KR102280916B1 - Apparatus for implementing vibration feedback at arbitrary location and method for the same - Google Patents

Abstract

An apparatus for implementing vibration feedback generated at an arbitrary position of a structure according to an embodiment of the present invention includes a modeling unit for modeling a structure that is a target of vibration by an external force, and for implementing a vibration signal at a virtual position of the modeled structure. A vibration characteristic analysis unit that analyzes vibration characteristics at an arbitrary position of the structure, and a vibration feedback at a virtual position of the structure by having an arbitrary position of the structure by reflecting the vibration characteristics at the arbitrary position It includes a vibration feedback generator.

Description

Apparatus and method for realizing vibration feedback occurring in an arbitrary position {APPARATUS FOR IMPLEMENTING VIBRATION FEEDBACK AT ARBITRARY LOCATION AND METHOD FOR THE SAME}

Embodiments of the present invention relate to an apparatus and method for implementing vibration feedback that occurs at any location.

Various studies on vibration feedback are being conducted in pedal vibration of automobile driving simulators, virtual reality-based medical simulators, medical remote surgical robots, and vibration feedback generated in virtual reality.

Basically, a simple vibration feedback algorithm that does not consider the physical characteristics of the device or human body is used using “on/off vibration” or “Okamura’s decaying sinusoidal waveform”.

In addition, it is widely known that immersion or realism increases and user satisfaction increases when vibration feedback is given, but an algorithm using vibration magnitude, damping rate, and single frequency as variables is currently used when implementing vibration feedback.

Feedback vibration using such an on/off method or a damped sine wave has limitations in realizing a physical phenomenon. Since the actual incoming shock signal or most vibration includes the vibration response of all frequency domains, the actual vibration feedback cannot be implemented with a single frequency damped sine wave, which raises a limit in increasing the user's immersion and realism.

Accordingly, in order to realistically implement haptic feedback, it is necessary to study more specific physical properties or theoretical foundations.

As a related prior art, there is Republic of Korea Patent Publication No. 10-0939063 (title of the invention: haptic feedback providing apparatus and haptic feedback providing method, announcement date: January 28, 2010).

An embodiment of the present invention is an apparatus for implementing vibration feedback generated at an arbitrary location to feel as if vibration is generated in a virtual location by implementing it as a vibration feedback algorithm using a theoretical model and transmission characteristics of vibration occurring at an arbitrary location. and methods.

The problem to be solved by the present invention is not limited to the problem(s) mentioned above, and another problem(s) not mentioned will be clearly understood by those skilled in the art from the following description.

An apparatus for implementing vibration feedback occurring at an arbitrary position according to an embodiment of the present invention includes a modeling unit for modeling an arbitrary structure that is a target of vibration by an external force, and for implementing a vibration signal at a virtual location of the modeled arbitrary structure. A vibration characteristic analysis unit that analyzes vibration characteristics at an arbitrary position of the arbitrary structure, and a vibration feedback at a virtual position of the arbitrary structure by having an arbitrary position of the arbitrary structure by reflecting the vibration characteristics at the arbitrary position It may include a vibration feedback generator for generating.

In addition, the modeling unit according to an embodiment of the present invention can model a beam-shaped structure having one end fixed to the fixed end and vibrating.

In addition, the modeling unit according to an embodiment of the present invention models a portion in which one end of the beam having a predetermined length is fixed to the fixed end as a translational spring and a rotational spring, and assumes vibration occurring at an arbitrary position of the beam as an external force. Thus, the beam-type structure can be modeled.

Also, the modeling unit according to an embodiment of the present invention may model the beam-type structure based on Equation 1 below regarding the governing equation of the beam.

[Equation 1]

where EI is the bending stiffness of the beam, M _b is the mass per unit length of the beam, w^(x) is the displacement, x is the position, and t is the time.

In addition, the vibration characteristic analysis unit according to an embodiment of the present invention can analyze the vibration characteristics at an arbitrary position of the beam-type structure for realizing the vibration signal at the virtual position of the beam-type structure based on Equation 2 below. there is.

[Equation 2]

Equation 2 is an expression representing a process of generating a signal of an artificial force that is an external force (A.F.) generated at an arbitrary position with respect to a virtual force that is an external force (V.F.) generated at a virtual position.

