• Smart Structures and Systems
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• 제20권3호
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• pp.263-272
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• 2017

This paper presents the time response of a mixed vibration system with the viscous damping and the hysteretic damping. There are two ways to derive the time response of such a vibration system. One is an analytical method, using the contour integral of complex functions to compute the inverse Fourier transforms. The other is an approximate method in which the analytic functions derived by Hilbert transform are expressed in the state space representation, and only the effective eigenvalues are used to efficiently compute the transient response. The unit impulse responses of the two methods are compared and the change in the damping properties which depend on the viscous and hysteretic damping values is investigated. The results showed that the damping properties of a mixed damping vibration system do not present themselves as a linear combination of damping properties.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.1392-1397
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• 2003

This paper deals with a control technique of eliminating the transient vibration of a twin-drive geared mechanical system. This technique is based on a model-based control in order to establish the damping effect at the driven machine part. The control model is composed of reduced-order electrical and mechanical parts. This control model estimates a load speed converted to the motor shaft. The difference between the estimated load speed and the motor speed is calculated dynamically and it is added to the velocity command to suppress the transient vibration generated at the load. This control technique is applied to a twin-drive geared system with backlash. In the previous work, the performance of this control method is examined by simulations. In this paper, the effectiveness of this control technique is verified by experiments. The settling time of the residual vibration generated at the loading inertia can be shortened down to about 1/2 of the uncompensated vibration level.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.2016-2021
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• 2003

This paper deals with a control technique of eliminating the transient vibration with respect to a waist axis of an articulated robot. This control technique is based on a model-based control in order to establish the damping effect on the driven mechanical part. The control model is composed of reduced-order electrical and mechanical parts related to the velocity control loop. The parameters of the control model can be obtained from design data or experimental data. This model estimates a load speed converted to the motor shaft. The difference between the estimated load speed and the motor speed is calculated dynamically, and it is added to the velocity command to suppress the transient vibration. This control method is applied to an articulated robot regarded as a time-invariant system. The effectiveness of the model-based control integrated into the position control loop is verified by simulations. Simulations show satisfactory control results to reduce the transient vibration at the end-effector.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2002년도 추계학술대회논문초록집
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• pp.362.1-362
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• 2002

Eigenvalues are taken as performance criteria for structural damping design using viscoelastic material. Given material properties, optimal distribution of damping material is sought based on eigenvalue sensitivity. For eigenanalysis of frequency dependent viscoelastic material rented structures, Golla-Hughes-McTavish(GHM) model is used and some dominant modes are chosen for consideration. (omitted)

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2000년도 춘계학술대회논문집
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• pp.1710-1715
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• 2000

Estimation of damping ratio for vibration signals measured on the passenger car's seat is useful for the objective evaluation of impact harshness in car. The vibration signal is a transient signal represented by many coupled modes of suspension system. Wavelet transform automatically decouples these modes in the time-frequency domain. Damping ratios for decoupled modes are obtained by logarithmic treatment for the Wavelet transformed signal. The objective evaluation using Wavelet transform has been well corresponded with subjective evaluation done by skilled engineers.

• 한국소음진동공학회논문집
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• 제14권5호
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• pp.424-431
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• 2004

An implicit direct-time integration method for obtaining transient responses of general dynamic systems is described. The conventional Newmark method cannot be directly applied to state-space first-order differential equations, which contain no explicit acceleration terms. The method proposed here is the state-space Newmark method that incorporates the average velocity concept, and can be applied to an analysis of general dynamic systems that are expressed by state-space first-order differential equations. It is also readily coded into a program. Stability and accuracy analyses indicate that the method is numerically unconditionally stable like the conventional Newmark method, and has a period error of 2nd-order accuracy for small damping and 4th-order for large damping and an amplitude error of 2nd-order, regardless of damping. In addition, its utility and validity are confirmed by two application examples. The results suggest that the proposed state-space Newmark method based on average velocity be generally applied to the analysis of transient responses of general dynamic systems with a high degree of reliability with respect to stability and accuracy.

