Journal of Mechanical Science and Technology

Kim, Dong Kyu; Cho, Sung Ho; Park, Seoung Soo; Yoo, Hui Ryong; Rho, Yong Woo; Kho, Young Tai; Park, Gwan Soo; Park, Sang Ho

doi: 10.1007/bf02982422pmid: N/A

This paper introduces the development of the caliper system for a geometry PIG (Pipeline Inspection Gauge). The objective of the caliper system is to detect and measure dents, wrinkles, and ovalities affect the pipe structural integrity. The developed caliper system consists of a finger arm, an anisotropic permanent magnet, a back yoke, pins, pinholes and a linear hall effect sensor. The angle displacement of the finger arm is measured by the change of the magnetic field in sensing module. Therefore the sensitivity of the caliper system mainly depends on the magnitude of the magnetic field inside the sensing module. In this research, the ring shaped anisotropic permanent magnet and linear hall effect sensors were used to produce and measure the magnetic field. The structure of the permanent magnet, the back yoke and pinhole positions were optimized that the magnitude of the magnetic field range between a high of 0.1020 Tesla and a low of zero by using three dimensional nonlinear finite element methods. A simulator was fabricated to prove the effectiveness of the developed caliper system and the computational scheme using the finite element method. The experimental results show that the developed caliper system is quite efficient for the geometry PIG with good performance.

Ahn, Hyeong-Joon; Han, Dong-Chul

doi: 10.1007/bf02982423pmid: N/A

This paper discusses details of modeling and robust control of an AMB (active magnetic bearing) spindle, and part I presents a modeling and validation process of the AMB spindle. There are many components in AMB spindle : electromagnetic actuator, sensor, rotor, power amplifier and digital controller. If each component is carefully modeled and evaluated, the components have tight structured uncertainty bounds and achievable performance of the system increases. However, since some unknown dynamics may exist and the augmented plant could show some discrepancy with the real plant, the validation of the augmented plant is needed through measuring overall frequency responses of the actual plant. In addition, it is necessary to combine several components and identify them with a reduced order model. First, all components of the AMB spindle are carefully modeled and identified based on experimental data, which also render valuable information in quantifying structured uncertainties. Since sensors, power amplifiers and discretization dynamics can be considered as time delay components, such dynamics are combined and identified with a reduced order. Then, frequency responses of the open-loop plant are measured through closed-loop experiments to validate the augmented plant. The whole modeling process gives an accurate nominal model of a low order for the robust control design.

Ahn, Hyeong-Joon; Han, Dong-Chul

doi: 10.1007/bf02982424pmid: N/A

This paper discusses an entire procedure for a robust controller design and its implementation of an AMB (active magnetic bearing) spindle, which is part II of the papers presenting details of system modeling and robust control of an AMB spindle. Since there are various uncertainties in an AMB system and reliability is the most important factor for applications, robust control naturally gains attentions in this field. However, tight evaluations of various uncertainties based on experimental data and appropriate performance weightings for an AMB spindle are still ongoing research topics. In addition, there are few publications on experimental justification of a designed robust controller. In this paper, uncertainties for the AMB spindle are classified and described based on the measurement and identification results of part I, and an appropriate performance weighting scheme for the AMB spindle is developed. Then, a robust control is designed through the mixedμ synthesis based on the validated accurate nominal model of part I, and the robust controller is reduced considering its closed loop performance. The reduced robust controller is implemented and confirmed with measurements of closed-loop responses. The AMB spindle is operated up to 57,600 rpm and performance of the designed controller is compared with a benchmark PID controller through experiments. Experiments show that the robust controller offers higher stiffness and more efficient control of rigid modes than the benchmark PID controller.

Lee, Min-Ho; Lee, Joon-Seo; Cha, Kyung Ok

doi: 10.1007/bf02982425pmid: N/A

In exhaust pipes of automotive engines, the pulsating pressure waves are composed of fundamental frequency and high order harmonics. The nonlinearities in the exhaust pipe is caused by their interactions. The error between prediction and measurement is induced by the nonlinearities. We can not explain this phenomenon using linear acoustics theory. So power spectrum, which is used in linear theory, is not useful. This paper is concerned with the development of useful engineering techniques to detect and analyze nonlinearity in exhaust pipe of automotive engines. The study of higher order statistics has been dominated by work on the bispectrum. The bispectrum can be viewed as a decomposition of the third moment (skewness) of a signal over frequency and as such is blind to symmetric nonlinearities. The phenomenon of quadratic phase coupling (QPC) can be analyzed by the bicoherence function. Finally the application of these techniques to data from actual exhaust pipe systems is performed.