TF _{ACC1 / VF} is the acceleration sensor of ACC ₁ It is the transfer function for VF at the position, and TF _ACC1/AF is the acceleration sensor ACC ₁ It means the transfer function for AF at position.

은 상기 V.F.에 대한 전달함수 및 A.F.에 대한 전달함수에 대한 부등한 관계를 나타내는 것이고,

는 가속도 센서인 ACC₁ 위치에서의 전달함수를 풀어낸 식을 나타내는 것이고,

는 상기 두 전달함수에 대한 부등 관계를 풀이하여 나타낸 A.F.를 나타낸 것이다.

is an unequal relationship between the transfer function for VF and the transfer function for AF,

represents the equation for solving the transfer function at the _{ACC 1} position, which is the acceleration sensor,

shows AF expressed by solving the inequality relationship for the two transfer functions.

In addition, the vibration characteristic analysis unit according to an embodiment of the present invention is a signal generator for generating a random signal or an impact signal at the arbitrary position, a fourth for Fourier transforming the generated random signal or impact signal into a signal in the frequency domain 1 signal conversion unit, a vibration characteristic deriving unit for deriving vibration characteristics at the arbitrary position by applying a function related to the vibration transmission rate representing the vibration response of the beam-shaped structure to the external force at the arbitrary position to the Fourier-transformed signal; and a second signal converter configured to inverse Fourier transform the signal to which the function related to the vibration transmission rate is applied into a signal in the time domain.

In addition, the vibration characteristic measuring unit according to an embodiment of the present invention may calculate a stiffness value, a rotational stiffness value, and a loss coefficient that change according to boundary conditions to analyze the vibration characteristic at an arbitrary position of the beam-type structure.

The method for implementing vibration feedback occurring at an arbitrary position according to an embodiment of the present invention comprises the steps of modeling an arbitrary structure that is a target of vibration by an external force, and implementing the vibration signal at a virtual position of the modeled arbitrary structure. Analyzing vibration characteristics at an arbitrary position of an arbitrary structure, and generating vibration feedback at a virtual position of the arbitrary structure by reflecting the vibration characteristics at the arbitrary position to have the arbitrary position of the arbitrary structure may include.

In addition, in the modeling according to an embodiment of the present invention, one end may be fixed to a fixed end and a vibrating beam-type structure may be modeled.

In addition, in the modeling according to an embodiment of the present invention, the beam-type structure may be modeled based on Equation 1 below regarding the governing equation of the beam.

[Equation 1]

where EI is the bending stiffness of the beam, M _b is the mass per unit length of the beam, w^(x) is the displacement, x is the position, and t is the time.

In addition, the step of analyzing the vibration characteristics according to an embodiment of the present invention is based on the following Equation 2, the vibration characteristics at an arbitrary position of the beam-type structure for realizing the vibration signal at the virtual position of the beam-type structure. can be interpreted

[Equation 2]

Equation 2 is an expression representing a process of generating a signal of an artificial force that is an external force (A.F.) generated at an arbitrary position with respect to a virtual force that is an external force (V.F.) generated at a virtual position.

TF _{ACC1 / VF} is the acceleration sensor of ACC ₁ It is the transfer function for VF at the position, and TF _ACC1/AF is the acceleration sensor ACC ₁ It means the transfer function for AF at position.

은 상기 V.F.에 대한 전달함수 및 A.F.에 대한 전달함수에 대한 부등한 관계를 나타내는 것이고,

는 가속도 센서인 ACC₁ 위치에서의 전달함수를 풀어낸 식을 나타내는 것이고,

는 상기 두 전달함수에 대한 부등 관계를 풀이하여 나타낸 A.F.를 나타낸 것이다.

is an unequal relationship between the transfer function for VF and the transfer function for AF,

represents the equation for solving the transfer function at the _{ACC 1} position, which is the acceleration sensor,

shows AF expressed by solving the inequality relationship for the two transfer functions.

In addition, the step of analyzing the vibration characteristics according to an embodiment of the present invention includes generating a random signal or an impact signal at the arbitrary position, Fourier transforming the generated random signal or impact signal into a signal in a frequency domain Step, applying a function related to a vibration transmission rate representing the vibration response of the beam-shaped structure to an external force at the arbitrary position to the Fourier-transformed signal to derive vibration characteristics at the arbitrary position, and the vibration transmission rate The method may include inverse Fourier transforming the signal to which the function is applied into a signal in the time domain.

