• 콘크리트학회논문집
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• 제28권2호
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• pp.167-176
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• 2016

이 연구는 다양한 콘크리트에 대해 전단마찰 거동에 의해 지배되는 부재에서 전단전달 기구를 설명하고 합리적인 전단마찰내력을 평가하기 위한 모델을 제안하였다. 제안된 모델의 기본식은 횡보강근과 작용 축응력을 고려하여 소성론의 상계치 이론(Upper-bound theorem)에 기반하여 유도하였다. 콘크리트는 수정 Coulomb 파괴 기준에 의해 완전한 소성 강체로 고려하였다. 콘크리트 유효강도에서 콘크리트 종류와 최대 골재 크기에 따른 영향을 적용하기 위해 Yang et al.의 압축 응력-변형률 모델과 CEB-FIP의 인장 응력-변형률 모델을 적용하였다. 이 응력-변형률 모델들을 이용한 완전 소성모델로의 변환을 통하여 유효압축강도계수, 유효강도비 그리고 콘크리트 마찰각을 간단한 식으로 일반화 하였다. 제시된 전단마찰내력 모델은 기존 연구에서 제시된 모델과 함께 91개의 직접전단 실험결과와 비교하였다. 그 결과로 이 연구에서 제시된 모델은 콘크리트 종류, 횡보강근 양 그리고 작용 축응력을 고려하여 전단마찰내력을 평가할 수 있었으며, 예측값에 대한 실험값의 비의 평균과 표준편차가 각각 0.95, 0.15로서 기존 식들에 비해 더 정확한 결과를 얻을 수 있었다.

• 한국지반공학회논문집
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• 제34권2호
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• pp.5-17
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• 2018

본 연구에서는 연약지반에서의 재하/제하에 대한 안정해석과 응력-변형 해석시 전단 파라미터(UU; Unconsolidated Undrained, CU; Consolidated Undrained(전응력), ${\bar{CU}}$ ; Consolidated Undrained(유효응력))에 따른 초기 지중응력, 강도, 응력-변형 특성을 평가하였다. 시공단계를 고려한 유한요소 해석시 입력하는 전단 파라미터에 따라 초기 지중응력과 이후 해석 결과가 달라질 수 있음을 확인하였다. 특히, Mohr-Coulomb 모델의 입력 파라미터인 내부마찰각(Phi)을 0으로 입력하여 초기 지중응력과 이후 응력-변형 거동을 해석할 경우 잘못된 결과를 도출 할 수 있다는 것을 확인하였다. 전응력 파라미터, CU를 초기 및 전단시 일괄 적용한 해석과 유효응력 파라미터, CU에서 전응력 파라미터, CU로 변경한 해석 결과가 큰 차이를 보이지 않았다. 따라서, 연약지반에 대한 수치해석시 CU 파라미터를 적용하여도 초기 지중응력과 이후 응력-변형 거동에 큰 차이 없이 예측할 수 있음을 알 수 있었다. 또한, 실무에서 적용하기 편한 방법으로 실제 흙의 거동과 동일한 강도를 갖는 Mohr-Coulomb 모델의 전단 파라미터를 산정하는 방법을 제안하였다.

• Coupled systems mechanics
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• 제4권4호
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• pp.279-295
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• 2015

The article presents a theoretical-experimental approach developed for modeling the coefficient of sliding friction in the dynamic system tool-workpiece in slide diamond burnishing of low-alloy unhardened steels. The experimental setup, implemented on conventional lathe, includes a specially designed device, with a straight cantilever beam as body. The beam is simultaneously loaded by bending (from transverse slide friction force) and compression (from longitudinal burnishing force), which is a reason for geometrical nonlinearity. A method, based on the idea of separation of the variables (time and metric) before establishing the differential equation of motion, has been applied for dynamic modeling of the beam elastic curve. Between the longitudinal (burnishing force) and transverse (slide friction force) forces exists a correlation defined by Coulomb's law of sliding friction. On this basis, an analytical relationship between the beam deflection and the sought friction coefficient has been obtained. In order to measure the deflection of the beam, strain gauges connected in a "full bridge" type of circuit are used. A flexible adhesive is selected, which provides an opportunity for dynamic measurements through the constructed measuring system. The signal is proportional to the beam deflection and is fed to the analog input of USB DAQ board, from where the signal enters in a purposely created virtual instrument which is developed by means of Labview. The basic characteristic of the virtual instrument is the ability to record and visualize in a real time the measured deflection. The signal sampling frequency is chosen in accordance with Nyquist-Shannon sampling theorem. In order to obtain a regression model of the friction coefficient with the participation of the diamond burnishing process parameters, an experimental design with 55 experimental points is synthesized. A regression analysis and analysis of variance have been carried out. The influence of the factors on the friction coefficient is established using sections of the hyper-surface of the friction coefficient model with the hyper-planes.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2004년도 ICCAS
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• pp.1901-1905
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• 2004

A controller designed by CDM for a servo type system which is an augmented system constructed from a rotational inverted pendulum with an integrator added to its arm, is presented in this paper. In order to be able to apply the CDM concept, the augmented system must be linearized and converted into controllable canonical form. Then, the controller consisting of the state feedback gain matrix and an integral gain in the sense of CDM can be obtained. This shows that design procedure for the proposed controller is easy. The experimental results obtained from the rotational inverted pendulum controlled by the proposed controller show that the system response has no steady-state error, however, the oscillation amplitude of the arm angle is still significant. Therefore, in this paper, the friction compensation using Coulomb friction with stiction is also added to the controller. The oscillation amplitude of the arm angle that can be reduced remarkably is also shown in the experimental results.

