• Journal of the Korean Society of Manufacturing Process Engineers
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• v.19 no.6
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• pp.1-8
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• 2020

This paper proposes a method for measuring friction forces and creating a friction model for a rotary motion control system as well as an autonomous vehicle testbed. The friction forces versus the velocity were measured, and the viscous friction, Coulomb friction, and stiction were identified. With a nominal PID (proportional-integral-derivative) controller, we observed the adverse effects due to friction, such as excessive steady-state errors, oscillations, and limit-cycles. By adding an adequate friction model as part of the augmented nonlinear dynamics of a plant, we were able to conduct a simulation study of a motion control system that well matched experimental results. We have observed that the implementation of a model-based friction compensator improves the overall performance of both motion control systems, i.e., the rotary motion control system and the Altino testbed for autonomous vehicle development. By utilizing a better simulation tool with an embedded friction model, we expect that the overall development time and cost can be reduced.

• Transactions of the Korean Society of Mechanical Engineers
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• v.15 no.1
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• pp.1-10
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• 1991

Two-dimensional explicit finite element code was developed. The transient dynamics code can analyse large deformations of non-linear materials subjected to extremely high strain rates. The Lagrangian finite element program uses an explicit time integration operator to integrate the equations of motion, thus the stiffness matrix is not introduced. Cylinder upsetting and ring compression problems are simulated to check the effects of friction and inertia force. It is shown that (1) calculated results agree very well with experimental results, (2) constant shear friction method overestimates the decrease of inner ring radius and then underestimates after on in comparison with the Coulomb friction method, and (3) the effect of the increase in initial strain rate is similar to the effect of higher frictional coefficient.

• Journal of the Korean Institute of Gas
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• v.12 no.4
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• pp.46-51
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• 2008

The damping of a shock absorption device composed of nonlinear disk spring stacks and rubber rings was investigated. Friction forces of rubber rings and hysteresis of disk springs were obtained experimentally. The hysteresis curves of several types of disk spring stacks were approximated, from which the energy dissipated was estimated. Based upon the friction force and the energy dissipated, 4 damping models were presented and shock responses of the damping models were investigated. The hysteresis of disk spring is more meaningful than the friction of the rubber ring for the damping. For practical use, equivalent viscous damping model for total energy dissipated per cycle was suggested.

• Transactions of the Korean Society of Mechanical Engineers
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• v.15 no.5
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• pp.1551-1562
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• 1991

최근까지 발표된 유한 요소법을 이용한 압연 해석 관련 주요 논문들을 정리해 보면 다음과 같다. Li와 Kobayashil는 강소성 유한 요소법(rigidplastic finite element method)을 여러가지 마찰조건에 대하여 해석하였다. 이때 압연롤은 강체 (rigid body)로 시편은 가공경화(workhardening)를 동반한 강소성체로 모델링하였다. Hwang과 Kobayashi는 강소성 유한 요소법을 이용한 평면 변형 압연에서 재료 손실을 최소화하는 예비 성형체(preform)의 설계에 대한 연구를 수행하였다. 이 경우에도 역시 압연롤은 강체로 시편은 가공 경화를 동반한 강소성체와 완전 소성체로 모델링 되었으나, 고착(sticking) 마찰 조건에 대해서만 해석을 수행하였다. Mori와 Osak- ada 그리고 Oda는 약간 압축성이 있는 재료의 평면 변형 압연에 대하여 연구하였다. 이때 압연롤은 강체로 시편은 가공 경화를 동반한 강소성체로 모델링 되었으며 경계 면에서는 Coulomb 마찰을 고려하였다. 이밖에도 오일러(Eulerian) 수식화를 이용한 Dawson과 Thompson, Berman의 해석 결과가 있으며, 또 폭 방향의 변형까지를 고려한 Li와 Kobayashi, Mori와 Osakada의 3차원 해석 결과가 있다.

• Tunnel and Underground Space
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• v.26 no.2
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• pp.100-109
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• 2016

This study suggests three spatial distribution functions of strength parameters, which can be adopted in the derivation of failure conditions for transversely isotropic rocks. All three proposed functions, which are the oblate spheroidal function, the exponential function, and the function based on the directional projection of the strength parameter tensor, consist of two model parameters. With assumption that the cohesion and friction angle can be described by the proposed distribution functions, the transversely isotropic Mohr-Coulomb criterion is formulated and used as a failure condition in the simulation of the conventional triaxial tests. The simulation results confirm that the failure criteria incorporating the proposed distribution functions could reproduce the general trend in the variations of the axial stress at failure and the directions of failure planes with varying inclination of the weankness planes and confining pressure. Among three distribution functions, the function based on the directional projection of the strength parameter tensor yields the highest axial strength, while the axial strength estimated by the oblate spheroidal distribution function is the lowest.