In addition, in the analyzing the vibration characteristics according to an embodiment of the present invention, a vibration characteristic at an arbitrary position of the beam-type structure can be analyzed by calculating a stiffness value, a rotational stiffness value, and a loss coefficient that change according to boundary conditions. there is.

The details of other embodiments are included in the detailed description and accompanying drawings.

According to embodiments of the present invention, it is possible to feel as if vibration occurs in a virtual location by implementing a vibration feedback algorithm using a theoretical model and transmission characteristics of vibration occurring at an arbitrary location.

In addition, according to embodiments of the present invention, an algorithm that reflects a physical phenomenon occurring in an actual phenomenon is inserted into a device such as a mobile phone, a monitor, a navigation system, and a device for a virtual reality game using the existing haptic feedback technology, so that the user's sense of immersion and satisfaction can be improved.

1 is a block diagram illustrating an apparatus for implementing vibration feedback generated at an arbitrary position of a structure according to an embodiment of the present invention.
2 is a diagram schematically showing a structure to be modeled according to an embodiment of the present invention.
3A and 3B are diagrams illustrating virtual and arbitrary positions at which vibration feedback is generated in a structure to be modeled, respectively, according to an embodiment of the present invention.
4A to 4D are diagrams for explaining a process of analyzing vibration characteristics at an arbitrary position for implementing vibration feedback at a virtual position with respect to a random signal, according to an embodiment of the present invention.
5A to 5D are diagrams illustrating a process of analyzing vibration characteristics at an arbitrary position for implementing vibration feedback at a virtual position with respect to an impact signal according to an embodiment of the present invention.
6A is a table illustrating boundary conditions applied to a modeled structure according to an embodiment of the present invention.
6B is a graph showing the theory and measurement results of vibration characteristics according to the boundary condition of FIG. 6A.
7A is a diagram illustrating a structure modeled to analyze theoretical vibration characteristics according to an embodiment of the present invention.
7B is a graph illustrating a frequency response according to a result of analyzing a theoretical vibration characteristic according to an embodiment of the present invention.
8A is a diagram illustrating an experimental apparatus prepared to analyze the actually measured vibration characteristics according to an embodiment of the present invention.
8B is a graph showing a frequency response according to a result of analyzing the actually measured vibration characteristics according to an embodiment of the present invention.
9 is a flowchart illustrating a method of implementing vibration feedback occurring at an arbitrary position in a structure according to an embodiment of the present invention.

Advantages and/or features of the present invention, and methods of achieving them, will become apparent with reference to the embodiments described below in detail in conjunction with the accompanying drawings. However, the present invention is not limited to the embodiments disclosed below, but will be implemented in various different forms, and only these embodiments allow the disclosure of the present invention to be complete, and common knowledge in the art to which the present invention pertains It is provided to fully inform those who have the scope of the invention, and the present invention is only defined by the scope of the claims. Like reference numerals refer to like elements throughout.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings.

1 is a block diagram illustrating an apparatus for implementing vibration feedback generated at an arbitrary position of a structure according to an embodiment of the present invention, and FIG. 2 is a schematic diagram of a structure to be modeled according to an embodiment of the present invention. 3A and 3B are diagrams illustrating a virtual position and an arbitrary position in which vibration feedback is generated in a structure to be modeled, respectively, according to an embodiment of the present invention.

In the present invention, based on a theoretical approach to the propagation characteristics of vibration, a vibration that controls the characteristics of the magnitude and frequency of vibration at an arbitrary position with an actual excitation device so that a desired vibration can be felt at a virtual location of a structure where vibration is generated A feedback algorithm is implemented. Accordingly, it is possible to realize the vibration response occurring in the actual phenomenon as it is by analyzing the frequency domain of the vibration generated at an arbitrary position.

Referring to FIG. 1 , an apparatus for implementing vibration feedback generated at an arbitrary position in a structure according to an embodiment of the present invention may include a modeling unit, a vibration characteristic analysis unit, and a vibration feedback generation unit.

The modeling unit may model an arbitrary structure that is a target in which vibration is generated by an external force.