Park, Min Gyu; Lee, Min Cheol

doi: 10.1007/bf02982426pmid: N/A

The artificial potential field (APF) methods provide simple and efficient motion planners for practical purposes. However, these methods have a local minimum problem, which can trap an object before reaching its goal. The local minimum problem is sometimes inevitable when an object moves in unknown environments, because the object cannot predict local minima before it detects obstacles forming the local minima. The avoidance of local minima has been an active research topic in the potential field based path planing. In this study, we propose a new concept using a virtual obstacle to escape local minima that occur in local path planning. A virtual obstacle is located around local minima to repel an object from local minima. We also propose the discrete modeling method for the modeling of arbitrary shaped objects used in this approach. This modeling method is adaptable for real-time path planning because it is reliable and provides lower complexity.

Lee, Min Ki; Kim, Tae Sung; Park, Kun Woo

doi: 10.1007/bf02982427pmid: N/A

This paper examines the parameter observability of a calibration system that consrains a mobile platform to a planar table to take the calibration data. To improve the parameter observability, we find the optimal configurations providing the calibration with maximum contribution. The QR-decomposition is used to compute the optimal configurations that maximize the linear independence of rows of an observation matrix. The calibration system is applied to the parallel type manipulator constructed for a machining center. The calibration results show that all the necessary kinematic parameters assigned in a Stewart-Gough platform are identifiable and convergent to desirable accuracy.

Kim, Seong-Jin; Son, Kwon; Choi, Kyung-Hyun

doi: 10.1007/bf02982428pmid: N/A

It is necessary to have a dummy that describes the anthropometry of a victim with accuracy. This study presents three scaled side impact dummies constructed for the use of MADYMO. They represent five, fifty and ninety-five percentile Korean males ranged from the age of 25 through 39. Thirty-five anthropometric data were used to scale input files required for MADYSCALE. Geometries, inertia, joints and other parameters for dummies were scaled based on the configurations of EuroSID-1. This study proposes the lateral impact response requirements for head, thorax and pelvis of Korean side impact dummies. A lateral drop impact test was conducted for the head at the height of 200 mm. Lateral pendulum impact tests were also carried out for thorax and pelvis at three specific impact velocities. All these test results were obtained from simulation based on MADYMO. All the procedures of the three tests followed the requirement of ISO/TR 9790.

Oh, Seong-Mo; Rhee, Bong-Goo; Jeong, Bong-Soo

doi: 10.1007/bf02982429pmid: N/A

In order to determine the wear properties of AIP(Arc Ion Plating) deposition, wear process was evaluated by using a Falex test machine. Also, in order to determine the effects of coating material on the wear process, TiC, TiN, and TiCN coatings of thickness about 5 μrn — 6 μm coated by Arc ion plating deposition method were tested. The wear property was determined under a dry sliding condition as a function of the applied load, sliding distance, sliding velocity and temperature. The results show that when wear of the coating-layer occurred, specific wear amount increased with the wear rate. At initial state, the wear rate rapidly increased, but it gradually reduced as the velocity increased. Also, when raising the temperature, the wear rate increased in the order of TiCN, TiN and TiC due to the frictional heat.

Chae, Jang-Soo; Park, Tae-Won

doi: 10.1007/bf02982430pmid: N/A

This paper presents a global mode modeling of space structures and a control scheme from the practical point of view. Since the size of the satellite has become bigger and the accuracy of attitude control more strictly required, it is necessary to consider the structural flexibility of the spacecraft. Although it is well known that the finite element (FE) model can accurately model the flexibility of the satellite, there are associated problems: FE model has the system matrix with high order and does not provide any physical insights, and is available only after all structural features have been decided. Therefore, it is almost impossible to design attitude and orbit controller using FE model unless the structural features are in place. In order to deal with this problem, the control design scheme with the global mode (GM) model is suggested. This paper describes a flexible structure modeling and three-axis controller design process and demonstrates the adequate performance of the design with respect to the maneuverability by applying it to a large flexible spacecraft model.

Rhee, Huinam; Kim, Jeong-Soo

doi: 10.1007/bf02982431pmid: N/A

Nonlinear normal mode (NNM) vibration, in a nonlinear dual mass Hamiltonian system, which has 6th order homogeneous polynomial as a nonlinear term, is studied in this paper. The existence, bifurcation, and the orbital stability of periodic motions are to be studied in the phase space. In order to find the analytic expression of the invariant curves in the Poincare Map, which is a mapping of a phase trajectory onto 2 dimensional surface in 4 dimensional phase space, Whittaker’s Adelphic Integral, instead of the direct integration of the equations of motion or the Birkhoff-Gustavson (B-G) canonical transformation, is derived for small value of energy. It is revealed that the integral of motion by Adelphic Integral is essentially consistent with the one obtained from the B-G transformation method. The resulting expression of the invariant curves can be used for analyzing the behavior of NNM vibration in the Poincare Map.