• Proceedings of the KIEE Conference
• /
• 1998.11b
• /
• pp.423-425
• /
• 1998

Resonance effects and nonlinear frictions which generate many problems in control system exist in almost all the servo system. therefore, In this paper, the design procedure which employs $H_{\infty}$ control theory after augmenting with two integrators is proposed to track the ramp input. Limit cycles are unavoidable by the effect of interaction between two integrators and Coulomb friction in these system. The describing function is used to check the limit cycles and decide the coefficients of two integrators to minimize the effect of the limit cycles.

• Proceedings of the KIEE Conference
• /
• 1995.07b
• /
• pp.720-725
• /
• 1995

The most important problems which should be considered in designing servo controllers are resonance effects and nonlinear friction. These problems exist in almost all the servo systems, especially for the robotic maniplators and numerical control systems and cause difficulties in designing controllers. In this paper, controller design procedure which employs $H_{\infty}$ control theory is proposed for the servo systems with these problems. Sometimes, for these systems, there is a possibility of limit cycles due to the interation between the nonlinear friction and integrator. To check the possibility of limit cycles, describing fuction method is used.

• Proceedings of the KIEE Conference
• /
• 1996.11a
• /
• pp.46-48
• /
• 1996

In almost all the servo systems, especially for the robot manipulators and numerical control systems, there are resonance effects and nonlinear frictions which should be considered in designing servo controllers. In this paper to compensate friction and track the step-input without steady-state error, the original system is augmented with an integrator and employes $\mu$-Controller design method $\mu$-Controller design method enables to meet not only performance requirements but robust stabilities simultaneously. And there may exist a limit cycles due to interaction between integrator and nonlinear friction. With describing function method, the possibility of limit cycle is checked.

• Journal of the Korean Geotechnical Society
• /
• v.36 no.11
• /
• pp.51-60
• /
• 2020

Estimation of passive earth pressure is an important factor in anchor block, temporary retaining wall and support block of raker that resist lateral earth pressure. In practice, due to ease of use, it is common to estimate the earth pressure using the theory of Coulomb and Rankine, which assumes the failure plane as a straight line. However, the passive failure plane generated by friction between the wall surface and the soil forms a complex failure plane: a curve near the wall and a flat plane near the ground surface. In addition, the limit displacement where passive earth pressure is generated is larger compared to where the active earth pressure is generated. Thus, it is essential to calculate the passive earth pressure that occurs at the allowable displacement range in order to apply the passive earth pressure to the design for structural stability reasons. This study analyzed the mobilized passive earth pressured to various displacement ranges within the passive limit displacement range using the semi-empirical method considering the complex failure plane.

• Journal of the Korean Geotechnical Society
• /
• v.18 no.4
• /
• pp.137-146
• /
• 2002

Geomembrane, compacted clay liner, and geosynthetic clay liner (GCL) are widely used to prevent leachate from leaking to adjacent geo-environment at a municipal solid waste (MSW) landfill. Interface shear strength between GCL and geomembrane installed at a landfill side slope is important properties for the safe design of side liner or final cover systems. The interface shear strength between two geosynthetics was estimated by a large direct shear test in this study. The shear strength was evaluated by the Mohr-Coulomb failure criterion. The effects of normal stress, hydration or dry condition, and a hydration method were investigated. The test results show that the interface shear strength and shear behavior varied depending up on the level of normal stress, the type of geosynthetic combinations, and a hydration method. When GCLs were sheared after being hydrated under 6kPa loading, the results were consistent with those published by other researchers. Summaries of friction angles, normal stress and hydration condition is presented. These friction angles could be used as a reference value at a site where similar geosynthetics are installed.

• KSCE Journal of Civil and Environmental Engineering Research
• /
• v.35 no.4
• /
• pp.769-777
• /
• 2015

In this study, the rheological models were introduced and developed to reflect rate dependent tensile behaviour of concrete. In general, mechanical properties(e.g. strength, elasticity, and fracture energy) of concrete are increased under high loading rates. The strength of concrete shows high rate dependency among its mechanical properties, and the tensile strength has higher rate dependency than the compressional strength. To simulate the rate dependency of concrete, original spring set of RBSN(Rigid-Body- Spring-Network) model was adjusted with viscous and friction units(e.g. dashpot and Coulomb friction component). Three types of models( 1) visco-elastic, 2) visco-plastic, and 3) visco-elasto- plastic damage models) are considered, and the constitutive relationships for the models are derived. For validation purpose, direct tensile test were simulated, and characteristics of the three different rheological models were compared with experimental stress-strain responses. Simulation result of the developed visco-elasto-plastic damage(VEPD) model demonstrated well describing and fitting with experimental results.