The modeling unit may utilize various modeling techniques depending on the target structure to analyze the vibration response characteristics of the structure. For example, to analyze the vibration response characteristics of a sheet structure, a 3D structure model can be created and the SEM (Spectral element method) technique can be used, and to analyze the vibration response characteristics of a stick-type beam structure, a beam theory model can be used. there is.

The modeling unit in this embodiment may model a beam-type structure having one end fixed to the fixed end and vibrating. Specifically, referring to FIG. 2 , the modeling unit models a part in which one end of a beam having a predetermined length is fixed to the fixed end as a translational spring and a rotational spring, and assuming that the vibration occurring at an arbitrary position of the beam is an external force, the beam-type structure can be modeled.

For example, referring to FIG. 2 , a rotation spring having a rotational stiffness value of _{R 1 and a translational spring having a stiffness value of k 1} are modeled to fix one end of the beam to the fixed end, and the position where the external force F is applied As a reference, the vibration response for the section _{I 1} can be set to _{w 1} and the vibration response for the section _{I 2 can be set to w 2 .}

The modeling unit may model the beam-type structure based on Equation 1 below regarding the governing equation of the beam.

[Equation 1]

where EI is the bending stiffness of the beam, M _b is the mass per unit length of the beam, w^(x) is the displacement, x is the position, and t is the time.

The harmonic solution used in the beam governing equation can be expressed as follows.

로 정의될 수 있다.At this time,

can be defined as

where w is the displacement, A is a constant determined by the boundary condition, k _b is the wave number, x is the position, L is the length of the beam, M _b is the mass per unit length of the beam, and ω is angular velocity, where D (D = EI) means the bending stiffness of the beam.

Here, the boundary condition applied to the beam governing equation can be expressed as follows.

where M is the moment, R is the rotational stiffness, V is the shear force, D(D=EI) is the bending stiffness of the beam, F is the load, EI is the bending stiffness of the beam, L is the length of the beam , w is the displacement, and x is the position.

에 대한 식에 있어서 x₁(0)인 지점에서의 모멘트 평형을 의미하고,

에 대한 식에 있어서 x₁(0)인 지점에서의 힘의 합력 평형을 의미하고,

에 대한 식에 있어서 x₁(L)인 지점과 x₂(0)인 지점은 동일한 위치이며 연결된 지점의 변위가 같고 기울기 및 모멘트가 일치함을 의미하고,

에 대한 식에 있어서 x₁(L₁)인 지점과 x₂(0)인 지점에서의 힘의 합력 평형을 의미하고,

에 대한 식에 있어서 x₂(L)인 지점에서의 모멘트 평형을 의미하고,

에 대한 식에 있어서 x₁(L₁)인 지점에서의 힘의 합력 평형을 의미한다.Specifically,

In the equation for x ₁ (0) means the moment equilibrium at the point,

In the equation for x ₁ (0) means the resultant equilibrium of the forces,

In the expression for x ₁ (L) and x ₂ (0), the point is the same position, the displacement of the connected point is the same, and the slope and moment are the same,

In the equation for x ₁ (L ₁ ) and x ₂ (0) means the resultant force equilibrium at the point,

In the formula for x ₂ (L) means the moment equilibrium at the point,

In the equation for , it means the resultant equilibrium of the forces at the point _{x 1} (L _{1 ).}

The vibration characteristic analyzer may analyze vibration characteristics at an arbitrary position of a structure for realizing a vibration signal at a virtual position of a modeled arbitrary structure.

The vibration characteristic analyzer may analyze the vibration response characteristic at an arbitrary position by using the concept of the vibration transmission rate in order to analyze the vibration response characteristic to an external force generated at a virtual position.

That is, it is possible to apply an external force ( _F ) at an arbitrary position (r _{F ) of the target structure and derive a vibration response (w) at a virtual position (r p} ), which is expressed as a vibration transmission rate (TF) as follows. can indicate

In this embodiment, an arbitrary position may be set to implement the same vibration response to a virtual position with respect to the beam-shaped structure.

For example, as shown in FIG. 3A , it is assumed that the virtual position for implementing the vibration feedback is a position indicated by Virtual Force equal to about 0.6L of the structure, and as shown in FIG. 3B , an arbitrary position for implementing the vibration feedback It can be assumed that is the position marked Artificial Force, which is the end of the structure.

