• 제어로봇시스템학회:학술대회논문집
• /
• 2000.10a
• /
• pp.218-218
• /
• 2000

Advanced Vehicle Control Systems(AVCS) is one of the key elements in Intelligent Transportation Systems(ITS). This paper considers the problem of longitudinal control in vehicle platoon on a straight lane of a highway. In a very simplified situation, longitudinal vehicle dynamics contains many nonlinear elements. The nonlinear characteristics are mainly composed of an engine, a torque converter, and a drag force. In this paper, sliding control, one of nonlinear control methods, is applied to longitudinal automated vehicle control for platooning. Output feedback linearization is also simulated for comparison with the sliding control. Simulations for comparative study for the adopted controllers such as sliding control and output feedback linearization are peformed under the same conditions. This Paper aims at clarifying the characteristics of sliding control and output feedback linearization.

• Journal of Institute of Control, Robotics and Systems
• /
• v.7 no.4
• /
• pp.351-361
• /
• 2001

In this paper, a generalized framework called as robust internal-loop compensator(RIC) is presented, and by using this, a structural design method of sliding of sliding mode controller is proposed. First, a general sliding mode controller is derived and a stabilizing control input is designed based on Lyapunov redesign for the system in the presence of uncertainty and disturbance. And adopting the internal model following control, RIC is proposed. Next, using the structural characteristics of the proposed RIC, disturbance attenuation characteristics are analyzed and the performance of the closed-loop system is predicted. Through this analysis, it is shown that if the control gain of RIC is increased by N times, the magnitude of error is reduced to its 1/N. the proposed method is verified through experiments using a high-precision positioning system and the performance is evaluated.

• Journal of the Korean Society of Fisheries and Ocean Technology
• /
• v.44 no.3
• /
• pp.250-256
• /
• 2008

Generally the side plate materials of FRP ship are composed of glass fiber and unsaturated polyester resin composites(GFRP composites). In this study, the effect of applied load and sliding speed on friction and wear characteristics of these materials were investigated at ambient temperature by pin-on-disc friction test. The cumulative wear volume, friction coefficient and wear rate of these materials for SiC abrasive paper were determined experimentally. The cumulative wear volume showed a tendency to increase nonlinearly with increase of sliding distance and was dependent on applied load and sliding speed for these composites. The friction coefficient of GFRP composites was increased as applied load increased at same sliding speed in wear test. It was verified by SEM photograph of worn surface that major failure mechanisms were microfracture, deformation of resin, cutting and cracking.

• KSTLE International Journal
• /
• v.2 no.1
• /
• pp.22-28
• /
• 2001

A resin bonded copper-graphite brush was investigated to evaluate the characteristics electrical signal transmission through a sliding contact as a function of the relative amount of graphite and copper in the brush. Particular attention was given to the correlation between electrical signal fluctuation and tribological properties in an electrical sliding contact system. A ring-on-block type tribotester was used for this experiment and the ring was made from pure copper. Results showed that a copper-graphite brush at a particular composition range exhibited the most stable frictional behavior with a minimum voltage drop. The amount of voltage drop at the friction interface was affected by the surface roughness, transfer film formation at the friction interface, and the real area of contact. Microscopic observations and the surface analysis showed a good agreement with the results from this experiment. The results also indicated that the electrical signal flunctuation was directly associated with the oscillation of the coefficient of friction during sliding by nanoscale variation of contacts at the friction interface.

• 제어로봇시스템학회:학술대회논문집
• /
• 2000.10a
• /
• pp.261-261
• /
• 2000

This paper analyzes the characteristics of pre-sliding friction of an X-Y table of CNC machining center at velocity reversal, and presents a simple and effective method of friction compensation based on this characteristics. At velocity reversal, a large position tracking error occurs because of the discontinuous change of friction. The relationship between the occurrence time of maximum position tracking error and the acceleration at zero velocity is analyzed by using the spring-like friction model. Furthermore, the experimental observation verifies this relation. From this, the state transition tine from pre-sliding regime into sliding regime can be predicted. Using the predicted transition time, the friction can be effectively compensated and table experimental results show its effectiveness.

