• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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• pp.573-576
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• 1996

We propose robust control scheme for flexible joint manipulator in the presence of nonlinearity and mismatched uncertainty. The control is designed based on Lyapunov approach. The robust control which is based on the computed torque scheme and state transformation via implanted control is introduced. The design procedure starts with the construction of linearized subsystems via the computed torque method and then uses state transformation. With this approach we do not impose an upper-bound constraint on the inertia matrix in case it is known. Thus, this control can be applied to arbitrary manipulators. The resulting robust control guarantees practical stability for both the transformed system and the original system. The transformation is only based on the possible bound of uncertainty.

• Smart Structures and Systems
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• 제19권2호
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• pp.163-179
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• 2017

The axisymmetric buckling delamination of the Piezoelectric/Metal/Piezoelectric (PZT/Metal/PZT) sandwich circular plate with interface penny-shaped cracks is investigated. The case is considered where open-circuit conditions with respect to the electrical displacement on the upper and lower surfaces, and short-circuit conditions with respect to the electrical potential on the lateral surface of the face layers are satisfied. It is assumed that the edge surfaces of the cracks have an infinitesimal rotationally symmetric initial imperfection and the development of this imperfection with rotationally symmetric compressive forces acting on the lateral surface of the plate is studied by employing the exact geometrically non-linear field equations and relations of electro-elasticity for piezoelectric materials. The sought values are presented in the power series form with respect to the small parameter which characterizes the degree of the initial imperfection. The zeroth and first approximations are used for investigation of stability loss and buckling delamination problems. It is established that the equations and relations related to the first approximation coincide with the corresponding ones of the three-dimensional linearized theory of stability of electro-elasticity for piezoelectric materials. The quantities related to the zeroth approximation are determined analytically, however the quantities related to the first approximation are determined numerically by employing Finite Element Method (FEM). Numerical results on the critical radial stresses acting in the layers of the plate are presented and discussed. In particular, it is established that the piezoelectricity of the face layer material causes an increase (a decrease) in the values of the critical compressive stress acting in the face (core) layer.

• Steel and Composite Structures
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• 제36권2호
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• pp.229-247
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• 2020

This study analyzed stresses in concrete and its reinforcement, computing the additional loading transferred by concrete creep. The loading varied from zero, structure exclusively under its self-weight, up to the critical buckling load. The studied structure was a real, tapered, reinforced concrete pole. As concrete is a composite material, homogenizing techniques were used in the calculations. Due to the static indetermination for determining the normal forces acting on concrete and reinforcement, equations that considered the balance of forces and compatibility of displacement on cross-sections were employed. In the mathematical solution used to define the critical buckling load, all the elements of the structural dynamics present in the system were considered, including the column self-weight. The structural imperfections were linearized using the geometric stiffness, the proprieties of the concrete were considered according to the guidelines of the American Concrete Institute (ACI 209R), and the ground was modeled as a set of distributed springs along the foundation length. Critical buckling loads were computed at different time intervals after the structure was loaded. Finite element method results were also obtained for comparison. For an interval of 5000 days, the modulus of elasticity and critical buckling load reduced by 36% and 27%, respectively, compared to an interval of zero days. During this time interval, stress on the reinforcement steel reached within 5% of the steel yield strength. The computed strains in that interval stayed below the normative limit.

• Structural Engineering and Mechanics
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• 제23권1호
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• pp.15-27
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• 2006

A locally varying temperature field or a mixture of two or more different materials can cause local variation of elasticity properties of a beam. In this paper, a new Euler-Bernoulli beam element with varying Young's modulus along its longitudinal axis is presented. The influence of axial forces according to the linearized 2nd order beam theory is considered, as well. The stiffness matrix of this element contains the transfer constants which depend on Young's modulus variation and on axial forces. Occurrence of the polynomial variation of Young's modulus has been assumed. Such approach can be also used for smooth local variation of Young's modulus. The critical loads of the straight slender columns were studied using the new beam element. The influence of position of the local Young's modulus variation and its type (such as linear, quadratic, etc.) on the critical load value and rate of convergence was investigated. The obtained results based on the new beam element were compared with ANSYS solutions, where the number of elements gradually increased. Our results show significant influence of the locally varying Young's modulus on the critical load value and the convergence rate.

• Structural Engineering and Mechanics
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• 제40권2호
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• pp.257-277
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• 2011

In this paper the geometrically nonlinear continuum plate finite element model, hitherto not reported in the literature, is developed using the total Lagrange formulation. With the layerwise displacement field of Reddy, nonlinear Green-Lagrange small strain large displacements relations (in the von Karman sense) and linear elastic orthotropic material properties for each lamina, the 3D elasticity equations are reduced to 2D problem and the nonlinear equilibrium integral form is obtained. By performing the linearization on nonlinear integral form and then the discretization on linearized integral form, tangent stiffness matrix is obtained with less manipulation and in more consistent form, compared to the one obtained using laminated element approach. Symmetric tangent stiffness matrixes, together with internal force vector are then utilized in Newton Raphson's method for the numerical solution of nonlinear incremental finite element equilibrium equations. Despite of its complex layer dependent numerical nature, the present model has no shear locking problems, compared to ESL (Equivalent Single Layer) models, or aspect ratio problems, as the 3D finite element may have when analyzing thin plate behavior. The originally coded MATLAB computer program for the finite element solution is used to verify the accuracy of the numerical model, by calculating nonlinear response of plates with different mechanical properties, which are isotropic, orthotropic and anisotropic (cross ply and angle ply), different plate thickness, different boundary conditions and different load direction (unloading/loading). The obtained results are compared with available results from the literature and the linear solutions from the author's previous papers.