At this time, in the case of FIGS. 3A and 3B, the frequency characteristic of the vibration response rate to the external force generated at the 0.01L point of the structure can be checked.

The transmission rate of vibration transmitted in a virtual position can be expressed as follows.

This is expressed as a _{vibration transmission rate (TF w0/VF} ) that can derive a vibration response (w) at the 0.01L point by applying an external force (F) to the 0.6L point of the target structure.

The transmission rate of vibration transmitted at an arbitrary position can be expressed as follows.

This is expressed as a _{vibration transmission rate (TF w0/AF} ) that a vibration response (w) at a point 0.01L can be derived by applying an external force (F) to the point 1L, which is the end of the target structure.

The vibration characteristic analyzer may analyze the vibration characteristic at an arbitrary position of the beam-type structure for realizing the vibration signal at the virtual position of the beam-type structure based on Equation 2 below.

[Equation 2]

Equation 2 is an expression representing a process of generating a vibration signal of an artificial force that is an external force (A.F.) generated at an arbitrary position with respect to a virtual force that is an external force (V.F.) generated at a virtual position.

TF _{ACC1 / VF} is the acceleration sensor of ACC ₁ It is a transfer function for VF at the position, and TF _ACC1/AF means a transfer function for AF at position _{ACC 1} , which is an acceleration sensor.

은 상기 V.F.에 대한 전달함수 및 A.F.에 대한 전달함수에 대한 부등한 관계를 나타내는 것이고,

는 가속도 센서인 ACC₁ 위치에서의 전달함수를 풀어낸 식을 나타내는 것이고,

는 상기 두 전달함수에 대한 부등 관계를 풀이하여 나타낸 A.F.를 나타낸 것이다.

is an unequal relationship between the transfer function for VF and the transfer function for AF,

represents the equation for solving the transfer function at the _{ACC 1} position, which is the acceleration sensor,

shows AF expressed by solving the inequality relationship for the two transfer functions.

The vibration characteristic analyzer may implement a vibration signal of various patterns such as a random signal or an impact signal and apply it to a vibration feedback algorithm.

4A to 4D are diagrams illustrating a process of analyzing vibration characteristics at an arbitrary position for implementing vibration feedback at a virtual position with respect to a random signal in an embodiment of the present invention, and FIG. 5A 5D to 5D are diagrams illustrating a process of analyzing vibration characteristics at an arbitrary position for implementing vibration feedback at a virtual position with respect to an impact signal according to an embodiment of the present invention.

In an embodiment, the vibration characteristic analyzer may include a signal generator that generates a random signal at an arbitrary position, and may generate a random signal as shown in FIG. 4A .

Next, the vibration characteristic analyzer may include a first signal converter that Fourier transforms the generated random signal into a signal in the frequency domain, and performs Fourier transform of the generated random signal into a signal in the frequency domain as shown in FIG. 4B. can

Next, the vibration characteristic analysis unit may include a vibration characteristic derivation unit that derives vibration characteristics at an arbitrary position by applying a function related to the vibration transmission rate representing the vibration response of the beam-type structure to an external force at an arbitrary position to the Fourier-transformed signal. and can be applied to a Fourier-transformed signal as shown in FIG. 4C.

Next, the vibration characteristic analysis unit may include a second signal conversion unit that inverse Fourier transforms the signal to which the function related to the vibration transmission rate is applied to a signal in the time domain, and applies to the inverse Fourier transformed signal as shown in FIG. 4D. can

In another embodiment, the vibration characteristic analyzer may include a signal generator that generates an impact signal at an arbitrary position, and may generate an impact signal as shown in FIG. 5A .

Next, the vibration characteristic analysis unit may include a first signal converting unit that Fourier transforms the generated impulse signal into a signal in the frequency domain, and Fourier transforms the generated impulse signal into a signal in the frequency domain as shown in FIG. 5B. can

Next, the vibration characteristic analysis unit may include a vibration characteristic derivation unit that derives vibration characteristics at an arbitrary position by applying a function related to the vibration transmission rate representing the vibration response of the beam-type structure to an external force at an arbitrary position to the Fourier-transformed signal. and can be applied to a Fourier-transformed signal as shown in FIG. 5C.

