• Transactions of the Korean Society for Noise and Vibration Engineering
• /
• v.22 no.8
• /
• pp.748-755
• /
• 2012

Friction causes self-excited vibration, stick-slip vibration and any other friction-induced phenomena. That kinds of vibrations cause chatter and squeal. In order to predict such vibrations accurately, employing an accurate friction model is very important because a dynamic behavior of a system with friction is dominantly governed by a friction model. A Coulomb friction model is the most widely known model. Coulomb friction model is useful model to obtain analytical solutions of the system with friction and the model gives relatively good simulation result. However, defining a friction force at a stick state in simulation is hard because of the characteristic itself and a Coulomb friction model is discontinuous function between a static and a dynamic friction coefficient. Therefore, applying the Coulomb friction model to a simulation is not appropriate. In order to resolve these problems, an approximated Coulomb friction model was developed using simple and continuous function. However, an approximated Coulomb friction model cannot realize stick. Therefore, an approximated Coulomb friction model cannot describe friction phenomena accurately. In order to analyze a friction phenomenon accurately, a friction model for a simulation was proposed in this paper. A proposed friction model realizes stick and gives reasonably good results compared to results obtained by the simulation employing an approximated Coulomb friction model. Accuracy of a proposed friction model was verified by comparing experimental results.

• Proceedings of the KSME Conference
• /
• 2003.04a
• /
• pp.893-898
• /
• 2003

Coulomb friction is an important factor for precise position tracking control systems. The control systems with friction causes the steady state error because of being sensitive to the change of system condition and highly nonlinear characteristics. To overcome these problems, we use an estimation scheme of Coulomb friction to experiment for it's compensating. The estimated factor for Coulomb friction is used as a feed-forward compensator to improve the tracking performance of ball-screw systems. The tracking performance was improved by compensating the estimated friction torque in the feed-forward term. And, the sliding mode control which is derived from the Lyapunov stability theorem is applied for robust stability and reducing chattering. The experimental results show that the sliding mode controller with adaptive friction compensator has a good tracking performance compared with the friction uncompensated controller.

• The Transactions of the Korean Institute of Electrical Engineers D
• /
• v.55 no.11
• /
• pp.483-490
• /
• 2006

When the nonlinearities, such as friction and backlash, are not considered in the controller design, undesirable oscillations can occur in the steady-state response of a control system. This paper deals with a method to reduce oscillations that often appear in the steady-state response of a pendulum system, which is controlled by a state feedback controller based on the linearized system model. With an assumption that the oscillations shown in the steady-state are caused by the Coulomb friction, we improve the performance of stabilization and tracking by estimating and compensating for the Coulomb friction in the pendulum system. Experimental results show that the control performance can be improved sufficiently by the proposed method, when it is applied to an inverted cart pendulum which is a multi-variable unstable system. Furthermore, we could see that the Coulomb friction model used in the estimation of the friction is valid in applying the suggested method.

• Journal of Institute of Control, Robotics and Systems
• /
• v.18 no.7
• /
• pp.680-687
• /
• 2012

One of the frequent problems in the stabilized gimbal system is the rejection of disturbances associated with moving components. Very often such disturbances have non-linear characteristics. In a typical gimbal system, each gimbal and platform are connected by a mutual bearing which induces inevitable friction. Particularly, the non-linear Coulomb friction causes position errors as well as slow responses that lead to unfavorable performance. In this paper, a modified PID controller that is augmented by Coulomb friction estimator is presented. Through constantly estimating the Coulomb friction torque, it is applied to the output of the existing PID controller. The effectiveness of the proposed controller is evaluated through a series of experiments.

• Transactions of the Korean Society for Noise and Vibration Engineering
• /
• v.26 no.1
• /
• pp.55-62
• /
• 2016

Nuclear fuels are always exposed to hot temperature and high speed coolant flow during the reactor operation. Thus the fuel rod accompanies small amplitude vibration due to the turbulent flow. The random vibration causes friction between the fuel rod and the grid structure which provides the lateral supports. The friction is critical to the fuel rod fretting wear, and it degrades fuel performance when a severe wear is developed. LuGre friction model is introduced in the paper, and the performance was evaluated comparing to the classical Coulomb model. It is shown that the developed friction force considering the Coulomb friction is not enough to stop or delay the motion while the stick-slip can be simulated using LuGre friction model. Numerical solutions of the two dimensional spacer grid cell model with the modern friction are also reviewed, and it is discussed that the new friction model simulates well the nonlinear mechanism.

