• Structural Engineering and Mechanics
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• v.65 no.6
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• pp.761-769
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• 2018

In this work, an optimization method of Friction Tuned Mass Damper (FTMD) parameters is presented. Friction tuned mass dampers (FTMD) are attached to mechanical structures to reduce their vibrations with dissipating the vibratory energy through friction between both bodies. In order to exploit the performances of FTMD, the determination of the optimum parameters is recommended. However, the presence of Coulomb's friction force requires the resolution of a non-linear stick-slip problem. First, this work aims at determining the responses of the vibratory system. The responses of the main mass and of the FTMD are determined analytically in the sticking and sliding phase using the equivalent damping method. Second, this work aims to optimize the FTMD parameters; the friction coefficient and the tuned frequency. The optimization formulation based on the Ricciardelli and Vickery method at the resonance frequencies, this method is reformulated for a system with a viscous damping. The inverse problem of finding the FTMD parameters given the magnitude of the force and the maximum acceptable displacement of the primary system is also considered; the optimization of parameters leads to conclude on the favorable FTMD giving significant vibration decrease, and to advance design recommendations.

• Journal of the Computational Structural Engineering Institute of Korea
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• v.33 no.1
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• pp.9-16
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• 2020

The objective of this study is to propose closed-form solutions to the free vibration response of single-degree-of-freedom (SDOF) systems, as part of fundamental research on dynamic systems with Coulomb friction. The motion of a dynamic system with Coulomb friction is described by a nonlinear differential equation, and, due to the variation in the sign of friction force term with the direction of motion, it is difficult to obtain the closed-form solution. To solve this problem, the nonlinear differential equation is directly computed by numerical integration, or an approximated solution is indirectly obtained using a linear differential equation wherein the damping effect due to Coulomb friction is replaced by an equivalent viscous damping term. However, these conventional methods do not provide a closed-form solution from a mathematical point of view. In this regard, closed-form solutions to the free vibration response of SDOF systems with Coulomb friction are derived herein by considering that the sign of the friction force term is reversed in each half-cycle of motion and by expanding it to the entire time history using the power series function. In addition, for a given initial condition, both the number of free vibration half-cycles and the response at the instant when free vibration motion stops are predicted under the condition that the motion of free vibration is stopped when the amplitude of the friction force is higher than that of the restoring force due to stiffness.

• International Journal of Naval Architecture and Ocean Engineering
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• v.11 no.1
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• pp.59-69
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• 2019

This paper focuses on the numerical simulation of ice abrasion induced by unbreakable ice floe. Under the assumption that unbreakable floes behave as rigid body, the Discrete Element Method (DEM) was applied to simulate the interaction between a fixed structure and ice floes. DEM is a numerical technique which is eligible for computing the motion and effect of a large number of particles. In DEM simulation, individual ice floe was treated as single rigid element which interacts with each other following the given interaction rules. Interactions between the ice floes and structure were defined by soft contact and viscous Coulomb friction laws. To derive the details of the interactions in terms of interaction parameters, the Finite Element Method (FEM) was employed. An abrasion process between a structure and an ice floe was simulated by FEM, and the parameters in DEM such as contact stiffness, contact damping coefficient, etc. were calibrated based on the FEM result. Resultantly, contact length and contact path length, which are the most important factors in ice abrasion prediction, were calculated from both DEM and FEM and compared with each other. The results showed good correspondence between the two results, providing superior numerical efficiency of DEM.

• 제어로봇시스템학회:학술대회논문집
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• 1989.10a
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• pp.705-710
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• 1989

A practical method of identifying the inertial parameters, viscous friction and Coulomb friction of a robot is presented. The parameters in the dynamic equations of a robot are obtained from the measurements of the command voltage and the joint position of the robot. First, a dynamic model of the integrated motor and manipulator is derived. An off line parameter identification procedure is developed and applied to the University of Minnesota Direct Drive Robot. To evaluate the accuracy of the parameters the dynamic tracking of robot was tested. The trajectory errors were significantly reduced when the identified dynamic parameters were used.

• The Transactions of the Korean Institute of Electrical Engineers
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• v.39 no.7
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• pp.765-772
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• 1990

A practical method of identifying the inertial parameters, viscous friction and Coulomb friction of a robot is presented. The parameters in the dynamic equations of a robot are obtained from the measurements of the command voltage and the joint position of the robot. First, a dynamic model of the integrated system of the mainpulator and motor is derived. An off-line parameter identification procedure is developed and applied to the University of Minnesota Direct Drive Robot. To evaluate the accuracy of the parameters the dynamic tracking of the robot was tested. The trajectroy errors were significantly reduced when the identified dynamic parameters were used.