Next, the vibration characteristic analysis unit may include a second signal conversion unit that inverse Fourier transforms the signal to which the function related to the vibration transfer rate is applied to a signal in the time domain, and applies to the inverse Fourier-transformed signal as shown in FIG. 5D. can

Through this series of processes, it is possible to analyze the vibration characteristics at an arbitrary location for vibration to occur at a virtual location of the structure.

The vibration characteristic measuring unit may analyze the vibration characteristic at an arbitrary position of the beam-type structure by calculating a stiffness value, a rotational stiffness value, and a loss coefficient that change according to boundary conditions.

In other words, the vibration characteristic measuring unit may measure the vibration characteristic according to the boundary condition to measure the stiffness value, the rotational stiffness value, and the loss coefficient that change according to the contact condition.

As shown in Fig. 6a, the applied boundary conditions are, when the beam-type structure is firmly embedded in the fixed end and fixed (Clamped), when the fixed end is fixed using rubber (Rubber), a person who is not a separate fixed end It was arbitrarily set to the case of loosely gripped by the hand (Grasp), but is not limited thereto, and various boundary conditions can be additionally applied.

Under the boundary conditions of the fixed end using rubber (Rubber), the stiffness value (k) was measured to be 200 kN/m, the rotational stiffness value (R) was measured to be 200 Nm, and the loss factor (η) was measured to be 0.05, and the In the boundary condition of the loose hand grip (Grasp), the stiffness value (k) was measured to be 15 kN/m, the rotational stiffness value (R) was measured to be 0.2 Nm, and the loss factor (η) was measured to be 0.2.

Based on the measured values, it can be confirmed that the theoretical vibration transmission rate and the actual measured vibration transmission rate exhibit the same tendency as shown in FIG. 6B . In other words, it can be confirmed that both the theoretical vibration transmission rate and the actual measured vibration transmission rate decrease in the order of Clamped -> Rubber -> Grasp.

The vibration feedback generator may generate vibration feedback at a virtual position of the structure by reflecting the vibration characteristics at the arbitrary position and having the arbitrary position of the structure.

That is, the vibration feedback generator controls the position at which the vibration is applied or the magnitude or frequency of vibration, etc. according to the result of the vibration characteristic at an arbitrary position for realizing the vibration feedback in the virtual position by applying an external force to an arbitrary position of the structure. It can create the illusion that vibrations occur at the virtual location of the structure.

Accordingly, according to embodiments of the present invention, it is possible to feel as if vibration occurs in a virtual location by implementing a vibration feedback algorithm using a theoretical model and transmission characteristics of vibration occurring at an arbitrary position.

7A is a diagram illustrating a structure modeled for analyzing the theoretical vibration characteristics according to an embodiment of the present invention, and FIG. 7B is a frequency according to the result of analyzing the theoretical vibration characteristics according to an embodiment of the present invention. It is a graph showing the response, and FIG. 8A is a view showing an experimental apparatus prepared to analyze the vibration characteristics actually measured in an embodiment of the present invention, and FIG. 8B is an embodiment of the present invention, actually measured vibration It is a graph showing the frequency response according to the characteristic analysis result.

Referring to FIG. 7A , the four acceleration sensors Acc1 to Acc4 are modeled to be spaced apart from each other in the beam-type structure, and virtual and arbitrary positions are set for realizing vibration feedback in the modeled structure. The position was simulated to be excitation.

Referring to FIG. 8A , four acceleration sensors (Acc1 to Acc4) are installed to be spaced apart from the real beam structure in the same way as the modeled structure, and virtual and arbitrary positions are set for realizing vibration feedback in the modeled structure. It was excited through a shaker at an arbitrary position corresponding to .

As a result, comparing FIGS. 7A and 7B , it can be seen that the tendency of the frequency response for each location of each acceleration sensor is the same.

9 is a flowchart illustrating a method of implementing vibration feedback occurring at an arbitrary position in a structure according to an embodiment of the present invention.

Referring to FIGS. 1, 2 and 9 , the apparatus for implementing vibration feedback generated at an arbitrary position of a structure in step S110 models an arbitrary structure that is a target of vibration by an external force.

In the above step, one end is fixed to the fixed end and a vibrating beam-type structure can be modeled.

In the above step, the beam-type structure may be modeled based on Equation 1 below regarding the governing equation of the beam.