• Tunnel and Underground Space
• /
• v.12 no.4
• /
• pp.248-258
• /
• 2002

The sixth underground pumped powerhouse cavern is now under construction in Korea. For the stability analysis for the caverns of the five underground powerhouses, finite element method was used. For the analysis, in-situ rock stress were measured by overcoring method. The stress measurement showed that initial horizontal to vertical stress ratio was 1.07-1.32 in low powerhouse sites. Rock mass strength and elasticity were assumed from rock core properties through engineering processes. So the ratio of input elasticity fur the analysis were about 0.16-0.55 to rock core elasticity. In most of the analysis, elasto-plastic condition with Mohr-Coulomb failure criteria were applied. But in one case, viscoelastic condition was applied, too. The input cohesion and internal friction angle were approximately 0.12-0.22, 0.6-0.87 to rock core strength parameters, respectively.

• Geotechnical Engineering
• /
• v.12 no.4
• /
• pp.47-60
• /
• 1996

Of the classical theories on lateral earth pressure, the Coulomb's and the Rankine's theories, which have been usually used in practice for design of retaining walls, assumed that the lateral earth pressure was a triangular distribution. However, the experimental results obtained by Terzaghi(1934), Tsagreli(1967), Fang & Ishibashi(1986), etc showed that lateral pressure were not triangular distribution. ' In this study, for rigid walls with inclined backfaces and inclined surfaces backfilled by $C-\phi$ soils, an analytical method of earth pressure distribution has been newly suggested by using the concept of the flat arch. The results calculated by the newly suggested equations were compared with ones by the existed theories. And'the influence factors of the earth pressures by the suggested equations were investigated. As a result, the thrusts obtained by this method agree well with those by the existing theories, except the Rankine's solution. It was showed that the height to the centre of pressure(h) depends mainly upon the inclinations of the backface and the backfilled surface, the angle of internal friction, and the adhesion between the wall and the backfilled soil, instead of 0.33H, where H is the wall height.

• Tunnel and Underground Space
• /
• v.22 no.5
• /
• pp.354-364
• /
• 2012

In order to evaluate the physical properties of rock which might serve as a database for both mining and civil works, a lot of laboratory tests for Jecheon limestones were conducted to find unit weight, absorption ratio, porosity, elastic wave velocity, uniaxial compressive strength, Young's modulus, poisson's ratio, tensile strength, shore hardness, friction angle and cohesion. On investigation of the mechanical properties of both the gray limestone and the clayey limestone distributed in the studied region, the clayey limestone turned out to have more weak mechanical properties which might come from low unit weight, high absorption ratio and high porosity of rocks. The failure criteria of Jecheon limestones were discussed by means of both Mohr-Coulomb criterion and Hoek-Brown criterion. Regression analyses of the physical properties obtained from a lot of laboratory tests were also conducted by means of both linear and multiple regression analyses.

• KSCE Journal of Civil and Environmental Engineering Research
• /
• v.8 no.2
• /
• pp.99-107
• /
• 1988

A limited number of cubical triaxial tests with independent control of the three principal stresses were performed on an overconsolidated clay. The cubical undisturbed specimens with overconsolidation ratio of 5 were prepared in triaxial chamber after sampling in field. It was found that the intermediate principal stress influences on the stress-strain, undrained strength effective strength, effective friction angle and pore pressure of the overconsolidated clay. When the magnitude of the intermediate principal stress is not same as the minimum principal stress, the failure strength of the overconsolidated clay is underestimated by use of Mohr-Coulomb failure criterion while it can be estimated quite well by use of Lade failure criterion. And the undrained strength of the overconsolidated clay does not coincide with that obtained by Tresca failure criterion.