• Journal of the Korean Society for Precision Engineering
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• v.13 no.8
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• pp.155-163
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• 1996

This paper presents vibration and position tracking control of a smart structure using shape memory alloy(SMA) actuators. A governing equation of motion of the proposed structure is obtained via Hamilton's princeple. The dynamic characteristics of the SMA actuator are experimentally identified and incorporated with the governing equation to furnish a control system model. Subsequently, a sliding mode controller which has inherent robustness to external disturbances is formulated on the basis of the sliding mode conplacement, and also for the position tracking control of desired trajectories with low-frequency sine and square waves.

• Smart Structures and Systems
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• v.20 no.1
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• pp.23-33
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• 2017

Variable Curvature Friction Pendulum (VCFP) bearing is one of the alternatives to control excessive induced responses of isolated structures subjected to near-fault ground motions. The curvature of sliding surface in this isolator is varying with displacement and its function is non-spherical. Selecting the most appropriate function for the sliding surface depends on the design objectives and ground motion characteristics. To date, few polynomial functions have been experimentally tested for VCFP however it needs comprehensive parametric study to find out which one provides the most effective behavior. Herein, seismic performance of the isolated structure mounted on VCFP is investigated with two different polynomial functions of the sliding surface (Order 4 and 6). By variation of the constants in these functions through changing design parameters, 120 cases of isolators are evaluated and the most proper function is explored to minimize floor acceleration and/or isolator displacement under different hazard levels. Beside representing the desire sliding surface with adaptive behavior, it was shown that the polynomial function with order 6 has least possible floor acceleration under seven near-field ground motions in different levels.

• Journal of Navigation and Port Research
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• v.35 no.7
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• pp.575-580
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• 2011

It is important to understand the trajectory of structure in launching process because of the short time of launching process may result in unexpected accidents or damage to structures. The high risk of structural failure is not avoidable without the fully comprehension of changing forces in launching procedure. The commercial software can evaluate the motion of launching event in calm water condition but there is the limitation of research application because of the programmed commercial software. The launching process of the spar hull is suggested with stage concept that is divided into 10 stages in time domain. A force equilibrium diagram is derived for each stage where the changes of force vector and motion characteristics take place. In particular, the effects of changes in buoyancy and drag force due to the progressive submergence of the spar hull are taken into account by means of a touch length concept. The results contained in this paper provide the valuable information of the trajectory motion evaluation with suggested methods in spar launching process with sliding barge. Furthermore, the presented stage concept and touch length concept will provide basic knowledge for understanding launching process and help to develop further research area for launching analysis.

• Transactions of the Korean Society of Automotive Engineers
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• v.12 no.3
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• pp.159-169
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• 2004

In this study, integration control of air-cell seat and semi-active suspension is proposed to minimize the road-tyre force which can cause uncomfortable feeling to rider. The proposed integration control with sliding perturbation observer is consisted of air-cell seat control which uses the force generated by air-cell and the sky-hook control. The air-cell seat itself has been modeled as a 1 degree of freedom spring-damper system. The actual characteristics of the air-cell have been analyzed through experiments. In this paper, we introduces a new robust motion control algorithm using partial state feedback for a nonlinear system with modelling uncertainties and external disturbances. The major contribution of this work is the development and design of robust observer for the state and the perturbation. The combination skyhook controller and air-cell controller using the observer improves control performance, because of the robust routine called Sliding Observer Design for Integration Control of Air-Cell Seat and Semi-active Suspension. The simulation results show a high accuracy and a good performance.

• Tribology and Lubricants
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• v.30 no.4
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• pp.199-204
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• 2014

Various heat-treated and surface coating methods are used to mitigate abrasion in sliding machine parts. The most cost effective of these methods involves hard coatings such as diamond-like carbon (DLC). DLC has various advantages, including a high level of hardness, low coefficient of friction, and low wear rate. In practice, a supporting layer is generally inserted between the DLC layer and the steel substrate to improve the load carrying capacity. In this study, an indentation and sliding contact problem involving a small, hard, spherical particle and a DLC-coated steel surface is modeled and analyzed using a nonlinear finite element code, MARC, to investigate the influence of the supporting layer thickness on the coating characteristics and the related coating failure mechanisms. The results show that the amount of plastic deformation and the maximum principal stress decrease with an increase in the supporting layer thickness. However, the probability of the high tensile stress within the coating layer causing a crack is greatly increased. Therefore, in the case of DLC coating with a supporting layer, fatigue wear can be another important cause of coating layer failure, together with the generally well-known abrasive wear.

