• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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• pp.334-334
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• 2000

In this paper, sliding mode observer design principles based on the equivalent control approach are discussed for the systems which may not satisfy the matching conditions. We propose a new approach for designing a sliding observer and the proof of the stability of the state reconstruction error system for time-invariant systems using the Lyapunov method. The reaching time to the sliding surface, the sliding dynamics of the system, the stability of the reconstruction error system via Lyapunov method, sufficient conditions for the existence of the sliding mode are studied.

• Tribology and Lubricants
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• 제10권3호
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• pp.29-38
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• 1994

The friction and wear of mild steel at dry sliding surfaces under different vacuum conditions have been investigated to understand the wear mechanisms. For the test, a ball-ondisk typed wear-rig has been built and implemented, allowing control of sliding speed, load and vacuum. Results show that, at a high sliding velocity, friction of low carbon steel (SS41) under a high vacuum is much higher than that of ambient condition and wear is much severer. It is due to lack of effective oxidation film formation on which steel surfaces could protect themselves against the severe wear. It has been shown, however, that there is a critical regime with contact conditions (at a low sliding velocity, a low load, and under a medium vacuum) at which effective, protective films of low carbon steel have been built on the surfaces in a friction process with a self-regulating way, resulting in both very low coefficients of friction (about 0.3) and mild wear. In order to investigate the protective films on steel surfaces, the worn surfaces and the wear debris have been experimentally analyzed with SEM, AES/SAM and XRD. A theoretical analysis of frictional heating at sliding surfaces, and an experimental analysis of the influence of oxidation wear under various vacuum conditions are described. The important variables on which self-formations of protective films at dry sliding surfaces depend, and the wear mechanisms are also investigated.

• 열처리공학회지
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• 제15권2호
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• pp.82-92
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• 2002

In the present investigation wear behavior of the 6061AI composites reinforced with 5, 10, 20% SiC particles for dry sliding against a SM45C counterface was studied as a function of load and sliding velocity. Sliding wear tests were conducted at two loads(19.6 and 49N) and three sliding velocities(0.2, 1 and 2 m/sec) at constant sliding distance of 4000 m using pin-on-disk machine under room temperature. Presence of SiC reinforcement particles in the composites has displayed a transition from mild to severe wear at relatively higher applied load and sliding velocity compare to that of the matrix metal. As the volume fraction of SiC particles increased, the transition moved to a more severe wear conditions. Eventually, mild wear prevailed at a most severe wear conditions in this study, that was 49N load and 2 m/sec sliding velocity in 20% SiC particle/6061AI composite.

• 제어로봇시스템학회논문지
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• 제11권11호
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• pp.907-912
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• 2005

In this paper, we consider the problem of designing sliding surfaces fur a class of dynamic systems with mismatched uncertainties in the state space model. In terms of LMIs, we give necessary and sufficient conditions fir the existence of a linear sliding surface such that the reduced order sliding mode dynamics is asymptotically stable and completely independent of uncertainties. We parameterize all such linear sliding surfaces by using the solution to the given LMI conditions. And, we consider the problem of designing linear sliding surfaces guaranteeing pole placement constraints or $H_2/H_infty$ performances. Finally, we give a design example in order to show the effectiveness of our method.

• 한국지반환경공학회 논문집
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• 제17권7호
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• pp.27-33
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• 2016

This study expanded Terzaghi arching formula, which assumed a vertical surface as a sliding surface, to consider an arbitrarily inclined surface as a sliding surface and examined the effect of a sliding surface. This study firstly developed a formula to expand the existing Terzaghi arching formula to consider an inclined surface as well as a vertical surface as a sliding surface under the downward movement of a trap door. Using the expanded formula, the effect of excavation, ground, and surcharge conditions on a vertical stress was examined and the results were compared with them from Terzaghi arching formula. The comparison indicated that the induced vertical stress was highly affected by the angle of an inclined sliding surface and the degree of influence depended on the excavation, ground, and surcharge conditions. It is expected that the results from this study would provide a better understanding of various arching phenomenon in the future.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1992년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 19-21 Oct. 1992
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• pp.1045-1050
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• 1992

A new sliding surface for a viaraible structure control(VSC) law is emplyed to achieve fast and robust path tracking in a class of second-order nonlinear unceratin dynamical systems. The surface onitialy passes arbitrarily given initial conditions and subsequently moves towards a predetermined surface via rotaiting or/and shifting. We call it as a moving sliding surface(MSS). The surface is then incorporated with the VSC law which is constructed by imposing the sliding conditions in a special way. We primarily enforce the conditions which assume that once the system state is on a sliding surface that it is driven towards the zero state. Using the VSC law associatied with the MSS, it is shown that the tracking behavoirs are remarkably improved in the sene of the fastness and the robustness.