• Journal of the Korean Geotechnical Society
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• v.24 no.11
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• pp.91-100
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• 2008

This study proposes the equations evaluating the shear strength of cemented sand by analytical interpretation based on Mohr-Coulomb failure criteria, and verifies them using the results of triaxial and unconfined compression tests. The internal friction angle of cemented sand is identical to that of uncemented one regardless of the stress level, while the cohesion intercept of cemented sand is constant before the breakage of cementation bonds. Therefore, the shear strength of cemented sand can be represented as a summation of the shear strength of uncemented sand and the unconfined compressive strength of cemented sand. In addition, the cohesion intercept of cemented specimen can be expressed as a function of unconfined compressive strength and friction angle. In the transition zone, assuming a constant shear strength, the equations to evaluate shear strength and cohesion intercept of cemented sand are also represented. It is observed that the predicted values using these solutions agree well with the experimental results. The experimental results also show a linear relationship between the unconfined compressive strength and the breaking point of cementation bonds.

• Journal of the Institute of Electronics Engineers of Korea SC
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• v.39 no.6
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• pp.9-19
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• 2002

An NAC(Natural Admittance Control) system design is presented for interaction controller that achieves high-performance and guarantees stability. The NAC can be classified as a particular flavor of impedance control similar to control schemes that have velocity compensator and force compensator. The NAC significantly improves the response characteristics when Coulomb friction is presented in One-link Robot System and guarantees stability when robot contacts with environment. Pragmatic rules for NAC synthesis are derived. It shows method to choose a target impedance for realizable force compensator. Important parameters are found experimentally. It is demonstrated, by the experimental result, that NAC algorithm is successful in rejecting Coulomb friction through velocity compensator and guarantees stability through force compensator. We implement an experimental set-up consisting of environment-generated one-link robot system and DSP system for controller development. We apply the natural admittance controller to the One-link robot system, and show the good performance on desired force control in case of contacting with arbitrary environment.

• Journal of the Korea Concrete Institute
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• v.13 no.3
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• pp.221-227
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• 2001

Both strength and stiffness of RC structures strengthened by a steel plate greatly increase and however, their ductility might not be sufficient because premature failures usually occur at the adhesive-concrete interface. In this study, Mohr-Coulomb criterion was adopted to examine the bonding failure mechanism, and the diagonal shear bonding test, the direct shear bonding test, and the flexural test on RC beams strengthened by a steel plate were carried out to measure the bonding properties. It is found from the experimental and numerical results that the cohesive strengths of epoxy-concrete interfaces are ranging from 50 kgf/㎠ to 70 kgf/㎠ when the friction angle is 45°. Bonding failure loads can be predicted by applying the bonding properties to the structural analysis of RC beams strengthened by steel plate. By considering them in the design of strengthened beams, the premature failure would be effectively prevented.

• Journal of the Korean Geotechnical Society
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• v.35 no.10
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• pp.47-66
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• 2019

A parametric numerical analysis according to diameter, length, and N values of soil was conducted for the PHC pile socketed into weathered rock through sandy soil layers. In the numerical analysis, the Mohr-Coulomb model was applied to PHC pile and soils, and the contacted phases among the pile-soil-cement paste were modeled as interfaces with a virtual thickness. The parametric numerical analyses for 10 kinds of pile diameters were executed to obtain the load-settlement relationship and the axial load distribution according to N-values. The load-settlement curves were obtained for each load such as total load, total skin friction, skin friction of the sandy soil layer, skin friction of the weathered rock layer and end bearing resistance of the weathered rock. As a result of analysis of various load levels from the load-settlement curves, the settlements corresponding to the inflection point of each curve were appeared as about 5~7% of each pile diameter and were estimated conservatively as 5% of each pile diameter. The load at the inflection point was defined as the mobilized bearing capacity ($Q_m$) and it was used in analyses of pile bearing capacity. And SRF was appeared above average 70%, irrespective of diameter, embedment length of pile and N value of sandy soil layer. Also, skin frictional resistance of sandy soil layers was evaluated above average 80% of total skin frictional resistance. These results can be used in calculating the bearing capacity of prebored PHC pile, and also be utilized in developing the bearing capacity prediction method and chart for the prebored PHC pile socketed into weathered rock through sandy soil layers.

• Journal of Korean Society of Steel Construction
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• v.14 no.6
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• pp.755-763
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• 2002

Multispan simply supported bridges and multispan continuous bridges take a large portion of bridges in Central and Southeastern United Sates. The superstructure of the bridges are supported by steel rocker bearings. In general, the rocker bearings are modeled with ideal rollers or Coulomb fricition in seismic analysis. However, the rocker bearings have rocking action on pintles after rolling some distance. This rocking action may have considerable effect on the seismic performance of bridges. This study compares the effect of expansion rocker bearings models on a multispan simply supported and a multispan continuous bridge. Since the ideal roller model produces larger responses than the rocking model, its use is undesirable. However, the fricition and hardening model does not have much difference from the responses of the rocking model. In addition, the use of the tow models is convenient in seismic analyses of bridges. Although the rocking model can obtain more exact responses, its behavior is complicated and it may induce the conversion problem in time history analysis because it includes the abrupt changing of stiffiness. The friction and hardening model of expansion rocker bearings is therefore recommended in sesismic analysis.