• International Journal of Control, Automation, and Systems
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• 제1권3호
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• pp.263-270
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• 2003

This paper deals with a control technique of eliminating the transient vibration of a waist axis of an articulated robot. This technique is based on a model-based control in order to establish the damping effect on the mechanical part. The control model is related to the velocity control loop, and it is composed of reduced-order electrical and mechanical parts. Using this model, the velocity of the load is estimated, which is converted to the motor shaft. The difference between the estimated load speed and the motor speed is calculated dynamically, and it is added to the velocity command to suppress the transient vibration of a waist axis of the robot arm. The function of this technique is to increase the cut-off frequency of the system and the damping ratio at the driven machine part. This control model is easily obtained from design or experimental data and its algorithm can be easily installed in a DSP. This control technique is applied to a waist axis of an articulated robot composed of a harmonic drive gear reducer and a robot arm with 5 degrees of freedom. Simulations and experiments show satisfactory control results to reduce the transient vibration at the end-effector.

• International Journal of Aeronautical and Space Sciences
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• 제15권4호
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• pp.396-411
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• 2014

Synchronized switch damping (SSD) techniques have recently been developed for structural vibration control using piezoelectric materials. In these techniques, piezoelectric materials are bonded on the vibrating structure and shunted by a network of electrical elements. These piezoelectric materials are switched according to the amplitude of the excitation force to damp vibration. This paper presents a new SSD technique called 'synchronized switch damping on negative capacitance and adaptive voltage sources' (SSDNCAV). The technique combines the phenomenon of capacitance transient charging and electrical resonance to effectively dampen the structural vibration. Also, the problem of stability observed in the previous SSD techniques is effectively addressed by adapting the voltage on the piezoelectric patch according to the vibration amplitude of the structure. Analytical expressions of vibration attenuation at the resonance frequency are derived, and the effectiveness of this new technique is demonstrated, for the control of a resonant cantilever beam with bonded piezoelectric patches, by comparing with SSDI, SSDVenh, and SSDNC techniques. Theoretical predictions and experimental results show the remarkable vibration damping capability of SSDNCAV technique, which was better than the previous SSD techniques. The broadband vibration control capabilities of SSDNCAV technique are also demonstrated, which exceed those of previous SSD techniques.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2002년도 추계학술대회논문집
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• pp.605-610
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• 2002

Eigenvalues are taken as performance criteria for structural damping design using viscoelastic material. Given material properties, optimal distribution of damping material is sought based on eigenvalue sensitivity. For eigenanalysis of frequency dependent viscoelastic material treated structures, Golla-Mushes-McTavish (GHM) model is used and some dominant modes are chosen for consideration. To avoid the intensity of computation caused by increased problem size, an alternative approximate method is proposed which uses elastic modes and can be applied under small damping assumption. A cantilever beam treated with unconstrained viscoelastic layer is tested and optimal distribution of thickness of the layer is illustrated. Partial coverage configurations are compared with the one-sided full coverage case.

• 한국전산구조공학회논문집
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• 제24권3호
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• pp.259-266
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• 2011

본 논문에서는 저층건물을 대상으로 상시진동계측과 인력가진계측을 수행하고 동적특성을 산정하여 계측방법에 따른 고유진동수, 감쇠비, 모드형상 식별결과를 비교하였다. 이를 통해 가진기 실험이 어려운 구조물에 대한 동적특성 산정방법의 유효성을 검증하였다. 계측결과 인력가진계측을 통해 구한 감쇠비가 상시진동계측을 통해 구한 감쇠비에 비해 큰 값을 산정하는 것을 확인할 수 있었으며, 계측방법과 상관없이 모드형상은 거의 일치하는 것을 확인할 수 있었다. 또한 장방형 건물의 경우 장방향의 강성이 커서 단방향으로 1차모드가 나타날 것으로 예측되었으나, 내부 칸막이벽이 조적조인 경우 조적에 의한 강성기여분이 상당히 커서 장방향으로 1차모드가 나타남을 알 수 있었다.