• Transactions of the Korean Society of Machine Tool Engineers
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• v.12 no.6
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• pp.77-83
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• 2003

This paper deals with a position control problem of a hydraulic proportional position control system using a nonlinear friction compensation control. As nonlinear friction, stiction and coulomb friction forces are considered and modeled as deadzone and external disturbance respectively. In order to compensate this nonlinearities, we designed the controller which is the adaptive friction compensator using discrete time Model Reference Adaptive Control method in this paper. Digital Signal Processing board is employed for data acquisition and manipulation. The experimental results show that response is slow and steady-state error cannot be compensated properly without friction compensation but this compensator is effective to obtain fast response and good steady-state response.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.20 no.2
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• pp.425-433
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• 2019

In this study, a simple method of calculating the passive earth pressure coefficient, which is based on the limit equilibrium method, was proposed and the calculated earth pressure coefficients were compared with those of several researchers. The angle of the linear failure surface, which is combined with the logarithmic spiral arc, to the failure surfaces of the passive zone was derived and the whole passive thrust acting on the Rankine passive zone was considered in the proposed method instead of considering the horizontal component of passive thrust. The variations of the passive earth pressure coefficients of the proposed method showed the same tendency as that of the Coulomb's passive earth pressure coefficients with an inclined angle of backfill and internal friction angle. The magnitude of passive earth pressure coefficients of the proposed method were smaller than those of the Coulomb in almost all cases. A comparison of the passive earth pressure coefficients with the wall friction angle revealed the passive earth pressure coefficients of the proposed method to be smaller than those of the Coulomb and the differences between the two values increased with increasing internal friction angle and wall friction angle. A comparison of the passive earth pressure coefficients of the proposed method with those of the existing researchers for the considered internal friction angles of $25^{\circ}$, $30^{\circ}$, $35^{\circ}$, and $40^{\circ}$ and three wall friction angles revealed the maximum percentage differences for the Kerisel and Absi method, Soubra method, Lancellotta method, $Ant\tilde{a}o$ et al. method, Kame method, and Reddy et al. method to be 4.8%, 3.8%, 31.1%, 4.0%, 20.6%, and 12.8% respectively. The passive earth pressure coefficient and existing pressures were similar in all cases.

• Tribology and Lubricants
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• v.37 no.3
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• pp.112-116
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• 2021

Appropriate friction model usage is important for impact analysis because the relative motions between parts that are in contact for very short durations can vary greatly depending on the friction model. Vehicle seat components that have significant effects on impact analysis are also considered. This paper presents an experimental investigation of various material contact pairs to obtain the friction parameters of the Benson exponential friction model for impact simulation. The Coulomb friction model has limitations for impact analysis because of singularity at zero velocity. Metal/nonmetal materials are prepared, and friction tests are conducted for various sliding speeds, loads, and lubrication conditions. The obtained data are used in the friction model to implement finite element analysis. The parameters of the friction model are obtained by the curve-fitting method. The experimental results show that the friction coefficient with metal/nonmetal contact pairs is stable regardless of the working conditions. The friction model used in this study can also be applied for finite element analysis of the crash conditions, where the friction changes abruptly at the contact interface; the obtained friction parameters are also expected to be more accurate with more precise tests under different working conditions. These results can help improve the accuracy of the finite element analysis.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1996.11a
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• pp.346-350
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• 1996

In optical disk drives, one of commonly used pickup actuator is a Sliding and rotary type of pickup actuator which is cheaper than other pickup actuators and has simple assembly. However, it reported that non-linearity due to friction between a shaft and a sleeve had to be considerably analyzed in design and servo system in employing this type of pickup actuator. In this paper, this friction is modeled as a Coulomb's friction and the effect of friction is examined in the simulation. A digital servo system is applied to pickup actuator with friction in order to have good focusing servo. To enhance focusing servo performance using digital servo merit, frist PD-controller is applied to have fast response performance, second lead-lag compensator is applied to have stable focusing performance.

