• Journal of the Korean Society for Precision Engineering
• /
• v.6 no.2
• /
• pp.30-39
• /
• 1989

Variable structure control (VSC) systems control the state vectors using sliding regime (SR) constructed switching logic, switching plane and control law. Saturation function switching logic is used to improve the drawback which occurs in traditional sign function switching logic. Switching plane with time-varying parameter is proposed to improve the drawback which occurs in switching plane with constant parameter and it is suggested the control law which has time-varying parameter. The stability of VSC system controlled by proposed time-varying SR is discussed, and the good control behavior was shown through computer simulation using proposed SR.

• Structural Engineering and Mechanics
• /
• v.58 no.4
• /
• pp.707-718
• /
• 2016

The main objective of the present paper is to investigate, by means of a boundary value problem permitting a semi-analytic solution, qualitative behaviour of solutions for two pressure-dependent yield criteria used for plastically incompressible polymers. The study mainly focuses on the regime of friction (sticking and sliding). It is shown that the existence of the solution satisfying the regime of sticking depends on other boundary conditions. In particular, there is such a class of boundary conditions depending on the yield criterion adopted that the regime of sliding is required for the existence of the solution independently of the friction law.

• Tribology and Lubricants
• /
• v.32 no.6
• /
• pp.195-200
• /
• 2016

This study examines the wear behavior of mild steel pins mated against alloyed tool steel discs in a pin-on-disc type sliding test machine and provides specific clarification regarding the effects of disc hardness on the wear behavior of a mating mild steel pin. The analysis confirms these effects through the observation of differences in the wear rates of the mild steel pins at low sliding speed ranges. These differences occur even though the hardness of the mating disc does not affect the wear characteristic curve patterns for the sliding speeds, regardless of the wear regime. In the running-in wear regime, increasing the hardness of the mating disc results in a decrease in the wear rates of the mild steel pins at low sliding speed ranges. However, in the steady-state wear region, the wear rate of a pin mated against the 42DISC is greater than the wear rate of a pin mated against the 30DISC, which has a lower hardness value. This means that the tribochemical reactivity of the mating disc, which is based on hardness value, influences the wear behavior of mild steel at low sliding speed ranges. In particular, oxides with higher oxygen contents, such as $Fe_2O_3$ oxides, form predominantly on the worn surface of the 42DISC. On the contrary, the wear behavior of mild steel pins at high sliding speed ranges is nearly unaffected by the hardness of the mating disc.

• 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 KIEE Conference
• /
• 1995.07b
• /
• pp.784-786
• /
• 1995

Variable Structure Control(VSC) scheme with sliding mode is widely used to keep a control system insensitive to parameter variations and disturbances. However, the conventional sliding mode control has the undesired phenomenon of chattering which may become a serious problem. Also the restriction of the sliding mode regime cannot guarantee the insensitivity throughout an entire response. In this paper, the sliding surfaces, which are composed of three-line segments, are used to remove the reaching phase. Also, the concept of fuzzy logic is incorporated with the sliding mode control in order to control the unknown or partially known systems effectively. The proposed method is applied to a Double-Sided MM Type LDM to show its usefulness.

• Journal of the Korean Society for Precision Engineering
• /
• v.11 no.6
• /
• pp.158-167
• /
• 1994

The design concept of varaiable structure control is useful not only to stochasic systems but also to adaptive control systems. The Dynamic equation of vertical three linkage robot was derived. And it was simplyfied according to the scheme of control strategy. And we specify the form of model. Thereafter the error dynamic equation was derived between the real state of the plant and state of the model. Some simulations were performed to control robot manipulator applying the methodology of the variable structure model following adaptive control.

• International Journal of Ocean System Engineering
• /
• v.3 no.2
• /
• pp.50-60
• /
• 2013

This paper presents a novel approach to the design of an adaptive fuzzy sliding mode controller for depth control of an autonomous underwater vehicle (AUV). So far, AUV's dynamics are highly nonlinear and the hydrodynamic coefficients of the vehicles are difficult to estimate, because of the variations of these coefficients with different operating conditions. These kinds of difficulties cause modeling inaccuracies of AUV's dynamics. Hence, we propose an adaptive fuzzy sliding mode control with novel fuzzy adaptation technique for regulating vertical positioning in presence of parametric uncertainty and disturbances. In this approach, two fuzzy approximator are employed in such a way that slope of the linear sliding surface is updated by first fuzzy approximator, to shape tracking error dynamics in the sliding regime, while second fuzzy approximator change the supports of the output fuzzy membership function in the defuzzification inference module of fuzzy sliding mode control (FSMC) algorithm. Simulation results shows that, the reaching time and tracking error in the approaching phase can be significantly reduced with chattering problem can also be eliminated. The effectiveness of proposed control strategy and its advantages are indicated in comparison with conventional sliding mode control FSMC technique.

• Tribology and Lubricants
• /
• v.10 no.3
• /
• pp.29-38
• /
• 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.

• Proceedings of the Korean Society of Tribologists and Lubrication Engineers Conference
• /
• 2000.06a
• /
• pp.76-83
• /
• 2000

Boundary lubrication condition arises in most lubricated systems, especially during motion reversals and start up phase of operation. In this work electric contact resistance variations with respect to sliding conditions under lubrication is investigated The motivation was to improve the understanding of the contact condition in the boundary lubrication regime. It is shown that electrical contact resistance is sensitive to sliding speed and surface condition of the specimens. Also, phenomena such as run-in during the initial phase of sliding and lubricant pile up near the sliding pin could be observed. The results of this work will aid in better understanding of the metal to metal contact condition in lubricated systems.

• KSTLE International Journal
• /
• v.6 no.2
• /
• pp.51-57
• /
• 2005

Surface texturing of tribological applications is an attractive technology of engineered surface. Therefore, reduction of friction is considered to be necessary for improved efficiency of machines. The current study investigated the potential of textured micro-scale grooves on bearing steel flat mated with pin-on-disk. We discuss reducing friction due to the influence of sliding direction at surface pattern. We can indicate lubrication mechanism as a Stribeck curve, which has a relationship between the friction coefficient and a dimensionless parameter for the lubrication condition. It was found that the friction coefficient was changed by the surface pattern and sliding direction, even when surface pattern was the same. It was thus verified that micro-scale grooves could affect the friction reduction considerably under mixed and hydrodynamic lubrication conditions. The lubrication regime influences the friction coefficient induced by the sliding direction of groove pattern. The friction coefficient depends on a combination of resistance force and hydrodynamic.