• Transactions of the Korean Society of Mechanical Engineers A
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• v.29 no.7 s.238
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• pp.938-946
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• 2005

Friction is a dominant nonlinear factor in servomechanisms, which seriously deteriorates system accuracy. A friction compensator is indispensable to fabricate high-performance servomechanisms. In order to compensate for the friction in the servomechanism, identification of the friction elements is required. To estimate the friction of the servomechanism, an accurate linear element model of the system is required first. Tn this paper, a nonlinear friction model, in which static, coulomb and viscous frictions as well as Stribeck effect are included, is identified through the describing function approximation of the nonlinear element. A nonlinear element composed of two relays is intentionally devised to induce various limit cycle conditions in the velocity control loop of the servomechanism. The friction coefficients are estimated from the intersection points of the linear and nonlinear elements in the complex plane. A Butterworth filter is added to the velocity control loop not only to meet the assumption of the harmonic balance method but also to improve the accuracy of the friction identification process. Validity of the proposed method is confirmed through numerical simulations and experiments. In addition, a model-based friction compensator is applied as a feedforward controller to compensate fur the nonlinear characteristics of the servomechanism and to verify the effectiveness of the proposed identification method.

• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.21 no.6
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• pp.878-884
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• 2012

In this paper, we consider the sway suppression control problem for container cranes with the frictions between the trolley and the rail. If the friction effects in the system can be modelled, there is an improved potential to design controllers that can cancel the effects. The proposed control improves the trolley positioning and sway suppressing against various frictions. The proposed synthesis combines a variable structure control and the adaptive control to cope with various frictions including the unknown constants. First, the variable structure control with the simple switching action is designed, which is based on a class of feedback lineariztion methods for the fast stabilization of the under-actuated sway dynamics of container. Second, the adaptive control with a parameter estimation is designed, which is based on Lyapunov stability methods for suppressing the oscillation of the trolley travelling, especially due to Coulomb friction 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 under initial sway, external wind disturbances, and various frictions.

• 대한공업교육학회지
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• v.34 no.2
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• pp.396-410
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• 2009

The goal of this work is to present an advanced method of an estimation of the Modeling Uncertainties coming up in industrial rigid robot's manipulator and actuators. First, with the given physical robot model, the motion equation was derived. Considering a fictitious model, a new extended motion equation is developed. Based on this extended model, an observer and observer bank are designed for the estimation of modeling uncertainties which are involving the effects of gravity, friction, mass unbalance, and Coriolis which show the nonlinear characteristics in operation states.

• Journal of the Korea Institute of Military Science and Technology
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• v.21 no.4
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• pp.508-519
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• 2018

This paper concerns on stabilization control of a gyro-stabilized 2-axes gimbal system which is mounted on a moving vehicles such as automobiles, armored vehicles, ships, flying vehicles, etc. A target image acquisition system is attached on the inner gimbal, and the gimbal systems are required to retain high stabilization accuracy in the absolute coordinate in order to provide fine target image while vehicle is moving. The stabilization control performance is hardly depended upon disturbance rejection ability of control, and disturbance feedforward compensation is effective because feedforward compensation reduce the amount of disturbance before the disturbance disturbs the systems. This paper suggests an experimental method which can estimate system parameters and disturbance torques by using 3-axes accelerometer mounted on the inner gimbal. Furthermore, a simple disturbance identification method which can be applied to any slanted base conditions has been suggested to identify mass unbalance vector and friction torques of each gimbal simultaneously. By using the estimated parameters, a feedforward compensation has been applied to the gyro-stabilized 2-axes gimbal system. The experimental results showed that the feedforward compensation based on the identification method suggested is effective to improve stabilization performances.

• 한국신재생에너지학회:학술대회논문집
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• 2005.06a
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• pp.586-591
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• 2005