• Proceedings of the Korean Geotechical Society Conference
• /
• 2000.03b
• /
• pp.457-464
• /
• 2000

Stereographic method is a general and basic method to analyse sliding failure potential of rock slope. Region of failure analysis using stereographic method extend to curved slope from straight slope in this paper, Curved slope is defined as the multi-face slope with free surface more than two face and has different characteristics from straight single face slope. Individual daylight envelopes of free surfaces are combined into total daylight envelope of multi-face slope. So, sliding envelope of multi-face slope is the daylight envelope except friction cone. Specially, If only single joint set is developed in the slope, single plane sliding(or plane failure) is impossible in the single-face straight slope, but possible in the multi-face slope. In the multi-face slope with only one joint set, single plane sliding occurs when orientation of sliding plane is between two side slope orientation in the sliding envelope.

• Tribology and Lubricants
• /
• v.9 no.1
• /
• pp.38-44
• /
• 1993

The present study was undertaken to investigate the dry wear characteristics of die steel STD 11 for cold molding. The wear test was experimentally carried out under different conditions using a wear device, which was made in laboratory, and in which annular surfaces of wear testing specimens wear rubbed in dry sliding condition with varying the sliding speed, contact pressure, and sliding distance. The wear loss by variation of sliding speed was much in 0.3 m/sec and less in higher speed range above its sliding speed according to formation of the boundary lubrication film. The critical sliding speed with maximum value of the specific wear rate switched over to lower speed side according. as contact pressure increased. The critical sliding distance was increased with decrease in oxidation reaction velocity. The depth below subsurface showing maximum hardness (Hv) came out at the position, $60 \mu m$, of the maximum shear stress due to strain hardening.

• Proceedings of the KSR Conference
• /
• 2001.10a
• /
• pp.119-124
• /
• 2001

As the brake control valve of freight car, there are sliding valve and diaphragm one. In this study, we measured and analyzed pneumatic characteristics of brake system of the freight car by using real train experiment. The difference of the release time appears in the freight car incorporated with sliding and diaphragm valve respectively. We adapted quick release valve to reduce the difference of the release time and also found that this valve is useful for the purpose.

• Journal of the Korean Society for Railway
• /
• v.10 no.6
• /
• pp.772-778
• /
• 2007

For the wear characteristics assessment of Saemaul train passing through curves, an analysis model for multi-car system has been developed. By using this model and ADAMS/Rail, sensitivity analyses have been conducted for the wear characteristics by changing the related parameters. At low speed, the wear number and the sliding mean of right wheel showed higher than left wheel, while those of left wheel showed higher than right wheel at high speed. According to the decrease of curve radius, the wear number and the sliding mean were increased. When the length of transition curve was increased, the wear number and the sliding mean was increased. And according to increase of cant, the wear number and the sliding mean were increased.

• Tribology and Lubricants
• /
• v.25 no.4
• /
• pp.243-249
• /
• 2009

A magnetic clutch consists of pulley and disk. It delivers and isolates the power needed for the operation of the compressor used in automotive air conditioning system. To improve the performance, efficiency and durability of automotive air conditioning system, appropriate design of pulley, disk and system working parameters(the magnitude of magnetic force, and so on) is necessary. For that goal, it is required to understand the friction characteristics of magnetic clutch for the initial operating time. In this study, friction tests were carried out in order to investigate the effect of sliding velocity on the friction characteristics of magnetic clutch using pin-on-disk type friction and wear tester. For experiments, pulley and disk used in real automotive air conditioning system were considered. Friction experiments were conducted under various sliding velocities, and coefficients of kinetic friction were obtained. Under the experimental conditions considered in this study, the coefficients of kinetic friction increased with the increase of test number(sliding distance) and decreased with the increase of sliding velocity.