• Journal of the Korean Society of Manufacturing Technology Engineers
• /
• v.19 no.2
• /
• pp.241-250
• /
• 2010

A recurrent adaptive model-free intelligent control with a friction estimation law is proposed to enhance the positioning performance of the mover in PMLSM system. For the PMLSM with nonlinear friction and uncertainty, an adaptive recurrent fuzzy neural network(ARFNN) and compensated control law in $H_{\infty}$ performance criterion are designed to mimic a perfect control law and compensate the approximated error between ideal controller and ARFNN. Combined with friction observer to estimate nonlinear friction parameters of the LuGre model, on-line adaptive laws of the controller and observer are derived based on the Lyapunov stability criterion. To analyze the effectiveness our control scheme, some simulations for the PMLSM with nonlinear friction and uncertainty were executed.

• Transactions of the Korean Society of Mechanical Engineers A
• /
• v.33 no.5
• /
• pp.508-513
• /
• 2009

Friction is an important factor for precise position tracking control of servo systems. Servo systems with highly nonlinear friction are sensitive to the variation of operating condition. To overcome this problem, we use the LuGre friction model which can consider dynamic characteristics of friction. The LuGre friction model is used as a feed-forward compensator to improve tracking performance of servo systems. The parameters of the LuGre friction model are identified through experiments. The experimental result shows that the tracking performance of servo systems with higherly nonlinear friction can be improved by using feed-forward friction compensation.

• Proceedings of the Korean Society of Tribologists and Lubrication Engineers Conference
• /
• 1992.06a
• /
• pp.71-76
• /
• 1992

초고진공중에 있어서의 기계, 기기의 설계에 있어서 마찰의 제어는 가장 중요한 과제의 하나이다. 지금까지 그 마찰면의 윤활을 위해서는 고체 윤활제로서 Au, Ag 등 $MoS_2$ 피막이 많이 쓰여져 왔다. 또한 그것들의 피막 형성법으로서 Plasma Coating, Sputtering 및 Ion-Plating 등의 여러가지 피막형성법이 개발되어 왔다. 그러나 어느 경우도 형성된 $수\mum$의 피막의 마모에 의한 유한의 수명이 존재하고, 마찰게수의 면에서도 아직 충분하다고 말 할수 없는 것이 현상이다. 이것에 대하여 필자들은 우주에 있어서 사용을 목적으로 새로운 피막 형성법으로서 Tribo-Coating법을 개발하여 그 유효성을 나타내어 왔다. 본 연구에서는 초고진공중에 있어서 Tribo-Coating법에 의한 In막의 윤활 특성에 영향을 미치는 지배적 제인자의 역활을 밝히고져한다.

• Transactions of the Korean Society of Mechanical Engineers A
• /
• v.34 no.11
• /
• pp.1613-1622
• /
• 2010

In this paper, the ultraprecision positioning control of an ultrasonic linear motor in a high-vacuum environment is presented. The bolt-clamped Langivin type transducer (BLT) with the 3rd longitudinal; and 6th lateral vibration modes was developed, which was excited by using the Eigen resonance frequency for two vibration modes in order to generate stable and high power. In practical applications, however, even if a geometrical design has an Eigen frequency, discordance between both mode frequencies can be generated by the contact mechanism and because of manufacturing errors as well as environmental factors. Both mode frequencies were precisely matched by adjusting the impedence. By using this method, the BLT can be driven under any environmental conditions. The nominal characteristic trajectory following(NCTF) control method was adopted to control the positioning of the system in vacuum. The developed linear motor stage show high positioning accuracy with 5 nm.

• Journal of the Korean Society for Precision Engineering
• /
• v.15 no.11
• /
• pp.208-217
• /
• 1998

본 연구에서는 ER 브레이크와 ER클러치를 피드백작동기로 사용하여 이송테이블의 위치 추적제어를 수행하였다. 이를 위해 먼저 아라빅 검(arabic gum)계통의 ER유체를 자체조성한 후 전기장에 대한 빙햄(Bingham)모델을 실험적으로 도출하였다. 빙햄모델에 근거하여 평판형의 ER브레이크와 실린더형의 ER클러치를 설계 제작하였으며, 계단입력(step input)전기장에 따른 출력토오크특성을 통하여 이들 작동기의 동적모델을 얻었다. 이들 작동기와 연계된 이송테이블시스템의 운동지배방정식을 유도한 후 위치추적제어를 위한 슬라이딩모드제어기를 설계하였다. 제어기 설계시 이송해이블의 부하질량 변화에 대한 시스템 불확실성과 마찰력을 고려하여 제어성능의 강건성을 보장하도록 하였다. 제안된 제어시스템의 제어영역(control bandwidth)을 주파수 영역에서 고찰한 후 여러 레적에 대한 위치추적제어 실험을 수행하였다.

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

• Journal of the Korea Academia-Industrial cooperation Society
• /
• v.12 no.11
• /
• pp.5194-5201
• /
• 2011

In this paper, an adaptive nonlinear friction compensation scheme for second-order nonlinear mechanical system with a partially known nonlinear dynamic friction is proposed to achieve asymptotic position and velocity tracking in the absence of disturbances and modeling errors. It is also shown that even with disturbances and modeling errors, in contrast to existing other adaptive control schemes, by proper adjustment of design parameters, reduced error bounds on position and velocity tracking can be achieved.

• Journal of the Korean Society for Railway
• /
• v.12 no.4
• /
• pp.512-517
• /
• 2009

Extruded aluminium panels have been widely used for railway vehicle structures because -of their light specific weight and other merits. In the past, GMAW (Gas Metal Arc Welding) and GTAW (Gas Tungsten Arc Welding) were mainly used to join aluminium panels. But recently friction stir welding (FSW) is widely used due to its lots of advantage. In this study aluminium A6005 which is used for car body structures was chosen. The influences of main parameters on mechanical properties such as: pin (tool) rotating speed, pin transition speed, shoulder, diameter, pin length and tilting angle were examined. Optical microscope and scanning electron microscope (SEM) observation, micro hardness tests, and tensile tests were carried out.

• 전자공학회논문지 IE
• /
• v.46 no.4
• /
• pp.73-77
• /
• 2009

This paper presents the trajectory tracking control for mobile robot. The designed controller consists of kinematic and dynamic controller. Kinematic controller has two gains and it reduces the trial time for gain setting as compared convectional controller with three gains. Dynamic controller includes the compensation of friction and disturbance. It can improve the performance of the trajectory tracking under the various environment. Simulation results shows that the proposed controller has a stable performance.

• Journal of the Computational Structural Engineering Institute of Korea
• /
• v.23 no.4
• /
• pp.435-443
• /
• 2010

This study presents key parameters for the structure installed with MR controller in reducing its responses. MR controller is regarded as Bingham model of which control forces are frictional and viscous ones. The parameters are identified as friction force ratios, $R_f$ and $R_h$ which are, respectively, ratio of MR controller friction force to static restoring force for free vibration and ratio of the friction force to amplitude of harmonic force. Structure-MR controller system shows nonlinear response behavior due to friction force. Energy balance strategy is adopted to transform the behavior to linear one with equivalent damping ratio. Finally, proposed equivalent linear process is compared to the nonlinear one, which turns out to give acceptably good results.