• Journal of the Korean Society for Precision Engineering
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• v.16 no.3 s.96
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• pp.109-115
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• 1999

This paper presents a stabilization control designed to improve position stabilization performance of a position servo-system(turret) mounted on a manuvering platform(vehicle). In the consideration of the motion of the platform, a dynamic model of the stabilization system is derived and shows the viscous and stick-slip friction torques are the major source of stabilization errors. An extended generalized minimum variance control which consists of a feedforward disturbance compensation as well as a pole placement feedback control is suggested to reduce the stabilization errors caused from the friction disturbances. This modeling and control are applied to a small experimental set-up and the experimental results confirm the accuracy of the model and the effectiveness of the suggested control.

• 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.

• Tunnel and Underground Space
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• v.22 no.6
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• pp.462-470
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• 2012

Implementing the generalized Hoek-Brown failure criterion in the framework of the Mohr-Coulomb criterion requires the calculation of the equivalent friction angle and cohesion. In the conventional method based on the Balmer (1952)'s theory, the tangential instantaneous friction angle and cohesion are expressed in terms of the minimum principal stress ${\sigma}_3$, which does not provide the information about the dependency of the equivalent parameters on the hydrostatic pressure and the stress path. In this study, this defect of the conventional method has been overcome by representing the equivalent parameters in terms of stress invariants. Through the example implementation of the new method, the influence of the magnitude of the hydrostatic pressure and the Lode angle on the tangential instantaneous friction angle and cohesion is investigated. It turns out that the tangential instantaneous friction angle is maximum when the stress condition is triaxial extension, while the tangential cohesion is maximum when the stress condition is triaxial compression. The dependency of the equivalent Mohr-Coulomb strength parameters on the hydrostatic pressure and the Lode angle tends to be more substantial for the favorable rockmass of larger GSI value.

• Structural Engineering and Mechanics
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• v.81 no.5
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• pp.591-606
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• 2022

When the friction pendulum system and shear keys work together to resist the ground motion, which inclined inputs (non 45°) to the bridge structure, the shear keys in XY direction will be sheared asynchronously, endowed the friction pendulum system with a violent curvilinear motion on the sliding surface during earthquakes. In view of this situation, firstly, this paper abandons the equivalent linearization model of friction and constructs a Spring-Coulomb friction plane isolation system with XY shear keys, and then makes a detailed mechanical analysis of the movement process of friction pendulum system, next, this paper establishes the mathematical model of structural time history response calculation by using the step-by-step integration method, finally, it compiles the corresponding computer program to realize the numerical calculation. The results show that the calculation method in this paper takes advantage of the characteristic that the friction force is always µmg, and creatively uses the "circle making method" to express the change process of the friction force and resultant force of the friction pendulum system in any calculation time step, which can effectively solve the temporal nonlinear action of the plane friction; Compared with the response obtained by the calculation method in this paper, the peak values of acceleration response and displacement response calculated by the unidirectional calculation model, which used in the traditional research of the friction pendulum system, are smaller, so the unidirectional calculation model is not safe.

• Computers and Concrete
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• v.4 no.2
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• pp.119-134
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• 2007

External bonding of steel or FRP plates to reinforced concrete (RC) structures has been a popular method for strengthening RC structures; however, unexpected premature failure often occurs due to debonding between the concrete and the epoxy. We proposed a Coulomb criterion with a constant failure surface as the debonding failure criterion for the concrete-epoxy interface. Diagonal shear bonding tests were conducted to determine the debonding properties that were related to the failure criterion, such as the angle of internal friction and the coefficient of cohesion. In addition, an interface element that utilized the Coulomb criterion was implemented in a nonlinear finite element analysis program to simulate debonding failure behavior. Experimental studies and numerical analysies on RC beams strengthened by an externally bonded steel or FRP plate were used to determine the range of the coefficient of cohesion. The results that were presented prove that premature failure loads of strengthened RC beams can be predicted with using the bonding properties and the finite element program with including the proposed Coulomb criterion.

• Tunnel and Underground Space
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• v.15 no.3 s.56
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• pp.228-235
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• 2005

Friction angle and cohesion of rock masses can be estimated from Hoek and Brown failure criterion and then plastic corrections can be applied using Mohr-Coulomb yield function. This study finds that this estimation procedure would not be appropriate for weak rock masses and for cases where low confining stress is expected to develop. A procedure is outlined in this paper for estimating plastic corrections directly from Hoek and Brown material model. Comparative study shows that direct procedure would simulate non-linear failure surface better than indirect procedure especially in the low confining stress regime.