• 한국소음진동공학회논문집
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• 제17권6호
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• pp.524-530
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• 2007

This paper presents a friction model to realize self-excited vibration of multi-body systems. The friction coefficient is modeled with a spline function in most commercial codes. Even if such a function resolves the problem of discontinuity in friction force, it cannot realize self-excited vibration phenomena. Furthermore, as the relative velocity approaches zero, the friction coefficient approaches zero with the conventional model. So, slip occurs when small force is applied to the system. To avoid these problems a new friction model is proposed in this study. With the new friction model, the self-excited vibration can be realized since the friction coefficient changes with the relative velocity. Furthermore, the slip phenomena could be reduced significantly with the proposed model.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2004년도 학술대회 논문집 정보 및 제어부문
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• pp.620-622
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• 2004

Mobility of an indoor wheeled robot is affected by adhesion force that is related to various floor conditions. When the adhesion force between driving wheels and the floor decreases suddenly, the robot has a slip state. In order to overcome this slip problem, optimal slip velocity must be decided for stable movement of wheeled robot. First of all, this paper shows that conventional PI control can not be applied to a wheeled robot of the light weigh. Secondly, reposed fuzzy logic applied by the Takagi-Sugeno model for the configuration of fuzzy sets. For the design of Takaki-Sugeno model and fuzzy rule, proposed algorithm uses FCM(Fuzzy c-mean clustering method) algorithm. In additionally, this algorithm controls recovered driving torque for the restrain the re-slip. The proposed fuzzy logic controller(FLC) is pretty useful with prevention of the slip phenomena through that compare fuzzy with PI control for the controller performance in the re-adhesion control strategy. These procedures are implemented using a Pioneer 2-DXE wheeled robot parameter.

• 자원환경지질
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• 제33권1호
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• pp.61-75
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• 2000

Through modeling fault network using thin plate finite element technique in the San Andreas Fault system with slip rate over 1mm/year, as well as elevation, heat flow, earthquakes, geodetic data and crustal thickness, we compare the results with velocity boundary conditions of plate based on the NUVEL-1 plate model and the approximation of deformation in the Great Basin region. The frictional and dislocation creep constants of the crust are calculated to reproduce the observed variations in the maximum depth of seismicity which corresponds to the temperature ranging from $350^{\circ}C$ to $410^{\circ}C$. The rheologic constants are defined by the coefficient of friction on faults, and the apparent activation energy for creep in the lower crust. Two parameters above represent systematic variations in three experiments. The pattern of model indicates that the friction coefficient of major faults is 0.17~0.25. we test whether the weakness of faults is uniform or proportional to net slip. The geologic data show a good agreement when fault weakness is a trend of an additional 30% slip dependent weakening of the San Andreas. The results of study suggest that all weakening is slip dependent. The best models can be explained by the available data with RMS mismatch of as little as 3mm/year, so their predictions can be closely related with seismic hazard estimation, at least along faults where no data are available.

• 한국자동차공학회논문집
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• 제6권6호
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• pp.226-233
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• 1998

In this paper, an experimental study was performed to investigate the speed ratio-torque-thrust characteristics for metal belt CVT. It is observed from the experimental results that nondimensional secondary thrust force follows with the existing theoretical formula with ${\mu}$=0.09~0.12 depending on the torque and the speed ratio. In order to represent these characteristics, an effective friction coefficient was introduced. Also, the slip characteristics between the belt and the pulley were investigated experimentally and traction coefficients at gross slip were obtained for various speed ratios. Using the traction coefficients and the effective friction coefficients, an improved formula for the secondary thrust force was suggested assuming that thrust force is the summation of the thrust of pseudo inactive arc and the thrust of pseudo active arc. The effective friction coefficient and the improved formula for the speed ratio-torque-thrust relationship suggested in this work can be used to obtain the appropriate secondary thrust.

• 유공압시스템학회논문집
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• 제4권1호
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• pp.13-17
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• 2007

The brake gain adaptive wheel slip controller for a vehicle is designed in this paper. The brake gain from braking pressure to braking torque defined by friction coefficient, friction area and effective friction radius is estimated by the adaptive law based on the wheel slip dynamics. And the wheel slip controller is designed based on the estimated brake gain. The robustness of the designed controller is analyzed using Lyapunov function and the convergence of brake gain is verified. Proposed wheel slip controller is verified via CarSim simulation with two kinds of desired wheel slip ratio.

