• 한국공작기계학회논문집
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• 제12권6호
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• pp.77-83
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• 2003

This paper deals with a position control problem of a hydraulic proportional position control system using a nonlinear friction compensation control. As nonlinear friction, stiction and coulomb friction forces are considered and modeled as deadzone and external disturbance respectively. In order to compensate this nonlinearities, we designed the controller which is the adaptive friction compensator using discrete time Model Reference Adaptive Control method in this paper. Digital Signal Processing board is employed for data acquisition and manipulation. The experimental results show that response is slow and steady-state error cannot be compensated properly without friction compensation but this compensator is effective to obtain fast response and good steady-state response.

• 한국산학기술학회논문지
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• 제20권2호
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• pp.425-433
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• 2019

본 연구에서는 한계평형법에 근거한 수동토압계수 산정에 있어서의 간단한 방법을 제시하고 그로부터 계산된 수동토압계수를 기존의 연구자들에 의한 값들과 비교해 보았다. 옹벽 배면에서의 파괴면을 구성하는 대수나선과 직선 중에서 직선파괴면의 경사각을 유도하여 수동토압계수 산정방법에 반영하였다. 그리고 수동토압계수 산정시 Rankine 수동영역에 작용하는 토압력의 분력을 고려하기 보다는 전체를 고려하였다. 본 연구를 통해 제안된 방법을 통해 구한 수동토압계수는 Coulomb 수동토압계수와 같이 뒤채움 흙의 지표면의 경사각이 증가할수록 커지고 벽체의 경사각이 감소할수록 작아지는 경향을 보였다. 또한 본 연구를 통해 얻은 수동토압계수는 비교를 위해 고려한 거의 모든 경우에 있어 Coulomb 수동토압계수 보다 작게 계산되었다. 벽마찰각의 변화에 따른 수동토압계수를 비교해 보면 제안된 방법을 통해 계산된 수동토압계수가 Coulomb 수동토압계수 보다 작게 계산되었는데 흙의 내부마찰각이 클수록, 벽마찰각이 증가할수록 그 차이는 컸다. 본 연구에서 고려한 5개의 내부마찰각 중에서 일반적인 사질토의 내부마찰각의 범주에 해당되는 $25^{\circ}$, $30^{\circ}$, $35^{\circ}$ 그리고 $40^{\circ}$와 3개의 벽마찰각에 대하여, 본 연구를 통해 얻은 수동토압계수와 기존의 연구자들에 의한 수동토압계수를 비교해보면 Kerisel and Absi 방법, Soubra 방법, Lancellotta 방법, $Ant\tilde{a}o$ 등에 의한 방법, Kame 방법 그리고 Reddy 등에 의한 방법에 대한 최대 차이율은 각각 4.8%, 3.8%, 31.1%, 4.0%, 20.6% 그리고 12.8% 였는데 전체적으로 볼 때 기존의 연구자들에 의한 값들과 큰 차이를 보이지는 않았다.

• Tribology and Lubricants
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• 제37권3호
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• pp.112-116
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• 2021

Appropriate friction model usage is important for impact analysis because the relative motions between parts that are in contact for very short durations can vary greatly depending on the friction model. Vehicle seat components that have significant effects on impact analysis are also considered. This paper presents an experimental investigation of various material contact pairs to obtain the friction parameters of the Benson exponential friction model for impact simulation. The Coulomb friction model has limitations for impact analysis because of singularity at zero velocity. Metal/nonmetal materials are prepared, and friction tests are conducted for various sliding speeds, loads, and lubrication conditions. The obtained data are used in the friction model to implement finite element analysis. The parameters of the friction model are obtained by the curve-fitting method. The experimental results show that the friction coefficient with metal/nonmetal contact pairs is stable regardless of the working conditions. The friction model used in this study can also be applied for finite element analysis of the crash conditions, where the friction changes abruptly at the contact interface; the obtained friction parameters are also expected to be more accurate with more precise tests under different working conditions. These results can help improve the accuracy of the finite element analysis.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1996년도 추계학술대회 논문집
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• pp.346-350
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• 1996

In optical disk drives, one of commonly used pickup actuator is a Sliding and rotary type of pickup actuator which is cheaper than other pickup actuators and has simple assembly. However, it reported that non-linearity due to friction between a shaft and a sleeve had to be considerably analyzed in design and servo system in employing this type of pickup actuator. In this paper, this friction is modeled as a Coulomb's friction and the effect of friction is examined in the simulation. A digital servo system is applied to pickup actuator with friction in order to have good focusing servo. To enhance focusing servo performance using digital servo merit, frist PD-controller is applied to have fast response performance, second lead-lag compensator is applied to have stable focusing performance.

• 한국정밀공학회지
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• 제16권3호통권96호
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• pp.109-115
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• 1999

This paper presents a stabilization control designed to improve position stabilization performance of a position servo-system(turret) mounted on a manuvering platform(vehicle). In the consideration of the motion of the platform, a dynamic model of the stabilization system is derived and shows the viscous and stick-slip friction torques are the major source of stabilization errors. An extended generalized minimum variance control which consists of a feedforward disturbance compensation as well as a pole placement feedback control is suggested to reduce the stabilization errors caused from the friction disturbances. This modeling and control are applied to a small experimental set-up and the experimental results confirm the accuracy of the model and the effectiveness of the suggested control.

