• Tunnel and Underground Space
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• v.12 no.4
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• pp.277-283
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• 2002

This experimental study concerns the characteristics of a helical flow in a concentric annulus with a diameter ratio of 0.52, whose outer cylinder is stationary and inner one is rotating. The pressure losses and skin friction coefficients have been measured for the fully developed flow of Non-Newtonian fluid, aqueous solution of sodium carbomethyl cellulose (CMC) and bentonite with inner cylinder rotational speed of 0~400 prm. Also, the visualization of helical flows has been performed to observe the unstable waves. The results of present study reveal the relation of the Reynolds number Re and Rossby number Ro with respect to the skin friction coefficients. In somehow, they show the existence of flow instability mechanism. The pressure losses increase as the rotational speed increases, but the gradient of pressure losses decreases as the Reynolds number increases in the regime of transition and turbulence. And the increase of flow disturbance by Taylor vortex in a concentric annulus with rotating inner cylinder results in the decrease of the critical Reynolds number with the increase of skin friction coefficient.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.34 no.3
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• pp.369-374
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• 2010

Linear motors are easily affected by load disturbances, force ripples, friction, and parameter variations because there are no mechanical transmissions that can reduce the effects of model uncertainties and external disturbance. In this study, a nonlinear adaptive controller to achieve high-speed/high-accuracy position control of a two-axis linear motor is designed. The operation of this controller is based on a cross-coupling algorithm. Nonlinear effects such as friction and force ripples are estimated and compensated for. An enhanced cross-coupling algorithm is proposed for effectively improving the biaxial contour accuracy while achieving closed-loop stability. The proposed controller is evaluated by performing computer simulations.

• Journal of the Korean Institute of Intelligent Systems
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• v.25 no.1
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• pp.7-14
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• 2015

To implement an automatic picking system (APS) in distribution center with high precision and high dynamics, this paper presents a high gain observer-based robust speed controller design for a linear induction motor (LIM) drive. The force disturbance as well as the mechanical parameter variations such as the mass and friction coefficient gives a direct influence on the speed control performance of APS. To guarantee a robust control performance, the system uncertainty caused by the force disturbance and mechanical parameter variations is estimated through a high gain disturbance observer and compensated by a feedforward manner. While a time-varying disturbance due to the mass variation can not be effectively compensated by using the conventional disturbance observer, the proposed scheme shows a robust performance in the presence of such uncertainty. A Simulink library has been developed for the LIM model from the state equation. Through comparative simulations based on Matlab - Simulink, it is proved that the proposed scheme has a robust control nature and is most suitable for APS.

• KSCE Journal of Civil and Environmental Engineering Research
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• v.38 no.1
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• pp.63-71
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• 2018

In this study, the torque and horizontal stress acting on vane were measured and then used to determine a friction angle of sand. A dry Nakdong River sand was prepared for loose and dense conditions in a cell and then pressurized with 25, 50, 75 or 100 kPa from the surface of sand. A vane (5cm in diameter and 10cm in height) was rotated and the torque and horizontal stress were measured at real time. A maximum torque was 3.5-9.5Nm for loose sand and 7.4-17.6Nm for dense sand, respectively. The maximum torque increased as an overburden pressure increased. The maximum torque obtained at 14-20 degrees of vane rotation, which was not influenced by the initial alignment of earth pressure and vane blade. An initial horizontal stress ratio was 0.33-0.35 on the average. The horizontal stress increased initially and then decreased due to particle disturbance. A friction angle was calculated from real time varying horizontal stress and torque, which decreased with increasing overburden pressure. The friction angle of loose sand from vane shear test was similar to that of direct shear test but that of dense sand was overestimated.