• Journal of Mechanical Science and Technology
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• 제18권2호
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• pp.302-312
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• 2004

This work developed improved slip factor model and correction method to predict flow through impeller in forward-curved centrifugal fan. Both steady and unsteady three-dimensional CFD analyses were performed to validate the slip factor model and the correction method. The results show that the improved slip factor model presented in this paper could provide more accurate predictions for forward-curved centrifugal impeller than the other slip factor models since the present model takes into account the effect of blade curvature. The correction method is provided to predict mass-averaged absolute circumferential velocity at the exit of impeller by taking account of blockage effects induced by the large-scale backflow near the front plate and flow separation within blade passage. The comparison with CFD results also shows that the improved slip factor model coupled with the present correction method provides accurate predictions for mass-averaged absolute circumferential velocity at the exit of impeller near and above the flow rate of peak total pressure coefficient.

• 한국기계가공학회지
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• 제5권3호
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• pp.71-79
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• 2006

ABS is a safety device for preventing wheel locking in a sudden baking. Its control methods are classified into three types; deceleration control, wheel slip control and deceleration/acceleration control. The braking force takes the influence of the friction coefficient between road and tire, which in turn depends on the wheel slip as well as road conditions. In this paper, it has been proposed the wheel slip control system to apply the adaptive control method at the ABS. To maintain wheel slip to desired wheel slip, it have been done the linearization and designed the adaptive controller to apply gradient method based on the reference model. It is illustrated by computer simulations that the proposed control system gives good performances and adaptation to parameter variation.

• 제어로봇시스템학회논문지
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• 제14권10호
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• pp.1062-1072
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• 2008

When mobile robots perform the mission in the rough terrain, the traversability depended on the terrain characteristic is useful information. In the traversabilities, wheel-terrain maximum friction coefficient can indicate the index to control wheel-terrain traction force or whether mobile robots to go or not. This paper proposes estimating wheel-terrain maximum friction coefficient. The existing method to estimate the maximum friction coefficient is limited in flat terrain or relatively easy driving knowing wheel absolute velocity. But this algorithm is applicable in rough terrain where a lot of slip occurred not knowing wheel absolute velocity. This algorithm applies the tire-friction model to each wheel to express the behavior of wheel friction and classifies slip-friction characteristic into 3 major cases. In each case, the specific algorithm to estimate the maximum friction coefficient is applied. To test the proposed algorithm's feasibility, test bed(ROBHAZ-6WHEEL) simulations are performed. And then the experiment to estimate the maximum friction coefficient of the test bed is performed. To compare the estimated value with the real, we measure the real maximum friction coefficient. As a result of the experiment, the proposed algorithm has high accuracy in estimating the maximum friction coefficient.

• 대한기계학회논문집B
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• 제26권4호
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• pp.587-593
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• 2002

The present research proposes a pressure based approach along with Langmuir slip condition for predicting microscale fluid flows. Using this method, gaseous slip flows in 2 -dimensional microchannels are numerically investigated. Compared to the DSMC simulation, statistical errors could be avoided and computing time is much less than that of the aforementioned molecular approach. Maxwell slip boundary condition is also studied in this research. These two slip conditions give similar results except for the pressure nonlinearity at high Knudsen number regime. However, Langmuir slip condition seems to be more promising because this does not need to calculate the streamwise velocity gradient accurately and to calibrate the empirical accommodation coefficient. The simulation results show that the proposed method using Langmuir slip condition is an effective tool for predicting compressibility and rarefaction in microscale slip flows.

• 감성과학
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• 제15권2호
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• pp.177-182
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• 2012

20세기의 자동차는 엔진의 주역할인 파워, 스피드를 중요시 하였으나, 소득수준의 향상에 따른 Well-being Trend의 확산 및 환경문제의 대두로 인해 쾌적성, 안락성, 안정성, 환경성 등을 중요시 하고 있다. 자동차용 Sub-Mat는 바닥 카펫 관리의 편의성 및 안락성 등을 위해 부가적으로 설치하는 매트로, 현재 자동차용 Sub Mat의 Backing 소재는 재생고무, PVC 등이 사용되고 있지만, 재생고무 Sub-Mat는 흡음성능이 나쁘고 PVC Backing Sub-Mat는 중량이 매우 커 연비 면에서 불리하고, 유해물질이 다량 포함되어 있어 점차적으로 사용이 어려워질 전망이다. 본 연구에서는 나일론 표피 파일 층, PE 접착 층, Backing(PET fiber)을 합포하여 제작한 sample1과 PET표피 파일 층, PE 접착층, Backing 부직포 층(PET)을 합포하여 제작한 sample2, Backing층을 PVC로 요철을 부여하여 제작한 sample3의 Non-Slip성을 평가하였으며, 이에 따른 접촉면의 변화를 비교 평가하였다.