• 제어로봇시스템학회:학술대회논문집
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• 1991.10a
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• pp.232-237
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• 1991

Digital Variable Structure Controller(DVSC) is proposed to control variable speed recirculating pump for hot-water heating control system. In this study, nonlinear sliding line is used beyond output error boundary layer and PID sliding line is used within the layer. For long dead time compensation, constraint is added to Smith predictor algorithm. Steady state error is eliminated by using the proposed sliding line in spite of heating load change. By decreasing sampling time, good sliding motion is yielded but system output noise bv flow dynamics is amplified.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 1999.10a
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• pp.332-338
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• 1999

Surface hardening of plain carbon steel (SM$%C) by Laser are usually much finer and stronger than those of the base metals. The present study was undertaken to investigate the wear resistance and a processing parameters such as, power density, pulse width, defocusing distance, and molten depth for surface modification of plain carbon steel. The wear test was carried out under experimental condition using the wear test device, and in which the annular surfaces of wear test specimens as well as mating specimen of alumina ceramics(Al2O3) was rubbed in dry sliding condition. It is shown that molten depth and width depend on defocusing distance. The wear loss on variation of sliding speed was much in lower speed range below 0.2m/sec and in higher speed range above 0.7m/sec, but wear loss was little in intermediate speed range. It depends on oxidation speed and wear speed.

• Journal of Electrical Engineering and information Science
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• v.3 no.2
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• pp.251-260
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• 1998

A DSP-based robust nonlinear speed control of a permanent magnet synchronous motor(PMSM) which is robust to unknown parameter variations and speed measurement error is presented. The model reference adaptive system(MRAS) based adaptation mechanisms for the estimation of slowly varying parameters are derived using the Lyapunov stability theory. For the disturbances or quickly varying parameters. a quasi-linearized and decoupled model including the influence of parameter variations and speed measurement error on the nonlinear speed control of a PMSM is derived. Based on this model, a boundary layer integral sliding mode controller to improve the robustness and performance of the nonlinear speed control of a PMSM is designed and compared with the conventional controller. To show the validity of the proposed control scheme, simulations and experimental works are carried out and compared with the conventional control scheme.

• Tribology and Lubricants
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• v.35 no.2
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• pp.139-147
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• 2019

This study investigates the effects of corrosion resistance characteristics of opponent materials in relative motion on the sliding wear behavior of mild carbon steel. Pin specimens made of mild carbon steel are tested at several sliding speeds against mating discs made of two types of alloyed steels, such as type D2 tool steel (STD11) and type 420 stainless steel (STS420J2), with different corrosion resistance characteristics in a pin-on-disc type sliding wear test machine. The results clearly show that the sliding wear behavior of mild carbon steel is influenced by the corrosion resistance characteristics of the mating disc materials at low sliding speeds. However, the sliding wear behavior at high sliding speeds is irrelevant to the characteristics because of the rising temperature. During the steady state wear period, the sliding wear rate of mild carbon steel against the type 420 stainless steel at a sliding speed of 0.5 m/s increases considerably unlike against the type D2 tool steel. This may be because the better corrosion resistance characteristics achieve a worse tribochemical reactivity. However, during the running-in wear period at low sliding speeds, the wear behavior of mild carbon steel is influenced by the microstructure after heat treatment of the mating disc materials rather than by their corrosion resistance characteristics.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.20 no.6
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• pp.1753-1761
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• 1996

The wear behaviors of ${Si_3}{N_4}$ under the different sliding conditions were investigated. The cylinder-on-disc wear tester was used. Using the servo-metor, the sliding speed did ot alternate due to the frictional forces. Threekinds of loads and speeds were selected to watch the variation of the wear rates and the frictional forces. Also three kinds of sliding condition under a constant speed were used to see the effects of the oxidationand the abrasion. The contact pressure was more effective than the repeated cycle on the wear behavior of ${Si_3}{N_4}$. With the low loads, the effect of the asperity-failure was more dominant than that of oxidation and abrasion. As increasing the load, the effects of oxidation and abrasion were increased, but the asperity-failure effects were decreased. The wear particles destroyed the ozide layers formed on sliding surfaces. The wear rate could be decreased due to delaying the oxidation. The frictional power and the wear weight per time were usefuel to see the transition of wear.

• Journal of Power System Engineering
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• v.12 no.3
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• pp.44-49
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• 2008

In this research, I would like to choose sliding distance and ventilated hole number which affect to the amount of wear of disk and pad as experiment conditions of 'the amount of wear' through wear test of motorcycle brake disk. Also, I analyze the amount of wear according to the variation of coefficient of friction by using design of experiment that is being widely used in diverse areas. With the tests of least, I present the correlation of each experiment condition. Therefore, I analyzed the variation of the amount of wear of disk and pad according to test factors such as ventilated hole number, applied load, sliding speed, and sliding distance in wear test of motorcycle brake disk by applying the design of experiment. Also, I analyzed quantitatively the influence of test factors through Taguchi Robust experimental design, response surface and examined the most suitable level and estimation of the amount of wear of disk. From these, I reached the following conclusions. response surface design, mathematical model was constructed about amount of wear of disk and pad. The amount of wear that decrease according to increase of ventilated hole number, and it's increase according to Increase of applied load, sliding speed, and sliding distance.

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

• Journal of the Korea Academia-Industrial cooperation Society
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• v.12 no.11
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• pp.5143-5149
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• 2011

In this paper, using the adaptive sliding mode observer for speed sensorless vector control is proposed. Adaptive sliding mode observer of the motor stator coordinate system using the voltage equations of the rotor flux components are observed. Motor speed was obtained by the Lyapunov function is estimated by the relationship further. In order to establish such a control scheme based on the way conventional PI controller and sliding mode observer annexing characteristics of the system through simulation and experiment were compared. According to analysis by comparison with the usefulness of the system was confirmed.

• Journal of Institute of Control, Robotics and Systems
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• v.19 no.1
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• pp.1-9
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• 2013

This paper presents a new control algorithm for dynamic control of a unicycle robot. The unicycle robot motion consists of a pitch that is controlled by an in-wheel motor and a roll that is controlled by a reaction wheel pendulum. The unicycle robot doesn't have any actuator for a yaw axis control, which makes the derivation of the dynamics relatively simple. The Euler-Lagrange equation is applied to derive the dynamic equations of the unicycle robot to implement the dynamic speed control of the unicycle robot. To achieve the real time speed control of the unicycle robot, the sliding mode control and LQ regulator are utilized to guarantee the stability while maintaining the desired speed tracking performance. In the roll controller, the sigmoid-function based sliding mode controller has been adopted to minimize the chattering by the switching function. The LQR controller has been implemented for the pitch control to drive the unicycle robot to follow the desired velocity trajectory in real time using the state variables of pitch angle, angular velocity, angle and angular velocity of the wheel. The control performance of the two control systems form a single dynamic model has been demonstrated by the real experiments.

• Elastomers and Composites
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• v.36 no.2
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• pp.121-129
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• 2001

The friction characteristics of natural rubber plates under various conditions including sliding speed, normal force, hardness, lubrication conditions and thickness of plate are analyzed experimentally. The frictional force and normal force are measured by a tester pin and a load ceil with strain gages. Experimental results suggest that the coefficient of friction decreases with increasing the hardness of rubber and decreasing the thickness of plate. The effect of sliding speed is not significant over the speed range employed. The coefficient of friction is found to be about 0.1 under oil lubrication condition and varies from 0.9 to 3.9 under no lubrication condition.