• Journal of Institute of Control, Robotics and Systems
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• v.21 no.2
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• pp.145-149
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• 2015

This paper introduces a sway suppression control for container cranes with unknown payloads and sway rates. With no priori knowledge concerning the magnitude of payload mass and sway rate, the proposed control maintains superior sway suppressing and trolley positioning against external disturbances. The proposed scheme combines a second order sliding mode control and an adaptive control to cope with unknown payloads. A second order sliding mode control without feedback of the sway rate is first designed, which is based on a class of feedback linearization methods for stabilization of the under-actuated sway dynamics of the container. Under applicable restrictions of the magnitude of payload inertia and sway rate, a linear regression model is obtained, and an adaptive control with a payload estimator is then designed, which is based on Lyapunov stability methods for the fast attenuation of trolley oscillations in the vicinity of the target position. The asymptotic stability of the overall closed-loop system is assured irrespective of variations of rope length. Simulation are shown in the existence of initial sway and external wind disturbances.

• Journal of KSNVE
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• v.2 no.3
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• pp.223-230
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• 1992

Vibration problems in the Hard Disk Drive which is magnetic recording device have been raised gradually while HDD is required high density and low access time. As a typical thing, lateral bending or sway mode of supension causes tracking error, and therefore it is necessary to identify the accurate vibration characteristics of that mode. In this study, as the solution of vibration problem, decoupling sway mode and vicinity mode is dealt with. Shifting sway mode to high frequency region is studied.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2002.11b
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• pp.576-581
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• 2002

The suspension is a structure that supports reading, writing head in information storage device. In order to develop the information storage device of high track density, it is necessary to study about the suspension. To satisfy operation condition of information storage device, the suspension shape is very important since it correlates to dynamic characteristics. Therefore, it is necessary to analyze the dynamic characteristics by using finite element analysis and to optimize the suspension of information storage device using size optimization and topology optimization. The suspension has various modes according to different kinds of frequency bandwidth. Sway mode and second torsion mode are especially critical among them. In this paper, we investigated method to improve bandwidth of sway and second torsion mode of HDD and ODD suspension by using size optimization and topology optimization.

• Proceedings of the KSR Conference
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• 2003.10c
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• pp.126-131
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• 2003

The acceptance test of KTX has been performed in Korea. During the test, lateral vibration of carbody over the accepted value called sway was found. KTX has 20 car trainset formation whose trailer cars are linked by articulate bogies. So this study is performed to see the effects of long trainset formation on vehicle dynamics and the train stability by 20 car vehicle model. Firstly the reliable vehicle model which shows well the tendencies appeared in the tests on the high speed test line is required to find the cause of lateral vibration and the countermeasure. Vehicle model was made .for the. analysis with VAMPIRE. The analysis results show that secondary air spring lateral stiffness is the most significant parameter to cause carbody lateral vibration. Mode analysis results show that the least damped mode shape is similar to the vibration pattern shown in the tests that the amplitude of the motion increases along the train set and decreases in the tail part. For the case of short train formation with 7 or 10cars, sway does not happen. But in the case of longer train formation with 16 or 20 cars, sway was found.

• Journal of Ocean Engineering and Technology
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• v.19 no.5 s.66
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• pp.58-64
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• 2005

In this paper, a feedback linearizing anti-sway control law, using a 2-D model for container cranes, is investigated. The equations of motion are first derived from Lagrange's equation. Then, by substituting the sway dynamics into the trolley dynamics, a reduction of variables from three (trolley, hoist, sway) to two (trolley, hoist) is pursued. The anti-sway control law is designed based on the Lyapunov stability theorem. The proposed control law guarantees the uniform asymptotic stability of the closed-loop system. The simulation results of the derived control law, using MATLAB/Simulink, are compared with those of the sliding mode control law, noted in previous literature. Also, experimental results using a 3-D pilot crane are provided.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2002.11a
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• pp.359.2-359
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• 2002

To satisfy operation condition in information storage device, the suspension shape is very important since it correlates to dynamic characteristics. Therefore, it is necessary to analyze the dynamic characteristics by using finite element analysis, shape optimization. The suspension has various modes according to different kinds of frequency bandwidth. Sway mode and second torsion mode are especially critical among them. (omitted)