우리나라는 에너지의 안정적 공급과 에너지이용 과정에서 발생하는 환경적, 안보적 외부성을 최소화하는 에너지수급 구조를 마련하기 위해 2003년 12월 '제2차 신재생에너지 기술개발 및 이용보급 기본계획(2003-2012)'을 발표하였다. 이 계획에서는 2011년까지 전체 TPES의 $5\%$를 신재생에너지로 공급하는 것을 정책목표로 수립하고 수소, 태양광 그리고 풍력기술을 중점적으로 추진하기로 하였다. 특히 수소부문에서는 주택 및 건물용, 발전용, 수송용 연료전지의 개발을 중심으로 개발하여 세계 기술시장의 $20\%$를 확보한다는 계획을 발표하였다. 이러한 기술 잠재력을 기반으로 우리 정부도 미국이나 일본과 같이 수소경제로의 전환을 준비하고 있으며 2020년대 이후 우리나라의 에너지부문은 새로운 국면에 접어들 것으로 전망된다. 에너지나 환경기술의 효과적 인 개발을 위해서는 이들 기술의 직접적인 비용측면에 대한 분석 즉 경제성 평가와 새로운 기술변화로 인한 중장기적인 사회경제적 영향평가가 선행되어야 한다. 이러한 평가는 대상 기술의 사회경제적 파급효과가 광범위할수록 더욱 복잡한 분석이 요구된다. 본 연구의 주제인 수소에너지기술은 지금까지 이용되던 것과는 전혀 새로운 에너지캐리어(carrier)를 개발하는 것으로 에너지부문 및 여타 다른 산업부문이 공유하고 있는 에너지 관련 인프라의 전면적인 조정이 요구되며 에너지 이용과 관련된 사회경제적 측면의 급속한 변화를 수반한다. 본 연구는 수소경제로의 이행에 대한 사회경제적 영향평가의 방법론적 요소들과 기법을 제시한다."중등도 독성"으로 나타났다 이상의 결과는 전기도금을 이용하여 교정용 선재의 직경을 증가시키는 방법이 임상에 적용되기 위해서는 세포독성을 줄이기 위한 추가의 연구가 필요함을 시사하였다.의하게 가장 낮은 정지. 운동 마찰력을 보였고 브라켓-호선 각도가 증가함에 따라 유의하게 정지, 운동 마찰력도 증가하였다 (P<0.001)%$ 낮추지만(p value=0.260) 평균 $D_{max}$는 거의동일 하여($0.3\%$ 감소, p value=0.867), 전통적인 방법보다 우수성이 크게는 없는 것으로 평가되었다. 그러나 환자의 체곡선이 보상체와 잘 일치하는 경우에는 DII가 $18\%$까지 감소하였다. 결론 : Multistatic field 방법은 모든 환자에 대하여 선량분포의 균일성을 전반적으로 향상시키는 효과적인 방법으로 평가되는 반면 공용보상체의 사용은 보상체의 크기가 환자의 체 윤곽과 잘 일치하는 경우만 효과적으로, 적용의 범위에는 한계가 있는 방법으로 평가되었다.비교하여 계통에 따르는 차이가 있음을 알 수 있었다. 그러므로 가임기 여성의 방사선 진단 및 치료시 Rugh의 10일 법칙을 적용하여 착상전기 방사선 조사로 인한 부작용들을 적극적으로 예방하는 것이 매우 중요하다고 생각한다.equirements of the prematured infants during the early weeks of life. 모든 치근단 수준에서 비표준화 medium 크기 master cone 사용군이 ISO 표준화 규격의 master cone 사용군에 비해

• Transactions of the Korean Society of Mechanical Engineers A
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• v.40 no.1
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• pp.41-51
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• 2016

Friction generated from balls and grooves incurs temperature rise in the ballscrew system. Thermal deformation due to the heat degrades positioning accuracy of the feed drive system. To compensate for the thermal error, accurate prediction of the temperature distribution is required first. In this paper, to predict the temperature distribution according to the rotational speed, solid and hollow cylinders are applied for analysis of the ballscrew shaft and nut, respectively. Boundary conditions such as the convective heat transfer coefficient, friction torque, and thermal contact conductance (TCC) between balls and grooves are formulated according to operating and fabrication conditions of the ballscrew. Explicit FDM (finite difference method) is studied for development of a temperature prediction simulator. Its effectiveness is verified through numerical analysis.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.34 no.12
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• pp.1925-1930
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• 2010

For high-speed/high-accuracy position control of a gantry-moving-type linear motor, we propose a nonlinear adaptive controller including a synchronization algorithm. Linear motors are easily affected by force ripple, friction, and parameter variations because there is no mechanical transmission to reduce the effects of model uncertainties and external disturbances. Synchronization error is also caused by skew motion, model uncertainties, and force disturbance on each axis. Nonlinear effects such as friction and ripple force are estimated and compensated for. The synchronization algorithm is used to reduce the synchronous error of the two side pillars. The performance of the controller is evaluated via computer simulations.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.41 no.3
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• pp.241-249
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• 2017

A powerlock is used to transmit torque between two shafts, to protect important equipment from overloads, and to compensate for the misalignment of assembled shafts. In this study, the effect of the shapes of the inner rings, bolt-fastening force, and friction on power transmission performance of powerlocks is investigated. Finite element analysis and experiments were conducted for two cases, and the analysis results were validated. Analyses were carried out for inner rings of various shapes and for various values of bolt-fastening force and friction coefficient. The main factors that affect the torque transmission performance were investigated based on the analysis results.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.34 no.3
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• pp.369-374
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• 2010

Linear motors are easily affected by load disturbances, force ripples, friction, and parameter variations because there are no mechanical transmissions that can reduce the effects of model uncertainties and external disturbance. In this study, a nonlinear adaptive controller to achieve high-speed/high-accuracy position control of a two-axis linear motor is designed. The operation of this controller is based on a cross-coupling algorithm. Nonlinear effects such as friction and force ripples are estimated and compensated for. An enhanced cross-coupling algorithm is proposed for effectively improving the biaxial contour accuracy while achieving closed-loop stability. The proposed controller is evaluated by performing computer simulations.

• The Journal of the Korea institute of electronic communication sciences
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• v.12 no.5
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• pp.837-844
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• 2017

The weir to regulate water level in a tide generation tank is above and below carried by two electric cylinders which are mounted on right and left of weir itself. In this case, a movement difference between right and left cylinder causes unbalance of weir and friction between weir and guide. And then, the weir will not be sent to target point. In this study, a synchronous control system is developed to take accurate and quick equilibrium of the weir. The control system based on cross coupled structure consists of two I-PD controllers and a lead compensator. Each of the I-PD controllers is designed in order that the electric cylinder may exactly follow the reference signal without overshoot and input saturation. And the lead compensator is designed to achieve stable and accurate synchronization. Finally, the simulation result shows that the designed synchronous control system is effective for elimination of synchronous error.