• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.547-551
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• 1996

In this paper, robust vibration control of a one-link flexible robot arm based on variable structure system is discussed. We derive dynamic equations of it using a Lagrangian assumed modes method based on Bernoulli-Euler Beam theory. The optimal sliding surface is designed and the problem of chattering is also solved by the adoption of a continuous control law within a small neighborhood of the switching hyperplane.

• Journal of Mechanical Science and Technology
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• v.20 no.2
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• pp.205-211
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• 2006

Among other critical conditions in rotor systems the large non-linear vibration excited by bearing non-linearity causes the rotor failure. For reducing this catastrophic failure and predictive detection of this phenomenon the analysis of orthotropic bearing non-linearity in rotor system using higher order frequency response functions (HFRFs) is conducted and is shown to be theoretically feasible as that of non-rotating structures. The complex HFRFs based on the Volterra series are newly developed for the process and investigated their features by using the simple forms of the FRFs associated with the forward and the backward modes.

• Proceedings of the Korea Concrete Institute Conference
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• 1989.10a
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• pp.53-58
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• 1989

Thicknesses of the base concrete blocks for large machines were estimated by analyzing the resonance modes of mechanical vibrations. The vibration was produced by the mechanical impact and detected by a wideband conical transcuder. There signals were analyzed by FET and thicknesses were obtained by the peaks of frequency spectrum. The estimated thickness upto 100cm are in good agreement with the real ones. For the layered concrete block, the estimated thickness is dependent on the acoustic reflective index at the boundary of the two layers.

• Steel and Composite Structures
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• v.6 no.6
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• pp.513-529
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• 2006

This paper deals with the dynamic behaviour of cold-formed steel hollow frames with different connection stiffnesses. An analytical model of a semi-rigid frame was developed to study the influence of connection stiffnesses on the fundamental frequency and dynamic response of the frames. The flexibilities of the connections are modeled by rotational springs. Neglect of semi-rigidity leads to an artificial stiffening of frames resulting in shorter fundamental period, which in turn results in a significant error in the evaluation of dynamic loads. In the seismic design of structures, of all the principal modes, the fundamental mode of translational vibration is the most critical. Hence, experiments were conducted to study the influence of the connection stiffnesses on the fundamental mode of translational vibration of the steel hollow frames. From the experimental study it was found that the fundamental frequency of the frames lie in the semi-rigid region. From the theoretical investigation it was found that the flexibly connected frames subjected to lateral loads exhibit larger deflection as compared to rigidly connected frames.

• Journal of the Society of Naval Architects of Korea
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• v.40 no.2
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• pp.28-33
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• 2003

This study is performed to evaluate and design the dynamic characteristics of the onboard machinery with resilient mounts. To avoid resonance with onboard machinery and external force, it is necessary to calculate natural frequencies of the resilient mounting system more accurately. Natural frequencies of on board machinery are determined by rigid body properties(mass, moment of inertia, center of mass) of machinery and stiffness of mounts. But it is very difficult to calculate rigid body properties theoretically. And stiffness properties of rubber mounts vary with dynamic displacement, pre load, frequency and temperature, and so on. In this study, we have identified rigid body properties using experimental modal analysis and estimated dynamic stiffness of rubber mount for onboard machinery using measured vibration response during seatrial. We measured displacement excitation through deck under mounts and evaluated relationship between modes of resilient mounting system and main excitation sources of a ship.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2004.10a
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• pp.1078-1081
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• 2004

A robot manipulator is usually operated in two modes: free motion and constraint motion depending on whether the robot comes into contact with the environment or not. At the moment of contact, impact occurs, and sometimes, it possibly degrade the robot's performance by vibration and at worst, shortens its lifetime. In this article, a new proposed algorithm is described by introducing a command signal modification method on the basis of impedance control and a validity of the proposed algorithm is demonstrated by showing a simulation and an experiment.

• Journal of the Korean Society for Precision Engineering
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• v.17 no.11
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• pp.81-87
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• 2000

A new resonator that is fabricated by single polysilicon layer process is presented. The resonator can move in two orthogonal direction on the plane parallel to the substrate. And the resonant frequencies of the two modes are intrinsically designed to be identical since the overall structure of the resonator is symmetric about the two directions of motion. Since the resonator ideally has two identical vibration mode, it can be applied to various micro-devices that requires multi DOF motion, especially to microgyroscopes. To investigate the feasibility of application of the resonator, dynamic model of the resonator including the nonlinear behavior of driving electrodes is derived and evaluated with the fabricated one, and the self-tuning characteristics are proved though experiments.

• Proceedings of the KSR Conference
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• 2008.11b
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• pp.1379-1388
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• 2008

In this paper, we present the equations of motion by which the natural vibration of a rotating annular disk can be accurately analyzed. These equations are derived from the theory of finite deformation and the principle of virtual work. The radial displacements of annular disk which is rotating at constant angular velocity are determined by non-linear equations formulated using 1-dimensional finite elements in radial direction. The equations of the in-plane vibrations at disturbed state are also formulated using 1-dimensional finite elements in radial direction along the number of nodal diameters. They are expressed as in functions of the radial displacements at the steady state and the disturbed displacements about the steady state. In-plane static deformation modes of the annular disk are used as the interpolation functions of 1-dimensional finite elements in radial direction. The natural vibrations of an annular disk with different boundary conditions are analyzed by using the presented model and the 3-dimensional finite element model to verify accuracy of the presented equations of motion. Its results are compared and discussed.

• Journal of the Korean Institute of Electrical and Electronic Material Engineers
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• v.17 no.1
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• pp.31-38
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• 2004

PMN-PT, a piezoelectric single crystal, has many useful applications such as sensors and actuators. In this paper, all the elastic, piezoelectric, and dielectric constants of the PMN-32％PT single crystals were measured by the resonance method. For the rhombohedral symmetry, a total of twelve independent material constants were measured such as six elastic compliance constants at constant electric field, two dielectric constants at constant stress, and four piezoelectric constants d. Seven sets of crystal samples of each different geometry were prepared for the measurement of length-thickness extensional, thickness extensional, radial, length extensional and thickness shear modes of vibration, respectively. In order to check the validity of the measurement, experimental impedance spectrum of the PMN-PT crystal was compared with numerical data spectrum calculated with the measured material constants. The good agreement between the two spectra confirmed validity of the results in this paper.

• Journal of Mechanical Science and Technology
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• v.18 no.12
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• pp.2148-2157
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• 2004

The paper deals with the vibration and dynamic stability of cantilevered pipes conveying fluid on elastic foundations. The relationship between the eigenvalue branches and corresponding unstable modes associated with the flutter of the pipe is thoroughly investigated. Governing equations of motion are derived from the extended Hamilton's principle, and a numerical scheme using finite element methods is applied to obtain the discretized equations. The critical flow velocity and stability maps of the pipe are obtained for various elastic foundation parameters, mass ratios of the pipe, and structural damping coefficients. Especially critical mass ratios, at which the transference of the eigenvalue branches related to flutter takes place, are precisely determined. Finally, the flutter configuration of the pipe at the critical flow velocities is drawn graphically at every twelfth period to define the order of the quasi-mode of flutter configuration.