• The Journal of Korea Robotics Society
• /
• v.15 no.1
• /
• pp.77-89
• /
• 2020

This paper proposes a simple and intuitive model-free torque-tracking control for rotary electro-hydraulic actuators. The undesirable natural-velocity-feedback effect is discussed by introducing mechanical impedance into the electro-hydraulic actuation system. The proposed model-free torque control comprises inner- and outer-loop control to achieve two control objectives. Inner-loop control reduces the mechanical impedance passively and optimally. To improve the tracking accuracy, a certain form of proportional-integral-derivative control is applied to the outer loop. The robustness of the proposed closed-loop system against external disturbances is demonstrated by transforming the two-loop control structure into a disturbance observer form. The proposed method is validated on a single joint electro-hydraulic actuator.

• Steel and Composite Structures
• /
• v.24 no.1
• /
• pp.79-91
• /
• 2017

Free vibrations of steel-concrete composite beams are analyzed by using the dynamic stiffness approach. The coupled equations of motion of the composite beams are derived with help of the Hamilton's principle. The effects of the shear deformation and rotary inertia of the two beams as well as the transverse and axial deformations of the stud connectors are included in the formulation. The dynamic stiffness matrix is developed on the basis of the exact general solutions of the homogeneous governing differential equations of the composite beams. The use of the dynamic stiffness method to determine the natural frequencies and mode shapes of a particular steel-concrete composite beam with various boundary conditions is demonstrated. The accuracy and effectiveness of the present model and formulation are validated by comparison of the present results with the available solutions in literature.

• 제어로봇시스템학회:학술대회논문집
• /
• 1987.10a
• /
• pp.915-920
• /
• 1987

When a task requires two robot arms to move in a cooperative manner sharing a common workspace, potential collision exists between the two robot arm . In this paper, a novel approach for collision-free trajectory planning along paths of two SCARA-type robot arms is presented. Specifically, in order to describe potential collision between the links of two moving robot arms along the designated paths, an explicit form of "Virtual Obstacle" is adopted, according to which links of one robot arm are made to grow while the other robot arm is forced to shrink as a point on the path. Then, a notion of "Coordination Chart" is introduced to visualize the collision-free relationship of two trajectories.of two trajectories.

• 한국전산유체공학회:학술대회논문집
• /
• 2007.10a
• /
• pp.258-263
• /
• 2007

A particle method recognized as one of the gridless methods has been developed to investigate the nonlinear free-surface motions interacting to the structures. The method is more feasible and effective than convectional grid methods for solving the non-linear free-surface motion with complicated boundary shapes. The right-handed side of the governing equations for incompressible fluid, which includes gradient, viscous and external force terms, can be replaced by the particle interaction models. In the present study, the developed method is applied to the dam-broken problem on dried- and wet-floor and its adequacy will be discussed by the comparison with the experimental results.

• Transactions of the Korean Society of Mechanical Engineers
• /
• v.18 no.7
• /
• pp.1751-1758
• /
• 1994

A new set of governing equations is derived for the dynamic analysis of the Free-Piston Stirling Engines(EPSE). Equations from the ideal adiabatic model for the thermodynamic analysis of the working fluid are incoporated with the equations of motion for the moving masses of the system, resulting in a set of nonlinear differential equations. The coupled set of equations are numerically integrated with proper intial conditions to obtain a steady state response of the engine. The proposed method is compared with the conventional method of analyzing EPSE based mainly on the ideal isothermal model. The results clearly shows the limitationsl of the conventional methods and the relative advantages of the method proposed in the present study.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
• /
• 2002.11a
• /
• pp.394.2-394
• /
• 2002

The differential equations governing free vibrations of the elastic arches with unsymmetric axis are derived in the rectangular coordinates rather than in polar coordinates, in which the effect of rotatory inertia is included. Frequencies and mode shapes are computed numerically for parabolic arches with both clamped ends and both hinged ends. Comparisons of natural frequencies between this study and SAP 2000 are made to validate theories and numerical methods developed herein. (omitted)

• Steel and Composite Structures
• /
• v.16 no.5
• /
• pp.507-519
• /
• 2014

In this paper, a higher order shear deformation beam theory is developed for static and free vibration analysis of functionally graded beams. The theory account for higher-order variation of transverse shear strain through the depth of the beam and satisfies the zero traction boundary conditions on the surfaces of the beam without using shear correction factors. The material properties of the functionally graded beam are assumed to vary according to power law distribution of the volume fraction of the constituents. Based on the present higher-order shear deformation beam theory, the equations of motion are derived from Hamilton's principle. Navier type solution method was used to obtain frequencies. Different higher order shear deformation theories and classical beam theories were used in the analysis. A static and free vibration frequency is given for different material properties. The accuracy of the present solutions is verified by comparing the obtained results with the existing solutions.

• Wind and Structures
• /
• v.25 no.4
• /
• pp.329-342
• /
• 2017

This work presents a static and free vibration analysis of functionally graded metal-ceramic (FG) beams with considering porosities that may possibly occur inside the functionally graded materials (FGMs) during their fabrication. A new displacement field containing integrals is proposed which involves only three variables. Based on the suggested theory, the equations of motion are derived from Hamilton's principle. This theory involves only three unknown functions and accounts for parabolic distribution of transverse shear stress. In addition, the transverse shear stresses are vanished at the top and bottom surfaces of the beam. The Navier solution technique is adopted to derive analytical solutions for simply supported beams. The accuracy and effectiveness of proposed model are verified by comparison with previous research. A detailed numerical study is carried out to examine the influence of the deflections, stresses and natural frequencies on the bending and free vibration responses of functionally graded beams.

• Structural Engineering and Mechanics
• /
• v.61 no.3
• /
• pp.335-345
• /
• 2017

Free vibration analysis for continuous bridge under any number of vehicles is conducted in this paper. Calculation strategy for natural frequency and mode shape is proposed based on Euler-Bernoulli beam theory and numerical assembly method. Firstly, a half-car planar model is adopted; equations of motion and displacement functions for bridge and vehicle are established, respectively. Secondly, the undermined coefficient matrices for wheels, vehicles, intermediate support, left-end support and right-end support are derived. Then, the numerical assembly technique for conventional finite element method is adopted to construct the overall matrix of coefficients for whole system. Finally, natural frequencies and corresponding mode shapes are determined based on iterative method and overall matrix solution. Numerical simulation is presented to verify the effectiveness of the proposed method. The results reveal that the solutions of present method are exact ones. Natural frequencies and associate modal shapes of continuous bridge under different conditions of vehicles are investigated. The influences of vehicle parameters on natural frequencies are also demonstrated.

• Proceedings of the Computational Structural Engineering Institute Conference
• /
• 2003.04a
• /
• pp.269-278
• /
• 2003

In this study, the method of the finite element modeling for free vibration control of beam-type smart structures with bonded plate-type piezoelectric sensors and actuators is proposed. Constitutive equations for the direct piezoelectric effect and converse piezoelectric effect of piezoelectric materials are considered. By using the variational principle, the equations of motion for the smart beam finite element are derived, The proposed 2-node beam finite element is an isoparametric element based on Timoshenko beam theory. Therefore, by analyzing beam-type smart structures with smart beam finite elements, it is possible to simulate the control of the structural behavior by applying voltages to piezoelectric actuators and monitoring of the structural behavior by sensing voltages of piezoelectric sensors. By using the smart beam finite element and constant-gain feed back control scheme, the formulation of the free vibration control for the beam structures with bonded plate-type piezoelectric sensors and actuators is proposed.