• 한국지진공학회논문집
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• 제6권1호
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• pp.7-11
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• 2002

본 연구에서는 다단계방법(multi-step method)을 사용하여, 지진시 지반과 지하구조물 경계가 가장 미끄러지기 쉬운 상태일 수 있는 지반 공진시에 대하여 지하구조물 축방향 동지반강성계수와 미끄러지기 쉬운 조건들을 구하였다. 상재하중에 의한 지반과 지하구조물 경계에서의 전단저항력과 지진시 발생되는 미끄러짐 부분의 전단력을 비교함으로써 미끄러짐 조건을 결정하였다. 그리고 매개변수 해석을 통하여 지하구조물의 크기와 위치, 지반조건, 표층지반의 형상 및 경계마찰계수에 대하여 미끄러지기 쉬운 조건을 구하였다.

• 제어로봇시스템학회논문지
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• 제8권9호
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• pp.719-727
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• 2002

We proposed a decoupled adaptive fuzzy sliding-mode control scheme for a class of fourth-order nonlinear systems. The system is decoupled into two second-order systems such that each subsystem has a separate control target expressed in terms of sliding surface. For these sliding surfaces, we define main and sub target conditions. and, we made intermediate variables which are interconnected both surface conditions from the sub target sliding surface. Then, Two sets of fuzzy rule bases are utilized to represent the equivalent control input with unknown system functions of the main target sliding surface including intermediate variables. The membership functions of the THEN-part, which is used to construct a suitable equivalent control of sliding-mode control, are changed according to the adaptive law. With such a design scheme, we not only maintain the distribution of membership functions over state space but also reduce the computing time considerably. We apply the decoupled adaptive sliding-mode control to a nonlinear Cart-Pole system and confirms the validity of the proposed approach.

• Tribology and Lubricants
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• 제18권6호
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• pp.377-383
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• 2002

The tribological role of mass transfer layer was studied with silver coatings under various ranges of load and sliding speed. Silver coating was performed with a functionally gradient coating method. Tests were per-formed in dry sliding conditions, using a ball-on-disk contact configuration, at the load of 0.0196-17.64 N and the sliding speed of 20-1,000 mm/s in ambient air. Optical microscope and EPMA analyses showed that contact surfaces were covered with the mass transfer layers of agglomerated wear particles depending upon the contact conditions, and they greatly influenced the tribological characteristics of the surfaces. However, the formation of mass transfer layer was suppressed as the sliding speed increased, and above a critical sliding speed, no mass transfer layer was able to form. For building up a general framework of triboiogical behavior of the coated silver films, all test data were summarized on a map whose axes are contact pressure and sliding speed.

• Advances in materials Research
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• 제4권3호
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• pp.165-178
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• 2015

Friction coefficient of epoxy metal matrix composites were investigated. The main objective was to increase the friction coefficient through rubber sole sliding against the epoxy floor coating providing appropriate level of resistance. This was to avoid the excessive movement and slip accidents. Epoxy metal matrix composites were reinforced by different copper wire diameters. The epoxy metal matrix composites were experimentally conducted at different conditions namely dry, water and detergent wetted sliding, were the friction coefficient increased as the number of wires increased. When the wires were closer to the sliding surface, the friction coefficient was found to increase. The friction coefficient was found to increase with the increase of the copper wire diameter in epoxy metal matrix composites. This behavior was attributed to the fact that as the diameter and the number of wires increased, the intensity of the electric field, generated from electric static charge increased causing an adhesion increase between the two sliding surfaces. At water wetted sliding conditions, the effect of changing number of wires on friction coefficient was less than the effect of wire diameter. The presence of water and detergent on the sliding surfaces decreased friction coefficient compared to the dry sliding. When the surfaces were detergent wetted, the friction coefficient values were found to be lower than that observed when sliding in water or dry condition.