• International Journal of Precision Engineering and Manufacturing
• /
• v.1 no.2
• /
• pp.24-34
• /
• 2000

In this paper we propose a controller design method, called Quasi-LQG/$H_{\infty}$/LTR for nonlinear servo systems with hard nonlinearities such as Coulomb friction, dead-zone. Introducing the RIDF method to model Coulomb friction and dead-zone, the statistically linearized system is built. Then, we consider $H_{\infty}$ performance constraint for the optimization of statistically linearized systems, by replacing a covariance Lyapunov equation into a modified Riccati equation of which solution leads to an upper bound of the LQG performance. As a result, the nonlinear correction term is included in coupled Riccati equation, which is generally very difficult to thave a numerical solution. To solve this problem, we use the modified loop shaping technique and show some analytic proofs on LTR condition. Finally, the Quasi-LQG/$H_{\infty}$/LTR controller for a nonlinear system is synthesized by inverse random input describing function techniques (ITIDF). It is shown that the proposed design method has a better performance robustness to the hard nonlinearity than LQG/$H_{\infty}$/LTR method via simulations and experiments for the timing-belt driving servo system that contains the Coulomb friction and dead-zone.

• Proceedings of the Korean Society of Tribologists and Lubrication Engineers Conference
• /
• 2002.10b
• /
• pp.319-320
• /
• 2002

Numerical simulation of chip formation during high speed machining requires knowing the friction at tool/chip interface. This parameter is hardly identified and generally the loadings (temperature, force) during the identification are not similar to those encountered during machining. Thus, Coulomb friction identified with pin-on-disc device is often used to conduct numerical simulation. The used of this technique cannot leads to good numerical results of chip formation compared to the experimental tests especially in the case of low uncut chip thickness. In this contribution, we propose a new method to evaluate the friction at tool/chip interface. In fact several Coulomb friction parameters are identified corresponding to several parts of the cutting tool. Experimental tests have been conducted allowed us to determinate both the level and the distribution of the Coulomb friction. Experimental results are also compared to the results of orthogonal cutting simulation. We show that this technique allows predicting accuracy results of chip formation.

• Journal of Advanced Marine Engineering and Technology
• /
• v.29 no.3
• /
• pp.251-259
• /
• 2005

A discrete time model reference adaptive control has been applied in order to compensate the nonlinear friction characteristics in a hydraulic proportional position control system. As nonlinear friction, static and coulomb friction forces are considered and modeled as dead zone and external disturbance respectively. The model reference adaptive control system consists of a cascade combination of the dead zone. external disturbance and linear dynamic block. For adaptive control experiment. the DSP(Digital Signal Processor) board has been interfaced the hydraulic proportional position control system. The experimental results show that the MRAC(Model Reference Adaptive Control) for compensation of static and coulomb friction are very effective.

• Proceedings of the Korean Society of Precision Engineering Conference
• /
• 2002.10a
• /
• pp.717-720
• /
• 2002

An Amplitude Proportional Friction Damper (APFD) system is considered in order to improve the stick-slip characteristics of Coulomb friction damper. The frictional force is proportional to the amplitude in APFD system and the system is non-linear as is Coulomb damper system. The free vibration analysis on an 1-DOF system has conducted to demonstrate the characteristics of the APFD system and the results show that the APFD system has similar damping characteristics to the viscous damper system. It is concluded that the APFD system may become a cost effective substitution for the viscous damper and it also has certain advantages over Coulomb damper system since the APFD system can be designed to work with no stick-slip.

• Proceedings of the IEEK Conference
• /
• 2000.07b
• /
• pp.596-599
• /
• 2000

A natural admittance control system design is presented for a particular type of interaction controller that achieve high-performance and guarantees stability. The admittance control Significantly improves performance when Coulomb friction is present in the one link robot system. The technique requires a careful choice of the target impedance. Experimental performance results are presented for a two-mass system with internal Coulomb friction. Results demonstrate that the admittance control law is successful in rejecting internal Coulomb friction force disturbances. The controller was designed and implemented on our system that we set up one link robot system and hardware configuration system, and performance results are presented.