공 국제비교에 전달표준기로 상용되고 있으며, 고진공 국가표준기인 동적교정장치를 이용하여 스피닝 로터 게이지를 교정하였다. 교정 결과의 불확도를 국제표준화기구에서 권고한 A형 불확도, B형 불확도, 합성표준불확도, 확장불확도 등으로 구분하여 평가하는 방법을 제시하였다. 이 방법에 따라 평가한 스피닝 로터 게이지의 합성표준불확도는 $1.8007\times10^{-5}$ Pa ~$4.8422\times10^{-5}$ Pa 이었다.

• Earthquakes and Structures
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• 제14권5호
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• pp.477-492
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• 2018

Recently, the adaptive nonlinear static analysis method has been widely used in the field of performance based earthquake engineering. However, the proposed methods are almost deterministic and cannot directly consider the seismic record uncertainties. In the current study an innovative Stochastic Adaptive Pushover Analysis, called "SAPA", based on equivalent hysteresis system responses is developed to consider the earthquake record to record uncertainties. The methodology offers a direct stochastic analysis which estimates the seismic demands of the structure in a probabilistic manner. In this procedure by using a stochastic linearization technique in each step, the equivalent hysteresis system is analyzed and the probabilistic characteristics of the result are obtained by which the lateral force pattern is extracted and the actual structure is pushed. To compare the results, three different types of analysis have been considered; conventional pushover methods, incremental dynamic analysis, IDA, and the SAPA method. The result shows an admirable accuracy in predicting the structure responses.