• Proceedings of the KSME Conference
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• 2003.04a
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• pp.893-898
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• 2003

Coulomb friction is an important factor for precise position tracking control systems. The control systems with friction causes the steady state error because of being sensitive to the change of system condition and highly nonlinear characteristics. To overcome these problems, we use an estimation scheme of Coulomb friction to experiment for it's compensating. The estimated factor for Coulomb friction is used as a feed-forward compensator to improve the tracking performance of ball-screw systems. The tracking performance was improved by compensating the estimated friction torque in the feed-forward term. And, the sliding mode control which is derived from the Lyapunov stability theorem is applied for robust stability and reducing chattering. The experimental results show that the sliding mode controller with adaptive friction compensator has a good tracking performance compared with the friction uncompensated controller.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.17 no.7
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• pp.529-535
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• 2016

In this theoretical study, the strength parameters of the Drucker-Prager yield criterion and Mohr-Coulomb yield criterion were set to equal values, in order to analyze the correlation among the parameters. The Drucker-Prager strength parameters ${\alpha}$ and k were represented by the Mohr-Coulomb strength parameters c and ${\phi}$. Specifically it can be seen that k is function of c, ${\phi}$ and ${\alpha}$ is function of ${\phi}$ alone. Drucker-Prager strength parameter ${\alpha}$ increases as the internal friction angle of soil increases. ${\alpha}_{av}$ which is the average of ${\alpha}_c$ and ${\alpha}_i$ was proportional to internal friction angle in which ${\alpha}_c$ and ${\alpha}_i$ are ${\alpha}$ values corresponding to the circles of the Drucker-Prager yield cirteria circumscribes and inscribes the Mohr-Coulomb yield criterion respectively. The values of the ${\alpha}_{av}$ was 0.07 and 0.29 which correspond to the internal friction angle of $10^{\circ}$ and $45^{\circ}$ respectively. In addition, value of ${\alpha}_c/{\alpha}_i$ was proportional to internal friction angle of soil and the values of ${\alpha}_c/{\alpha}_i$ 1.12 and 1.62 which corresponds to internal friction angle of $10^{\circ}$ and $45^{\circ}$ respectively.The influence of the Mohr-Coulomb strength parameters on the Drucker-Prager strength parameter k was investigated and it was found that k was mainly influenced by the cohesion of the soil, except in the case of the minimum assumed value of c of 10kPa. The deviator stresses, $S_{c0}$ and $S_{t0}$, which correspond to the cases of the Mohr-Coulomb yield criterion under uniaxial compression and uniaxial tension, respectively, and $S_{0(ave)}$, which is the average value of $S_{c0}$ and $S_{t0}$, decrease as the internal friction angle increases. Furthermore, the hexagon, which represents the Mohr-Coulomb yield locus, becomes more irregular, and the deviations of $S_{c0}$ and $S_{t0}$ from $S_{0(ave)}$ also increase, as the internal friction angle increases.

• Journal of the Korean Society for Precision Engineering
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• v.21 no.2
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• pp.35-42
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• 2004

The control systems with friction cause the steady state error and slow response, because friction is a sensitive to the change of system condition and has highly nonlinear characteristics. To overcome these problems and do precise position control for a ball-screw system, we use Coulomb friction estimator and the sliding mode control(SMC) to compensate its negative effect. The applied SMC for tracking position has a characteristics of robust stability and reducing chattering, and is derived from the Lyapunov stability theorem and reaching condition. Compensating the estimated friction torque to the bounded disturbance term of the SMC's equivalent control input, it has a tracking performance better than the PID from the experimental results.

• Journal of the Korean Society for Precision Engineering
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• v.12 no.6
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• pp.52-63
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• 1995

This paper presents a detailed derivation of the equations of motion for the stable member of a four-axis platform. Gimbal bearing friction is considered for motion analysis. First, dynamic characteristics of platform, gimbal and gyro with Coulomb friction are studied due to vehicle's angular motion. Second, Vehicle's motion is assumed the sinusoidal function and dynamic characteristics of platform, gimbal and gyro are studied. Conclusively, considering effects of Coulomb friction, they could not follow the vehicle's angular motion and have constant errors. In case of sinusoidal motion, relative angles for each gimbal are amplified, but they are sinusoidal function with almost the same phases.

• Journal of Institute of Control, Robotics and Systems
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• v.6 no.5
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• pp.356-366
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• 2000

In this paper, a nonlinear $H_2/H_\infty/LTR$ control for the flexible inverted pendulum of a parallel type with Coulomb friction is presented. The dynamic equation for this system is derived by the Hamilton's principle and assumed-mode method. This hard nonlinear system can be modeled by a the quasi-linear state space model using the REF method. It is shown that the $H_2/H_\infty$ control can be applied to the nonlinear controller design of the system having Coulomb frictions if the proper LTR conditions are satisfied. In order to present the usefulness of the suggested control method, the nonlinear $H_2/H_\infty/LTR$ controller is designed to control the Position of the end point of the flexible inverted pendulum that has Coulomb frictions present in actuator parts. The results are given via computer simulations.