• Coupled systems mechanics
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• 제8권3호
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• pp.199-218
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• 2019

This paper studies the forced vibration of the hydro-elastic system consisting of the anisotropic (orthotropic) plate, compressible viscous fluid and rigid wall within the scope of the exact equations and relations of elastodynamics for anisotropic bodies for describing of the plate motion, and with utilizing the linearized exact Navier-Stokes equations for describing of the fluid flow. For solution of the corresponding boundary value problem it is employed time-harmonic presentation of the sought values with respect to time and the Fourier transform with respect to the space coordinate on the coordinate axis directed along the plate length. Numerical results on the pressure acting on the interface plane between the plate and fluid are presented and discussed. The main aim in this discussion is focused on the study of the influence of the plate material anisotropy on the frequency response of the mentioned pressure. In particular, it is established that under fixed values of the shear modulus of the plate material a decrease in the values of the modulus of elasticity of the plate material in the direction of plate length causes to increase of the absolute values of the interface pressure. The numerical results are presented not only for the viscous fluid case but also for the inviscid fluid case.

• Structural Engineering and Mechanics
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• 제77권5호
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• pp.571-586
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• 2021

The present paper studies the influence of the inhomogeneous initial stresses in the bi-layered hollow cylinder and it is assumed that these stresses are caused by the hydrostatic pressures acting on the interior and outer free surfaces of the cylinder. The study is made by utilizing the version of the three-dimensional linearized theory of elastic waves in bodies with initial stresses for which the initial stress-strain state in bodies is determined within the scope of the classical linear theory of elasticity. For the solution to the corresponding eigenvalue problem, the discrete-analytical method is employed. Numerical results are presented and analyzed for concrete selected pairs of materials. According to these results and their analyses, it is established that, unlike homogeneous initial stresses, the influence of the inhomogeneous initial stresses on the torsional wave dispersion has not only quantitative but also qualitative character. For instance, in particular, it is established that as a result of the initial stresses caused by the hydrostatic pressure acting in the interior free surface of the cylinder, the cut-off frequency appears for the fundamental dispersive mode and the values of this frequency increase with the intensity of this pressure.

• Structural Engineering and Mechanics
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• 제85권2호
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• pp.247-263
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• 2023

The paper deals with the study of the mechanical time-harmonic forced vibration of the hydro-piezoelectric system consisting of the piezoelectric plate and compressible viscous fluid with finite depth. The exact equations of motion of the theory of linear electro-elasticity for piezoelectric materials are employed for describing the plate motion, however, the fluid flow is described by employing the linearized Navier-Stokes equations for a compressible (barotropic) viscous fluid. The plane-strain state in the plate and the plane flow of the fluid are considered and the corresponding mathematical problems are solved by employing the Fourier transform with respect to the space coordinate which is on the coordinate axis directed along the platelying direction. The expressions of the corresponding Fourier transform are determined analytically, however, the inverse transforms are found numerically. Numerical results on the interface pressure and the electrical potential are obtained for various PZT materials and these results are discussed. According to these results, in particular, it is established that the electromechanical coupling effect can significantly decrease the interface pressure.

• Korea-Australia Rheology Journal
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• 제19권4호
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• pp.233-242
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• 2007

We performed a numerical investigation to find out the optimal choice of the spatial discretization in the distributed-Lagrangian-multiplier/fictitious-domain (DLM/FD) method for the solid/fluid interaction problem. The elastic solid bar attached on the bottom in a pressure-driven channel flow of a Newtonian fluid was selected as a model problem. Our formulation is based on the scheme of Yu (2005) for the interaction between flexible bodies and fluid. A fixed regular rectangular discretization was applied for the description of solid and fluid domain by using the fictitious domain concept. The hydrodynamic interaction between solid and fluid was treated implicitly by the distributed Lagrangian multiplier method. Considering a simplified problem of the Stokes flow and the linearized elasticity, two numerical factors were investigated to clarify their effects and to find the optimum condition: the distribution of Lagrangian multipliers and the solid/fluid interfacial condition. The robustness of this method was verified through the mesh convergence and a pseudo-time step test. We found that the fluid stress in a fictitious solid domain can be neglected and that the Lagrangian multipliers are better to be applied on the entire solid domain. These results will be used to extend our study to systems of elastic particle in the Stokes flow, and of particles in the viscoelastic fluid.

• 한국전산구조공학회논문집
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• 제28권5호
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• pp.441-449
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• 2015

본 논문에서는 커코프 판이론과 폰-칼만 비선형 변형율-변위 관계를 이용하여 서형화된 좌굴해석을 수행하였다. 평면응력과 좌굴문제에서 영률과 두께에 관한 설계민감도식을 유도하였고, 고유치를 최대화하면서 컴플라이언스를 최소화하는 위상최적설계 기법을 정식화하였다. 좌굴해석에서의 프리스트레스를 이용하여 판 좌굴문제에 적용할 수 있는 위상최적설계 기법을 개발하였다. 폰-칼만 비선형 변형률을 사용하여 좌굴문제의 응력행렬을 구성하는데 프리스트레스가 필요하므로 면외로의 운동을 도입하였다. 위상최적설계를 위하여 정규재료밀도를 설계변수로 하고, 목적함수는 최소 컴플라이언스와 최대 고유진동수로 하였으며 제한조건은 허용되는 재료량이다. 여러 수치예제를 통하여 개발된 설계민감도 해석법은 유한차분 민감도와 비교하여 매우 정확한 값을 가지고, 위상최적설계는 물리적으로 의미있는 결과를 제공함을 확인하였다.