[Equation 1]

where EI is the bending stiffness of the beam, M _b is the mass per unit length of the beam, w^(x) is the displacement, x is the position, and t is the time.

Next, in step S120 , the apparatus for implementing vibration feedback generated at an arbitrary position of a structure may analyze vibration characteristics at an arbitrary position of an arbitrary structure for realizing a vibration signal at a virtual position of a modeled arbitrary structure.

In the above step, based on Equation 2 below, vibration characteristics at an arbitrary position of the beam-shaped structure for realizing a vibration signal at a virtual position of the beam-shaped structure may be analyzed.

[Equation 2]

Equation 2 is an expression representing a process of generating a signal of an artificial force that is an external force (A.F.) generated at an arbitrary position with respect to a virtual force that is an external force (V.F.) generated at a virtual position.

TF _{ACC1 / VF} is the acceleration sensor of ACC ₁ It is a transfer function for VF at the position, and TF _ACC1/AF means a transfer function for AF at position _{ACC 1} , which is an acceleration sensor.

은 상기 V.F.에 대한 전달함수 및 A.F.에 대한 전달함수에 대한 부등한 관계를 나타내는 것이고,

는 가속도 센서인 ACC₁ 위치에서의 전달함수를 풀어낸 식을 나타내는 것이고,

는 상기 두 전달함수에 대한 부등 관계를 풀이하여 나타낸 A.F.를 나타낸 것이다.

is an unequal relationship between the transfer function for VF and the transfer function for AF,

represents the equation for solving the transfer function at the _{ACC 1} position, which is the acceleration sensor,

shows AF expressed by solving the inequality relationship for the two transfer functions.

In the above step, generating a random signal or impulsive signal at an arbitrary position, Fourier transforming the generated random signal or impulsive signal into a signal in a frequency domain, vibration representing the vibration response of the beam-like structure to an external force at an arbitrary position The method may include deriving a vibration characteristic at an arbitrary position by applying a function related to the transmission rate to the Fourier-transformed signal, and inverse Fourier transforming the signal to which the function related to the vibration transmission rate is applied to a signal in the time domain.

In the above step, it is possible to analyze the vibration characteristics at an arbitrary position of the beam-type structure by calculating the stiffness value, the rotational stiffness value, and the loss coefficient that change according to the boundary condition.

Next, in step S130 , the device for implementing vibration feedback generated at an arbitrary position of the structure reflects the vibration characteristics at the arbitrary position and has an arbitrary position of the structure, thereby generating vibration feedback at the virtual position of the structure. can

Although specific embodiments according to the present invention have been described so far, various modifications are possible without departing from the scope of the present invention. Therefore, the scope of the present invention should not be limited to the described embodiments, but should be defined by the claims described below as well as the claims and equivalents.

As described above, although the present invention has been described with reference to the limited examples and drawings, the present invention is not limited to the above examples, which are various modifications and Transformation is possible. Accordingly, the spirit of the present invention should be understood only by the claims set forth below, and all equivalents or equivalent modifications thereof will fall within the scope of the spirit of the present invention.

110: modeling unit
120: vibration characteristic analysis unit
130: vibration feedback generating unit

Claims (13)

a modeling unit for modeling an arbitrary structure subject to vibration by an external force;
a vibration characteristic analysis unit that analyzes vibration characteristics according to a random signal or an impact signal at an arbitrary position of the arbitrary structure for realizing a vibration signal at a virtual position of the modeled arbitrary structure; and
A vibration feedback generating unit that generates vibration feedback at a virtual position of the arbitrary structure by reflecting the vibration characteristics at the arbitrary position and having an arbitrary position of the arbitrary structure
including,
The modeling unit models a beam-type structure having one end fixed to the fixed end and vibrating,
The vibration characteristic analysis unit
By deriving the vibration response at the virtual position to the external force generated at the arbitrary position, based on Equation 2 below, at an arbitrary position of the beam-shaped structure for realizing a vibration signal at the virtual position of the beam-shaped structure. An apparatus for implementing vibration feedback occurring at an arbitrary position in a structure, characterized in that it analyzes the vibration characteristics.
[Equation 2]