• Journal of the Earthquake Engineering Society of Korea
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• v.20 no.2
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• pp.125-134
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• 2016

In order to improve seismic safety of nuclear power plant (NPP) structures in high seismicity area, seismic isolation system can be adapted. In this study, friction pendulum system (FPS) is used as the seismic isolation system. According to Coulomb's friction theory, friction coefficient is constant regardless of bearing pressure and sliding velocity. However, friction coefficient under actual situation can be changed according to bearing pressure, sliding velocity and temperature. Seismic responses of friction pendulum system with constant friction and various velocity-dependent friction are compared. The velocity-dependent friction coefficients of FPS are varied between low-and fast-velocity friction coefficients according to sliding velocity. From the results of seismic analysis of FPS with various cases of friction coefficient, it can be observed that the yield force of FPS becomes larger as the fast-velocity friction coefficient becomes larger. Also, the displacement response of FPS becomes smaller as the fast-velocity coefficient becomes larger.

• Journal of the Korean Society for Precision Engineering
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• v.13 no.2
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• pp.102-109
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• 1996

Effects of frictional laws on finite element solutions in metal forming were investigated in this paper. A rigid-viscoplastic finite element formulation was given with emphasis on the frictional laws. The Coulomb friction and the constant shear friction laws were compared through finite element analyses of compression of rings and cylinders with different aspect ratios, ring-gear forging, multi-stage cold extrusion and hot strip rolling under the isothermal condition. It has been shown that two laws may yield quite different results when the aspect ratio of a process and the fractional contact region are large.

• Journal of Mechanical Science and Technology
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• v.20 no.9
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• pp.1399-1409
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• 2006

An improved friction model was proposed with consideration of the effect of the sliding speed, the contact pressure and the temperature, and it was implemented into a user subroutine of a commercial FEM code, ABAQUS/Explicit. Then, a smooth tire was simulated for free rolling, driving, braking and cornering situations using the improved friction model and the Coulomb friction model, and the effect of the friction models on the slip, the frictional energy distribution and the cornering force and moment was analyzed. For the free rolling, the driving and the braking situations, the improved friction model and the Coulomb friction model resulted in similar profiles of the slip and the frictional energy distributions although the magnitudes were different. The slips obtained from the simulations were in a good correlation with experimental data. For the cornering situation, the Coulomb friction model with the coefficient of friction of 1 or 2 resulted in lower or higher cornering forces and moments than experimental data. In addition, in contrast to experimental data it did not result in a maximum cornering force and a decrease of the cornering moment for the increase of the speed. However, the improved friction model resulted in similar cornering forces and moments to experimental data, and it resulted in a maximum cornering force and a decrease of the cornering moment for the increase of the speed, showing a good correlation with experimental data.

• Journal of the Korean Society for Precision Engineering
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• v.20 no.11
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• pp.150-157
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• 2003

In this paper, the large deformation of hollow silicon rubber gasket is treated. The frictional contact occurs between groove and the outer part of hollow gasket, and the frictional self-contact exists in the inner parts of hollow gasket. The silicon rubber has the nonlinear elastic behavior and its material property is approximately incompressible. Hence, the stress analysis requires an existence of a strain energy function, which is usually defined in terms of invariants or stretch ratio such as generalized Mooney-Rivlin and Ogden model. Considering large compressive deformation and friction, Mooney-Rivlin 3rd model and Coulomb's friction model are assumed. The numerical analysis is obtained by the commercial finite element program MARC. But, due to large deformation, the elements degenerate in the inner parts of hollow gasket. This means that the analysis of subsequent increments is carried out with a very poor mesh. In order to continue the analysis with a sufficient accuracy, it is necessary to use new finite element modeling by remesh. Experiments are also performed to show the validity of present method. As a conclusion, numerical results by this research have good agreements with experiments.

• 유체기계공업학회:학술대회논문집
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• 2005.12a
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• pp.803-809
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• 2005

This paper presents the theoretical model to investigate the effect of Coulomb damping in the sub-structure of a foil bearing. Foil deflection is restricted by friction of bumps. Equivalent viscous damping of the bump foils is derived from the Coulomb friction. Dynamic equation of the bumps is constituted by stiffness and damping terms. This point give the difference from Heshmat's frictionless and simple compliance bump model. The fluid is modeled with the compressible Reynolds equation. A perturbation approach is used to determine the static and dynamic performance of the bearing from the coupled fluid-structural model. The analysis result shows that the static and dynamic performance is enhanced by bump friction. This analysis technique would be extended to development of a high performance bearing.