• 대한기계학회:학술대회논문집
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• 대한기계학회 2004년도 추계학술대회
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• pp.1016-1021
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• 2004

The need for developing a mathematical model for pad-pivot friction in tilting pad proceeding bearings has been well-recognized, since previous experimental work about the performances of the bearings hypothesized that the friction in the bearings is closely related to their performances. Especially, the sliding friction between pad and pivot in the ball and socket type of the bearings can influence the performance of the bearing. We propose a mathematical model for pad-pivot friction in the ball and socket type, which considers the geometrics of the pad and pivot of the bearings, by assuming the sliding friction in the ball and socket bearing as Coulomb friction. By utilizing the proposed model for pad-pivot friction, we show the analysis of Reynolds equation and energy equation, which explain the thermo-hydrodynamic characteristics of tilting pad proceeding bearings, by taking into account the turbulence and inlet pressure building as well. The results of the study show that the performance of titling-pad proceeding bearings can be greatly influenced by the pad-pivot friction. In particular, we have shown that the analysis of the pad-pivot friction is useful to explain the static proceeding loci and the dynamic characteristics of the ball and socket type of the bearings. Furthermore, for a given operating condition, we can obtain various equilibrium states which satisfy the static equilibrium conditions, by considering the pad-pivot friction.

• 한국자동차공학회논문집
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• 제16권1호
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• pp.71-77
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• 2008

This paper proposes an Electronic Throttle Body (ETB) model considering a non-linearity of DC motor driver which is integrated with a H-bridge and a gate driver. A propagation delay and reverse recovery time of switching components cause non-linear characteristic of DC motor driver. This non-linearity affects not only the amateur voltage of DC motor, but also entire behaviour and parameters of ETB. In order to analyze the behavior of ETB more accurately, this non-linear effect of DC motor driver is modeled. The developed ETB model is validated by use of the step response and ramp response experiments, and it shows relatively accurate results compared with linear DC motor driver model.

• 대한기계학회논문집A
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• 제20권5호
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• pp.1486-1497
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• 1996

The problem of determining the 3-demensional motion of any two rough bodies after a collision involves some rather long analysis and yet in some points it differs essentially from the corresponding problem in tdwo dimensions. We consider a special problem where two rough ellipsolids moving in any manner collide, and analyze the three dimensional impact process with Coulomb friction and Poisson's hypothesis. The differential equations that describe that process of the impact induce a flow in the tangent velocity space, the flow patterns characterize the possible impact cases. By using the graphic method in impulse space and numerical integration thchnique, we analyzed the impact process inall the possible cases and presented the algorithm for determining the post-impact motion. The principles could be applied to the general problem in three dimensions. We verified the effectiveness of the analysis results by simulating the numerous significant examples.

• 대한기계학회논문집A
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• 제29권7호
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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.

• 대한기계학회논문집A
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• 제28권3호
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• pp.222-229
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• 2004

In this paper, the torque of CNC spindle motor during machining is estimated without speed measuring sensor. The CNC spindle system is divided into two parts, the induction spindle motor part and mechanical part. In mechanical part, the variation of the frictional force due to the increment of the cutting torque and the effect of damping coefficient is investigated. Damping coefficient is found to be a function of spindle speed and not influenced by the weight of the load, while frictional force is a function of both the cutting torque and spindle speed. Experimental equations are drawn for damping coefficient and Coulomb friction as a function of spindle speed. Incremental frictional torque Is also obtained as a function of both cutting torque and spindle speed. Graphical programming is used to implement the suggested algorithm to monitor the torque of an induction motor in real time. Torque of the spindle induction motor is estimated well in about average 3% error range under various cutting conditions.

• 터널과지하공간
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• 제27권4호
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• pp.243-252
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• 2017

횡등방성 암석의 파괴거동은 등방성 암석의 경우와 큰 차이가 있으므로 횡등방성 암반에 건설되는 암반구조물의 정밀한 안정성 평가를 위해서는 횡등방 파괴함수의 개발이 필요하다. 이 연구에서는 17세기 천문학자 Cassini가 지구둘레를 도는 태양의 궤도를 모델링하기 위해 제안한 Cassini 난형(卵形)곡선을 기반으로 횡등방성 암석의 강도정수 분포함수를 제안하였다. 제안된 강도정수 분포함수는 횡등방성 암석시료에 대한 삼축압축시험을 통해 실험적으로 결정이 가능한 2개의 모델 파라미터로 정의된다. 제안된 강도정수 분포함수를 마찰각과 점착력의 공간분포함수로 채용하여 기존의 Mohr-Coulomb(M-C) 파괴함수를 3차원 횡등방성 M-C 파괴함수로 확장시켰다. 제안된 횡등방성 M-C 파괴함수의 적합성을 검증하기 위해 횡등방성 암석시료의 삼축압축시험 및 진삼축압축시험을 수치모사하였다. 수치실험을 통해 예측된 결과는 실제 실험실 시험에서 관찰되는 횡등방성 암석의 파괴거동과 부합하였다. 또한 진삼축압축시험 수치모사 결과는 암석강도의 중간주응력 의존성이 암석시료에 포함된 미시적 연약면의 공간분포 특성과 밀접한 관련이 있을 수 있음을 보여주었다.