• Proceedings of the Korean Society for Technology of Plasticity Conference
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• 2008.10a
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• pp.62-65
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• 2008

Extrusion characteristics of Mg alloys were studied experimentally. The Al-Zn-Mg alloys, AZ31, AZ6l, AZ80, and AZ91 were extruded with hot hydrostatic extrusion process. The hydrostatic process was efficient to reduce surface friction and extend steady state region in extrusion which made it more convenient to examine deformation behavior of the alloys avoiding the disturbance caused by temporary contact state between billet and die, and billet and container. High pressure was cooperative to expand forming limit of the alloys which were applied on the billet during the extrusion process. Extrusion limits were traced in temperature and extrusion speed domain with changing composition of the alloying elements. Effects of process parameters on extrusion load and microstructure evolution were investigated also.

• Journal of Advanced Marine Engineering and Technology
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• v.29 no.1
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• pp.132-139
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• 2005

This paper describes the application of sliding mode control based on the variable structure control(VSC) concept for high-performance position control of an induction servo motor A design method based on external load parameters has been developed for the robust control of AC induction servo drive. Also, a slip frequency vector control with software current control technique has been adopted to achieve fast response of an induction motor drive The position control scheme is comprised of a variable structure controller and slip frequency vector control for inverter fed induction servo motor. Simulated results are given to verify the proposed design method by adoption of sliding mode and show robust control for a change of shaft inertia, viscous friction and torque disturbance.

• Journal of Institute of Control, Robotics and Systems
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• v.6 no.8
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• pp.689-696
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• 2000

In this paper we propose an eminent controller for wheeled mobile robots. This controller consists of an input-output linearization controller trying to stabilize the system and a neural network controller to compensate for uncertainties. The uncertainties are divided into two parts. First unstructured uncertainties include the elements related with system order such as friction disturbance. Second structure uncertainties are the incorrect system parameters A neural network structure of the proposed overall controller learns structural errors of the wheeled mobile robots with uncertainties and includes the neural network output. This controller learns quickly the model and has good tracking performance Simulation results show that the proposed controller is more efficient than analog controllers.

• Journal of the Korean Society for Precision Engineering
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• v.16 no.1 s.94
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• pp.219-225
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• 1999

Monitoring of the cutting force signals in cutting process has been well emphasized in machine tool communities. Although the cutting force can be directly measured by a tool dynamometer, this method is not always feasible because of high cost and limitations in setup. In this paper an indirect cutting force monitoring system is developed so that the cutting force in turning process is estimated based on a AC spindle drive model. This monitoring system considers the cutting force as a disturbance input to the spindle drive and estimates the cutting force based on the inverse dynamic model. The inverse dynamic model represents the dynamic relation between the cutting force, the motor torque and the motor power. The proposed monitoring system is realized on a CNC lathe and its estimation performance is evaluated experimentally.

• Journal of Mechanical Science and Technology
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• v.18 no.11
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• pp.1916-1922
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• 2004

A robust position control with the bound function of neural network structure is proposed for uncertain robot manipulators. The uncertain factors come from imperfect knowledge of system parameters, payload change, friction, external disturbance, and etc. Therefore, uncertainties are often nonlinear and time-varying. The neural network structure presents the bound function and does not need the concave property of the bound function. The robust approach is to solve this problem as uncertainties are included in a model and the controller can achieve the desired properties in spite of the imperfect modeling. Simulation is performed to validate this law for four-axis SCARA type robot manipulator.

• Journal of KSNVE
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• v.7 no.3
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• pp.387-392
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• 1997

This paper concerns a SCARA robot with the flexible forearm linked to the rigid upper arm. The equations of motion are derived by the Lagrangian mechanics. For controller design, the perturbation approach is taken to separate the original equations of motion into linear equations describing small perturbed motions and nonlinear equations describing purely rigid motion of the robot. To effect the desired payload motion, open loop control inputs are determined based on the inverse dynamics of the latter. In order to reduce the positional error during maneuver, an active vibration suppression is done. To this end, a feedback control is designed for robustness against disturbance on the basis of the linear equations and the LQR theory modified to have a prescribed degree of stability. The proposed control scheme shows satisfactory performances in experiments as well as in numerical simulations.