• Proceedings of the KSME Conference
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• 2003.11a
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• pp.1708-1713
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• 2003

The acceptance test of KTX has been performed in Korea. During the test, lateral vibration of carbody over the accepted value called swat was found. KTX has 20 car trainsed formation whose trailer cars are linked by articulate bogies. So this study is performed to see the effects of long trainsed formation on vehicle dynamics and the train stability by 20 car vehicle model. Firstly the reliable vehicle model which shows well the tendencies appeared in the tests on the high speed test line is required to find the cause of lateral vibration and the countermeasure. Vehicle model was made for the analysis with VAMPIRE. The analysis results show that secondary air spring lateral stiffness is the most significant parameter to cause carbody lateral vibration. Mode analysis results show that he least damped mode shape is similar to the vibration pattern shown in the tests that the amplitude of the motion increases along the train set and decreases in the tail part. For the case of short train formation with 7 or 10cars, sway does not happen. But in the case of longer train formation with 16 or 20 cars, sway was found.

• Journal of the Society of Naval Architects of Korea
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• v.50 no.2
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• pp.69-78
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• 2013

This study is constructed to investigate the sloshing effect on the motions of a two-dimensional rectangular cylinder experimentally and numerically. The modes of motion under consideration are sway and roll, and also experimental cases are divided by two categories; 1-DoF roll motion and 2-DoF motion (Coupling sway and roll). It is found that the sway response is considerably affected by the motion of the fluid, particularly near the sloshing natural frequency, while the roll response changes comparatively small. The dominant mode of motion is analyzed for 2-DoF experiments as well. The measured data for 1-DoF motions is compared with numerical results obtained by the Multi-modal approach. The numerical schemes vary in detail with the number of dominant sloshing modes; i.e. there is a single dominant mode for the Single-dominant method, while the Model 2 method assumes that the first two modes are superior. For the roll motion, numerical results obtained by the two different methods are relatively in good agreement with the experiments, and these two results are similar in most wave frequency range. However, the discrepancies are apparent where the fluid motion is not governed by a single mode. But both of numerical methods over-predict the motion at the vicinity of the sloshing natural frequency. In order to correct the discrepancy, the modal damping needs to be investigated more precisely. Furthermore, another multi-modal approach, such as the Boussinesq-type method, seems to be required in the region of the intermediate liquid.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.21 no.11
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• pp.1885-1895
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• 1997

As track density needs to increase to the order of 10, 000 tpi, the suspension has become a critical component in hard disk drives. One of the main obstacles to attain high track density is the structural resonances of the suspension in lateral direction. We investigate the suspension dynamics through the experimental modal analysis and the finite element method. An LDV (Laser Doppler Vibrometer) is employed to measure the response of the suspension which is excited by a shaker and an inpulse hammer for the free condition and the loaded condition, respectively. After comparing the experimental and numerical results, we study how the initial geometry of the bend region affects the suspension dynamics. It is found that the natural frequency of the sway mode decreases as the bend ratio and the bend angle increase. The shape of torsional mode changes as the mass of a slider increases, resulting in a local decrease in the natural frequency.

• Journal of Ocean Engineering and Technology
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• v.27 no.6
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• pp.56-64
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• 2013

Crabbing motion is the pure sway motion of a ship without surge velocity. Thus, it can be applied to a berthing operation. Crabbing motion is induced by a peculiar operation method called the push-pull mode. The push-pull mode is induced by using a combination of the main propeller and side thruster. Two propellers generating the same amounts of thrust and rotating in opposite directions produce some yawing moment on a vessel but do not induce longitudinal motion. With the additional operation of side thrusters, the push-pull mode is used to induce a large amount of lateral force. In this paper, three-degree-of-freedom equations of motion such as for the surge, sway, and yaw are constructed for the crabbing motion. Based on these equations of motion, a feedback linearization control method is applied to auto-berthing control for a twin-screw ship with side thrusters. The controller can deal with the nonlinearity of a system, which is present in the berthing maneuver of a twin screw ship. A simulation of the auto-berthing of a ship is performed to validate the performance of the designed controller.