• Journal of Mechanical Science and Technology
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• 제18권10호
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• pp.1755-1762
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• 2004

Friction phenomenon can be described as two parts, which are the pre-sliding and sliding regions. In the motion of the sliding region, the friction force depends on the velocity of the system and consists of the Coulomb, stick-slip, Streibeck effect and viscous frictions. The friction force in the pre-sliding region, which occurs before the breakaway, depends on the position of the system. In the case of the motion of the friction in the sliding region, the LuGre model describes well the friction phenomenon and is used widely to identify the friction model, but the motion of the friction in the pre-sliding such as hysteresis phenomenon cannot be expressed well. In this paper, a modified friction model for the motion of the friction in the pre-sliding region is suggested which can consider the hysteresis phenomenon as the Preisach model. In order to show the effectiveness of the proposed friction model, the sliding mode controller (SMC) with hysteresis friction compensator is synthesized for a ball-screw servo system.

• 터널과지하공간
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• 제22권6호
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• pp.462-470
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• 2012

일반화된 Hoek-Brown 암반파괴조건식을 Mohr-Coulomb 파괴조건에 기초한 암반구조물 해석법에 적용시키기 위해서는 등가 마찰각과 등가 점착력을 계산하는 과정이 필요하다. Balmer(1952)이론에 기초한 기존의 접선 순간마찰각과 순간점착력 계산식은 최소주응력 ${\sigma}_3$의 함수로 표시되므로 등가 강도정수의 정수압 의존성 및 응력경로 의존성을 이해하는 데 적합지 않다. 이 연구에서는 응력불변량을 이용하여 일반화된 Hoek-Brown식의 접선 순간마찰각과 순간점착력 계산하는 방법을 제시하여 기존의 방법이 갖는 단점을 극복하였다. 제시된 방법을 이용한 예제 해석을 통해 접선 순간마찰각과 순간점착력의 정수압 의존특성 및 파괴곡면의 팔면체 단면에서 Lode각의 의존성을 고찰하였다. 접선 순간마찰각은 삼축신장 응력조건에서 가장 크며, 접선 순간점착력은 삼축압축 응력조건에서 가장 큰 것으로 나타났다. 접선 순간마찰각과 순간점착력의 정수압 및 Lode각 의존성은 GSI 값이 큰 양호한 암반에서 상대적으로 큰 것으로 나타났다.

• Structural Engineering and Mechanics
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• 제81권5호
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• pp.591-606
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• 2022

When the friction pendulum system and shear keys work together to resist the ground motion, which inclined inputs (non 45°) to the bridge structure, the shear keys in XY direction will be sheared asynchronously, endowed the friction pendulum system with a violent curvilinear motion on the sliding surface during earthquakes. In view of this situation, firstly, this paper abandons the equivalent linearization model of friction and constructs a Spring-Coulomb friction plane isolation system with XY shear keys, and then makes a detailed mechanical analysis of the movement process of friction pendulum system, next, this paper establishes the mathematical model of structural time history response calculation by using the step-by-step integration method, finally, it compiles the corresponding computer program to realize the numerical calculation. The results show that the calculation method in this paper takes advantage of the characteristic that the friction force is always µmg, and creatively uses the "circle making method" to express the change process of the friction force and resultant force of the friction pendulum system in any calculation time step, which can effectively solve the temporal nonlinear action of the plane friction; Compared with the response obtained by the calculation method in this paper, the peak values of acceleration response and displacement response calculated by the unidirectional calculation model, which used in the traditional research of the friction pendulum system, are smaller, so the unidirectional calculation model is not safe.

• Computers and Concrete
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• 제4권2호
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• pp.119-134
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• 2007

External bonding of steel or FRP plates to reinforced concrete (RC) structures has been a popular method for strengthening RC structures; however, unexpected premature failure often occurs due to debonding between the concrete and the epoxy. We proposed a Coulomb criterion with a constant failure surface as the debonding failure criterion for the concrete-epoxy interface. Diagonal shear bonding tests were conducted to determine the debonding properties that were related to the failure criterion, such as the angle of internal friction and the coefficient of cohesion. In addition, an interface element that utilized the Coulomb criterion was implemented in a nonlinear finite element analysis program to simulate debonding failure behavior. Experimental studies and numerical analysies on RC beams strengthened by an externally bonded steel or FRP plate were used to determine the range of the coefficient of cohesion. The results that were presented prove that premature failure loads of strengthened RC beams can be predicted with using the bonding properties and the finite element program with including the proposed Coulomb criterion.

• 터널과지하공간
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• 제15권3호
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• pp.228-235
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• 2005

Hoek-Brown의 파괴기준식으로부터 암반의 내부마찰각 및 점착강도를 계산한 후, Mohr-Coulomb의 항복함수를 이용하여 소성 보정이 적용될 수 있는 것으로 알려져 있다. 하지만 본 연구에서는 이러한 계산 과정이 연약 암반이나 낮은 봉압 조건의 암반에 대해서는 적합하지 않다는 사실을 보여주고자 한다. 즉, Hoek-Broun 재료 모델로부터 직접 및 간접적 적용에 의해 소성 보정을 수행하는 과정을 제시하였으며, 이를 통해 직접적 적용이 간접적 적용에 비해, 비선형 파괴면을 더욱 효과적으로 모사할 수 있고, 특히 봉압이 낮은 응력 조건에서 효과적임을 보여주고자 한다.