• Journal of the Earthquake Engineering Society of Korea
• /
• v.9 no.1 s.41
• /
• pp.9-16
• /
• 2005

The purpose of this paper is to present a design procedure of a friction damper for controlling elastic and inelastic responses of building structures under earthquake excitation. The equivalent damping and period increased by the friction damper are estimated using ATC-40 and ATC-55 procedures which provide equivalent linear system for bilinear one, and then a design formula to achieve target performance response level by the friction damper is presented. It is identified that there exists error between the responses obtained by this formula and by performing nonlinear analysis and the features of the error vary according to the hardening ratio, yield strength ratio, and structural period. Equations for compensating the error are proposed based on the least square method, and the results from numerical analysis indicate that the error is significantly reduced. The proposed formula can be used without much error for designing a friction damper for retrofitting a structure showing elastic or inelastic behavior.

• Transactions of the Korean Society of Mechanical Engineers A
• /
• v.28 no.7
• /
• pp.1055-1063
• /
• 2004

In this study, we developed an automatic veneer sorting system controlled by nonlinear friction and nonlinear stiffness. With these nonlinear characteristics, it was difficult to analysis and to control the system in the fast. However it is necessary to consider nonlinear characteristics to satisfy accurate and rapid control demand in these days. We used not only nonlinear friction but also nonlinear stiffness and combined both to control the system. An experimental device was designed with 4 AC servo-motors and 2 Sensors. Through a series of experiment, we found nonlinear friction characteristics among roller versus veneer and veneer versus veneer and nonlinear stiffness characteristics with stacked veneers. Finally, we showed that the proposed control algorithm was very effective for veneer sorting system with nonlinear friction and stiffness.

• The Transactions of the Korean Institute of Power Electronics
• /
• v.9 no.6
• /
• pp.612-619
• /
• 2004

Servo motor systems with ball-screw and timing-belt are widely used in NC, robot, FA and industrial applications. However, the nonlinear friction torque and damping effect in machine elements reduce the control performance. Especially tracking errors in trajectory control and very low velocity control range are serious due to the break-away friction and Stribeck effects. In this paper, a new double speed controller is proposed for compensation of the nonlinear friction torque. The proposed double speed controller has outer speed controller and inner friction torque compensator. The proposed friction torque compensator compensates the nonlinear friction torque with actual speed and speed error information. Due to the actual information for friction torque compensator without parameters and mathematical model of motor, proposed compensator is very simple structure and the stability is very high. The proposed compensator is verified by simulation and experimental results.

• Journal of the Korean Society for Precision Engineering
• /
• v.14 no.4
• /
• pp.88-96
• /
• 1997

This paper suggests a new non-linear friction compensation for digital control systems. This control adopts a hysteresis nonlinear element which can introduce the phase lead of the control system to compensate the phase delay comes from the inherent time delay of a digital control. A proper Lyapunov function is selected and the Lyapunov direct method is used to prove the asymptotic stability of the suggested control.

• Proceedings of the Korean Society of Precision Engineering Conference
• /
• 1996.11a
• /
• pp.987-993
• /
• 1996

This report suggests a new non-linear friction compensation for digital control systems. This control adopts a hysteric nonlinear clement which can introduce the phase lead of the control system to compensate the phase delay comes from the inherent time delay of a digital control. The Lyapunov direct method is used to prove the asymtotic stability of the suggested control, and the stability and the effectiveness are verified analytically and experimentally on a single axis servo driving system.

• 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.

• Journal of the Institute of Electronics and Information Engineers
• /
• v.51 no.1
• /
• pp.202-208
• /
• 2014

Friction force on robot systems is highly nonlinear and especially disturbs precise control of the robots at low speed. This paper deals with the dynamic friction compensation problem of a well-known one-link benchmark robot system. We consider the LuGre model because the model can successfully represent dynamic characteristics and various effects of friction phenomenon. The proposed controller is constructed as two parts. An adaptive controller based on dual observers is used to estimate and compensate the dynamic friction. In order to attenuate the friction estimation error and other disturbances, PI observer is additionally designed. Through the computer simulations with the benchmark system, this paper first examines the effects of nonlinear dynamic friction on the control performance of the benchmark robot system. Next, it is shown that the control performance against the dynamic friction is improved by using the proposed controller.

• Journal of the Computational Structural Engineering Institute of Korea
• /
• v.36 no.2
• /
• pp.105-112
• /
• 2023

In this study, structural analyses were conducted to analyze the performance of a bridge to which friction pendulum systems (FPSs) were applied using different friction models. A Coulomb friction model and a rate dependent friction model were constructed using the friction coefficient of a PVDF/MgO friction material to analyze the effect of different friction analysis models. The Coulomb friction model uses a single friction coefficient regardless of friction velocity, while the rate dependent friction model can reflect the change in the friction coefficient with friction velocity. Nonlinear time history and seismic fragility analyses were conducted to confirm responses of the bridge. The seismic responses of a deck and a column were used to evaluate the performance of the base isolated bridge, and a friction model that can effectively evaluate the performance of isolated bridges was analyzed.

• Transactions of the Korean Society of Mechanical Engineers A
• /
• v.39 no.1
• /
• pp.45-53
• /
• 2015

Large-capacity of household washing machine can become unbalanced during the dehydration process. To solve this problem, several types of suspensions have been installed in a washing machine. In this study, physical tests were carried out on a frictional suspension, and the nonlinear characteristics were modeled by combining several simple physical models. The parameters were estimated based on the least squares solution. The simulation and test results were compared to verify the validity of the friction damper model.

• International Journal of Highway Engineering
• /
• v.12 no.4
• /
• pp.211-218
• /
• 2010

Volume of concrete slab changes by temperature and moisture effects. At that time, tensile stress develops because the slab volume change is restrained by friction resistance between the slab and subbase, and then crack occurs occasionally. Accordingly, researchers have made efforts to figure out the friction characteristics between the slab and subbase by performing push-off tests. Lately, researches to analyze concrete pavement behavior by the friction characteristics have been performed by finite element method. In this study, The friction characteristics between the slab and subbase were investigated based on the friction test results for lean concrete, aggregate, and asphalt subase widely used in Korean concrete pavements. The energy method bilinearizing relation between nonlinear friction resistance and displacement were suggested. The friction test was modeled by 3-D finite element program, ABAQUS, and the model was verified by comparing the analyzed results to the test results. The bilinear model developed by the energy method was validated by comparing analysis results obtained by using the nonlinear and bilinear friction resistance displacement relation as input data. A typical Korean concrete pavement was modeled by ABAQUS and EverFE and analyzed results were compared to evaluate applicability of the bilinear model.