• International Journal of Aeronautical and Space Sciences
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• v.15 no.2
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• pp.163-172
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• 2014

This paper proposes a novel guidance law based on the block backstepping sliding mode control and extended state observer (ESO), which also takes into account the autopilot dynamic characteristics of the near space interceptor (NSI), and the impact angle constraint of attacking the maneuvering target. Based on the backstepping control approach, the target maneuvers and the parameter uncertainties of the autopilot are regarded as disturbances of the outer loop and inner loop, respectively. Then, the ESO is constructed to estimate the target acceleration and the inner loop disturbance, and the block backstepping sliding model guidance law is employed, based on the estimated disturbance value. Furthermore, in order to avoid the "explosion of complexity" problem, first-order low-pass filters are also introduced, to obtain differentiations of the virtual control variables. The stability of the closed-loop guidance system is also proven, based on the Lyapunov theory. Finally, simulation results demonstrate that the proposed guidance law can not only overcome the influence of the autopilot dynamic delay and target maneuvers, but also obtain a small miss distance.

• Journal of the Korean Society for Precision Engineering
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• v.19 no.12
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• pp.38-44
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• 2002

A walking training robot is proposed to provide stable and comfortable walking supports by reducing body weight load partially and a force control of an arm of walking training robot using sliding mode controller is also proposed. The current gait training apparatus in hospital are ineffective for the difficulty in keeping constant unloading level and for the constraint of patients' free walking. The proposed walking training robot effectively unloads body weight during walking. The walking training robot consists of an unloading manipulator and a mobile platform. The manipulator driven by an electro-mechanical linear mechanism unloads body weight in various levels. The mobile platform is wheel type, which allows patients to walt freely. The developed unloading system has advantages such as low noise level, lightweight, low manufacturing cost and low power consumption. A system model fur the manipulator is established using Lagrange's equation. To unload the weight of the patients, sliding mode control with p-control is adopted. Both control responses with a weight and human walking control responses are analyzed through experimental implementation to demonstrate performance characteristics of the proposed force controller.

• The Journal of the Acoustical Society of Korea
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• v.18 no.8
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• pp.48-53
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• 1999

This paper presents an analytic derivation of the erroneous effect when the sliding-DFT is implemented in a recursive way with the finite-bit approximation of the twiddle factors. The analysis result is obtained in a closed form equation of the noise-to-signal power ratio(NSR) employing the zero-mean white Gaussian signal as the target input of the DFT. The parameters of the wordlength used in representing the twiddle factors and the blocklength of the DFT appear in the NSR explicitly as its function variables. The derivation is based on the error dynamic equation which is derived from the recursive SDFT, and on the analytic exploration of the statistical characteristics of the approximation coefficients treating them as random variables of having spatial distributions. The analytically derived results are verified through the comparison with the data actually measured from the computer simulation experiment.

• Journal of Industrial Technology
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• v.19
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• pp.135-145
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• 1999

This thesis is to investigate the sliding behavior of cantilever retaining wall by using the commercially available program of FLAC to simulate its behavior numerically. Cantilever retaining walls with flat base, sloped base and base with shear key, uniform surcharges being applied on the surface of backfill, were investigated to figure out appropriate location of shear key beneath the base of wall and, thus, its applicability to field condition was assessed by comparing the analyzed results to each other. On the other hand, previously performed centrifuge model test results (Eum, 1996) were analyzed numerically with FLAC to compare test results with respect to characteristics of load-settlement of surcharges and load-lateral movement of wall. Based on the failure mechanism observed during centrifuge tests, limit equilibrium method of finding the ultimate load inducing the sliding failure of wall was used to compare with values of the ultimate load obtained from conventional method of limit equilibrium method. Therefore, appropriate location of shear key was determined to mobilize the maximum resistance against sliding failure of wall.

• Transactions of Materials Processing
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• v.11 no.5
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• pp.447-456
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• 2002

A study has been made to investigate the boundary sliding and its accommodation mode with respect to the variation of $\alpha$$_2$/$eta$ volume fraction during superplastic deformation of two-phase Ti$_3$Al-xNb intermetallics. Step strain rate and load relaxation tests have been performed at 950, 970 and 99$0^{\circ}C$ to obtain the flow stress curves and to analyze the deformation characteristics by the theory of inelastic deformation. The results show that the grain matrix deformation and boundary sliding of the three intermetallics containing 21, 50 and 77% in $eta$ volume fractions are well described by the plastic deformation and viscous flow equations. Due to the equal accommodation of both $a^2$ and $\beta$ phases, the accommodation modes for fine-grained materials are in good agreement with the iso-strain rate models. The sliding resistance analyzed for the different boundaries is the lowest in the $\alpha$$_2$/$\alpha$$_2$ boundary, and increases in the order of $\alpha$$_2$/$\alpha$$_2$<< $\alpha$$_2$/$\beta$ = $\beta$/$\beta$, which plays an important role in controlling the superplasticity of the alloys with the various $\alpha$$_2$/$\beta$ phase ratio.