Here, VF is an external force generated at a virtual position, AF is an external force generated at an arbitrary position, TF _ACC1/VF is a transfer function for VF at position _{ACC 1} , which is an acceleration sensor, _{and TF ACC1/AF} is an acceleration sensor. It means the transfer function for AF at _{ACC 1 position.}
delete According to claim 1,
The modeling unit
A portion in which one end of a beam having a predetermined length is fixed to a fixed end is modeled as a translational spring and a rotational spring, and the beam-type structure is modeled by assuming that vibration occurring at an arbitrary position of the beam is an external force. A device that implements vibration feedback that occurs at any location.
According to claim 1,
The modeling unit
An apparatus for implementing vibration feedback occurring at an arbitrary position of a structure, characterized in that the beam-type structure is modeled based on Equation 1 below regarding the governing equation of the beam.
[Equation 1]

where EI is the bending stiffness of the beam, M _b is the mass per unit length of the beam, w^(x) is the displacement, x is the position, and t is the time.
delete According to claim 1,
The vibration characteristic analysis unit
a signal generator for generating a random signal or an impulse signal at the arbitrary position;
a first signal converter for Fourier transforming the generated random signal or impulse signal into a signal in a frequency domain;
a vibration characteristic deriving unit for deriving vibration characteristics at the arbitrary position by applying a function related to a vibration transmission rate representing the vibration response of the beam-shaped structure to the external force at the arbitrary position to the Fourier-transformed signal; and
A second signal converter for inverse Fourier transforming the signal to which the function related to the vibration transmission rate is applied into a signal in the time domain
Vibration feedback implementation device that occurs at any position of the structure, characterized in that it comprises a.
According to claim 1,
The vibration characteristic analysis unit
An apparatus for implementing vibration feedback occurring at an arbitrary position of a structure, characterized in that it analyzes vibration characteristics at an arbitrary position of the beam-type structure by calculating a stiffness value, a rotational stiffness value, and a loss coefficient that change according to boundary conditions.
modeling an arbitrary structure that is a target in which vibration is generated by an external force;
analyzing vibration characteristics according to a random signal or an impact signal at an arbitrary position of the arbitrary structure to implement a vibration signal at a virtual position of the modeled arbitrary structure; and
generating vibration feedback at the virtual position of the arbitrary structure by reflecting the vibration characteristics at the arbitrary position and having the arbitrary position of the arbitrary structure;
including,
In the modeling step, one end is fixed to a fixed end to model a vibrating beam-type structure,
The step of analyzing the vibration characteristics is
By deriving the vibration response at the virtual position to the external force generated at the arbitrary position, based on Equation 2 below, at an arbitrary position of the beam-shaped structure for realizing a vibration signal at the virtual position of the beam-shaped structure. A method of implementing vibration feedback occurring at an arbitrary location in a structure, characterized in that the vibration characteristics are analyzed.
[Equation 2]

Here, VF is an external force generated at a virtual position, AF is an external force generated at an arbitrary position, TF _ACC1/VF is a transfer function for VF at position _{ACC 1} , which is an acceleration sensor, _{and TF ACC1/AF} is an acceleration sensor. It means the transfer function for AF at _{ACC 1 position.}
delete 9. The method of claim 8,
The modeling step
A method of implementing vibration feedback occurring at an arbitrary position of a structure, characterized in that the beam-type structure is modeled based on Equation 1 below regarding the beam governing equation.
[Equation 1]

where EI is the bending stiffness of the beam, M _b is the mass per unit length of the beam, w^(x) is the displacement, x is the position, and t is the time.
delete 9. The method of claim 8,
The step of analyzing the vibration characteristics is
generating a random signal or an impulse signal at the arbitrary location;
Fourier transforming the generated random signal or impulse signal into a frequency domain signal;
deriving vibration characteristics at the arbitrary position by applying a function related to a vibration transmission rate representing the vibration response of the beam-shaped structure to the external force at the arbitrary position to the Fourier-transformed signal; and
Inverse Fourier transforming the signal to which the function related to the vibration transmission rate is applied to a signal in the time domain
Vibration feedback implementation method occurring at any position of the structure, characterized in that it comprises a.
9. The method of claim 8,
The step of analyzing the vibration characteristics is
A method for implementing vibration feedback occurring at an arbitrary position of a structure, characterized in that the vibration characteristics are analyzed at an arbitrary position of the beam-type structure by calculating a stiffness value, a rotational stiffness value, and a loss coefficient that change according to boundary conditions.

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