• Proceedings of the KSME Conference
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• 2003.04a
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• pp.799-804
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• 2003

Friction phenomenon can be described as two parts which are pre-sliding and sliding regions. In motion of the sliding region, friction forces depend on the velocity of the system and are known as Coulomb, stick-slip, stribeck effect and viscous friction. The pre-sliding region, which is before breakaway, depends on the position of the system. The motion of friction in the sliding region can be described as the LuGre model. But the pre-sliding motion of friction, which has hysteresis characteristics in general, is not known widely. Therefore, an improved friction model, which can describe the motion of friction in the pre-sliding region, is proposed in this paper. And simulation and experimental results show the effectiveness of the proposed friction model for precise tracking control systems.

• Journal of the Korean Institute of Gas
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• v.12 no.4
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• pp.46-51
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• 2008

The damping of a shock absorption device composed of nonlinear disk spring stacks and rubber rings was investigated. Friction forces of rubber rings and hysteresis of disk springs were obtained experimentally. The hysteresis curves of several types of disk spring stacks were approximated, from which the energy dissipated was estimated. Based upon the friction force and the energy dissipated, 4 damping models were presented and shock responses of the damping models were investigated. The hysteresis of disk spring is more meaningful than the friction of the rubber ring for the damping. For practical use, equivalent viscous damping model for total energy dissipated per cycle was suggested.

• Smart Structures and Systems
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• v.24 no.3
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• pp.345-360
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• 2019

The shear keys are set in a seismic isolation system to resist the long-term service loadings, and are cut off to isolate the earthquakes. This paper investigated the influence of shear keys on the seismic performance of a vertical spring-viscous damper-concave Coulomb friction isolation system by an incremental dynamic analysis (IDA) and a performance-based assessment. Results show that the cutting off process of shear keys should be simulated in a numerical analysis to accurately predict the seismic responses of isolation system. Ignoring the cutting off process of shear keys usually leads to untrue seismic responses in a numerical analysis, and many of them are unsafe for the design of isolated structure. And those errors will be increased by increasing the cutting off force of shear keys and decreasing the spring constant of shear keys, especially under a feeble earthquake. The viscous damping action postpones the cutting off time of shear keys during earthquakes, and reduces the seismic isolation efficiency. However, this point can be improved by increasing the spring constant of shear keys.

• Journal of Mechanical Science and Technology
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• v.18 no.10
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• pp.1755-1762
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• 2004

Friction phenomenon can be described as two parts, which are the pre-sliding and sliding regions. In the motion of the sliding region, the friction force depends on the velocity of the system and consists of the Coulomb, stick-slip, Streibeck effect and viscous frictions. The friction force in the pre-sliding region, which occurs before the breakaway, depends on the position of the system. In the case of the motion of the friction in the sliding region, the LuGre model describes well the friction phenomenon and is used widely to identify the friction model, but the motion of the friction in the pre-sliding such as hysteresis phenomenon cannot be expressed well. In this paper, a modified friction model for the motion of the friction in the pre-sliding region is suggested which can consider the hysteresis phenomenon as the Preisach model. In order to show the effectiveness of the proposed friction model, the sliding mode controller (SMC) with hysteresis friction compensator is synthesized for a ball-screw servo system.

• Journal of the Korean Society of Manufacturing Process Engineers
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• v.19 no.6
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• pp.1-8
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• 2020

This paper proposes a method for measuring friction forces and creating a friction model for a rotary motion control system as well as an autonomous vehicle testbed. The friction forces versus the velocity were measured, and the viscous friction, Coulomb friction, and stiction were identified. With a nominal PID (proportional-integral-derivative) controller, we observed the adverse effects due to friction, such as excessive steady-state errors, oscillations, and limit-cycles. By adding an adequate friction model as part of the augmented nonlinear dynamics of a plant, we were able to conduct a simulation study of a motion control system that well matched experimental results. We have observed that the implementation of a model-based friction compensator improves the overall performance of both motion control systems, i.e., the rotary motion control system and the Altino testbed for autonomous vehicle development. By utilizing a better simulation tool with an embedded friction model, we expect that the overall development time and cost can be reduced.