• 터널과지하공간
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• 제15권3호
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• pp.223-227
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• 2005

국내의 일부 지역에서만 발견되는 유리질화산암중 삼호지역에 분포하고 있는 암석을 대상으로 암석의 물리적$cdot$역학적 특성에 대하여 살펴보았다. 본 연구를 수행하기 위하여 암석의 기본 물리적 성질 시험인 비중, 함수비, 흡수율, 공극률, 초음파 속도, 그리고 역학적 성질 시험인 일축 및 삼축 압축, 압열인장 강도, 점하중 강도 등 실내 시험 방법을 이용하였다. 유리질화산암에서 나타나는 비중의 크기는 2.28이였으며, 함수비와 흡수율은 $1.67\%$와 $1.72\%$로써 비슷한 값을 보였다 공극률은 3.87\%$로 낮게 나타난 반면, 초음파 속도는 P파가 5330m/s, S파가 2980 m/s로써 비교적 높은 값을 보였다. 유리질화산암의 압열인장 강도는 7.2MPa 점하중 강도는 2.6MPa로 나타났다. 점하중 강도로부터 추정한 일축압축 강도는 62.4MPa로 실제 일축압축 시험으로부터 구한 66.0MPa과 매우 잘 일치하였다. 일축압축 시험에서 구한 탄성계수 영률은 E=43.2 GPa이였으며, 포아송비는 v=0.28로 나타났다. 또한, Mohr-Coulomb 파괴포락선으로부터 구한 유리질화산암의 점착력은 c=20.1MPa 내부 마찰각은 $\Phi=28.6^{\circ}$로 나타났다.

• 한국지반공학회논문집
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• 제31권11호
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• pp.33-40
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• 2015

제주도 화산암은 지질학적 그리고 역학적 특성이 지역마다 큰 차이를 보일 뿐만 아니라, 특히 여러 환경적인 요인으로 인하여 크기와 분포가 다양한 기공이 많은 다공성 구조를 보이고 있다. 본 연구에서는 제주도 북동부 육해상, 남동부 해상 및 북서부 해상에서 채취한 현무암 암석에 대하여 삼축압축시험을 수행하였으며, 그 결과로부터 추정된 점착력과 내부 마찰각을 제주도 현무암의 다공성 구조를 나타내는 파라미터인 흡수율과 비교 분석하였다. 그 결과 제주도 현무암의 흡수율과 점착력의 관계는 흡수율과 비중의 상관관계에 따라 그 관계를 명확하게 구분할 수 있었으며, 흡수율이 증가함에 따라 점착력은 급격하게 감소하였다. 반면 제주도 현무암의 내부 마찰각은 흡수율과 비중의 상관관계와 관계없이 흡수율이 증가함에 따라 거의 선형적으로 감소하였다.

• 한국소성가공학회:학술대회논문집
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• 한국소성가공학회 2007년도 춘계학술대회 논문집
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• pp.394-396
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• 2007

In this study, in order to see effect of the blank holding force on the friction behavior in the sheet metal forming, a sheet metal friction tester is designed and manufactured, which can measure friction forces in various forming conditions, such are lubrication, die roughness, drawing speed, radius of die corner, blank holding force, etc., and performed the friction test in which friction coefficients in various blank holding forces and pulling speeds are calculated using Coulomb's friction law. The friction test reveals that friction coefficient decreases maximum 30% as the blank holding force and the drawing speed are increased to 2.5kN and 1500mm/min, respectively.

• 제어로봇시스템학회논문지
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• 제5권4호
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• pp.462-470
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• 1999

In this paper, we proposed a cross-couple controller for compensating nonlinear friction of the X-Y table of CNC machines. Due to the nonlinearity of the frictions, large contour errors, referred to as quadrant glitches, occur when each axis of the X-Y table makes a zero velocity crossing. To reduce the quadrant glitches the friction compensators and nonlinear friction observers for estimating Coulomb frictions are employed in the proposed method. A hyperbolic tangent function is used in reducing the magnitude of quadrant glitches and the CEM (Contour Error Model) is utilized for the estimation of the velocities. The performance of the proposed compensators is evaluated for several trajectories by computer simulations.