• 한국가스학회지
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• 제12권4호
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• pp.46-51
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• 2008

본 연구에서는 비선형 디스크 스프링과 고무링으로 구성된 완충장치의 감쇠에 관하여 연구하였다. 고무링의 마찰력과 디스크 스프링의 이력현상을 측정하여, 디스크 스프링의 적층 배열에 따른 이력곡선을 근사하고, 소산되는 에너지의 양을 추산하였다. 마찰력과 소산 에너지에 근거하여 네 종류의 감쇠 해석모델을 제시하였으며, 각각의 모델에 대한 충격응답을 고찰하였다. 고무링의 마찰력보다는 디스크 스프링의 이력현상이 완충장치의 감쇠거동에서 더 큰 영향을 미치었다. 가장 실용적인 감쇠 모델로는 소산되는 총 에너지의 양에 근거한 등가 점성 감쇠 모델이 다른 감쇠 모델보다 적합하다는 결론을 얻었다.

• Geomechanics and Engineering
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• 제12권3호
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• pp.399-415
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• 2017

A series of direct shear tests were conducted to investigate the frictional properties of the interface between structures and the filling soil of Chongqing airport fourth stage expansion project. Two types of structures are investigated, one is low carbon steel and the other is the bedrock sampled from the site. The influence of soil water content, surface roughness and material types of structure were analyzed. The tests show that the interface friction and shear displacement curve has no softening stage and the curve shape is close to the Clough-Duncan hyperbola, while the soil is mainly shear contraction during testing. The interface frictional resistance and normal stress curve meets the Mohr-Coulomb criterion and the derived friction angle and frictional resistance of interface increase as surface roughness increases but is always lower than the internal friction angle and shear strength of soil respectively. When surface roughness is much larger than soil grain size, soil-structure interface is nearly shear surface in soil. In addition to the geometry of structural surface, the material types of structure also affects the performance of soil-structure interface. The wet interface frictional resistance will become lower than the natural one under specific conditions.

• Structural Engineering and Mechanics
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• 제63권5호
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• pp.691-702
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• 2017

Clearances are essential for the assemblage of mechanisms to allow the relative motion between the joined bodies. This clearance exists due to machining tolerances, wear, material deformations, and imperfections, and it can worsen the mechanism performance when the precision and smoothly-working are intended. Energy is a subject which is less paid attention in the area of clearance. The effect of the clearance on the energy of a flexible slider-crank mechanism is investigated in this paper. A clearance exists in the joint between the slider and the coupler. The contact force model is based on the Lankarani and Nikravesh model and the friction force is calculated using the modified Coulomb's friction law. The hysteresis damping which has been included in the contact force model dissipates energy in clearance joints. The other source for the energy loss is the friction between the journal and the bearing. Initial configuration and crank angular velocity are changed to see their effects on the energy of the system. Energy diagrams are plotted for different coefficients of friction to see its influence. Finally, considering the coupler as a flexible body, the effect of flexibility on the energy of the system is investigated.

• 항공우주시스템공학회지
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• 제9권4호
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• pp.23-30
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• 2015

The focal plane image stabilization for a camera is one of the most effective method that can increases the digital camera's image quality by compensating the vibration disturbance. The optical image stabilization can be implemented by making the focal plane to trace the path of incident light. To control the position of focal plane motion compensating stage precisely, a nonlinear control algorithm has been applied by considering coulomb friction which is nonlinear behavior of the compensator system. In our study, we have analyzed the hand shaking vibration using the gyro sensor, and made a mathematical model of compensating stage containing optical sensor and piezo-actuator. Then the nonlinear control algorithm has been designed and its performance has been verified by experiment. In this study, a friction driven peizo-electric actuator with $1{\mu}m$ resolution and 10mm/s speed has been used for stage movement.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1999년도 하계학술대회 논문집 B
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• pp.770-772
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• 1999

본 논문은 마찰력을 갖는 기계시스템에 대한 시간최적제어문제의 엄밀한 해를 제시한다. 특히 최적제어입력을 되먹임 형태로 구한다. 기존의 연구들에서 미리 보상되거나 무시되던 Coulomb 마찰력까지 완전히 고려하여 빠른 응답을 얻는데 제어입력을 최대한 활용할 수 있게 한다.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1996년도 추계학술대회 논문집
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• pp.401-405
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• 1996

A new method of nonlinear robust controller synthesis is introduced which is an extension of linear mixed $H_2/H_{\infty}$ control. This method guarantees robust stability fur hard nonlinearity and uncertainty of the plant. The method is applied to the control of a flexible link of robot with Coulomb friction. Simulation shows good performances with respect to the response and the robustness.