• Transactions of the Korean Society of Automotive Engineers
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• v.7 no.6
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• pp.207-213
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• 1999

In this study, the possibility of estimation of friction coefficient between tire and road surface using running car data are checked. To get necessary data, such as tire and car velocities and braking force, a test car is driven with certain magnitude of decelerations from pre-set initial velocities to stop . The data are used to estimate friction coefficient with property chosen parameters , e.g,, driving stiffness, pressure distribution functions, etc. Experimental results show that running data car be used with properly chosen parameters to estimate friction coefficient.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1997.04a
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• pp.208.2-212
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• 1997

In a model based friction comensation for a frictional system,the performance of the system is inflenceed by the selection of the friction model. Especially, when a real plant have dynamic friction characteritics, the compensation of friction with a static friction model may deteriorate the perfomance. For the system we constlucted an adaptiv parameter estimation and friction compensation with a newly introduced dynamic friction model proposed by Canudas et.[1]. The model depicts varios frictional phenomena,such as Stibeck effect,frictional memory, Stick-slip motion. Parmeter identification algorithm are followed conventional RLSM adaptive rule. The stability for the closed system was proved by the Lyapunov stability. The result say that if a real system have dynamic friction property,the friction compensation with the dynamic friction model will improve the perfomance moreover static friction model based compensation may lead to the system unstable.

• Transactions of the Korean Society of Automotive Engineers
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• v.24 no.3
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• pp.310-318
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• 2016

The demands for vehicle safety systems such as ABS and ESC have been increased. Accurate vehicle state estimation is required to realized the abovementioned systems and tire-friction coefficient is crucial information. Estimation of lateral tire-road friction coefficient using pneumatic trail information is mainly dealt in this paper. Pneumatic trail shows unique characteristics according to the wheel side slip angle and these property is highly sensitive to vehicle lateral motion. The proposed algorithm minimizes the use of conventional tire models such as magic formula, brushed tire model and Dugoff tire model. The pure side slip maneuver, which means no longitudinal dynamics, is assumed to achieve the ultimate goal of this paper. A simulation verification using Carsim and Simulink is performed and the results show the feasibility of the proposed algorithms.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.31 no.1 s.256
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• pp.18-25
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• 2007

Linear motor is easily affected by load disturbance, force ripple, friction, and parameter variations because there is no mechanical transmission to reduce the effects of model uncertainties and external disturbance. These nonlinear effects have been reduced for high-speed/high-accuracy position control either through the better motor design or via the better control algorithm that can compensate the nonlinear effects. In this paper, a nonlinear adaptive control algorithm is designed and applied for the position control of permanent magnet linear synchronous motor. In order to estimate and compensate the nonlinear effects such as friction and force ripple, the estimation and the nonlinear adaptive control laws are derived based on the virtual control input and a suitable Lyapunov function. The proposed controller is evaluated through the computer simulations. The control algorithm is also implemented to a DSP board and interfaced to the PMLSM for verifying the realtime control performance.

• Journal of Korea Water Resources Association
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• v.30 no.5
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• pp.495-501
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• 1997

Pumping power being given, traditional method requires an iteration process for the solution of discharge and pipe diameter. Yoo and Kang (1996) have developed explicit equations for the estimation of discharge and pipe diameter for the cases of uniformly rough pipe on a sloping bed with a pumping power. The use of poser law for the estimation of friction factor enabled to develop the explicit form of equations. Yoo (1995a) has suggested the mean friction factor method for the estimation of friction factor of commercial pipe or composite surface pipe. With the same approach, the present work has developed the explicit equations of discharge or pipe diameter for the general case of commercial pipe on a sloping bed with a pumping power by adopting the mean friction factor method.

• Journal of the Korean Society of Fisheries and Ocean Technology
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• v.20 no.2
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• pp.122-126
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• 1984

Tube drawing process is more sensitive to the friction coefficient but it is a hard task to analyze it's disposition qualitatively. This paper aims to calculate the mean friction coefficient from author's direct equation which amended from general rod drawing process, and compare the result with SACHS' or WILLIAM'S. From this study, the thickness change was inspected in multi-pass drawing. The thickness affected with the mean friction coefficient and the thickness was deformed more thicker than initial thickness on the condition of good lubrication. For the sake of a good estimation of mean friction coefficient, the radial force of die must be considered when the drawing process has some more area reduction about more than 10 percents.

• Journal of the Korean GEO-environmental Society
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• v.15 no.3
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• pp.21-32
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• 2014

This Research have suggested the new estimation method using parameter estimation algorithm to substitute established velocity and friction factor calculation equation. Established calculation equation has some difficulties for estimation and reflecting exactly flow specification cause parameter uncertainty and material uncertainty governed real phenomenon, so this research has used system modeling method for flow specification estimation and suggested estimation method.

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

• International journal of steel structures
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• v.18 no.5
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• pp.1699-1709
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• 2018

Suspen-dome structures are extensively used due to their superiority over traditional structures. The friction between cable and joints may severely influence the distribution of cable force, especially during the pre-stressing construction period. An accurate and efficient numerical method has not yet been developed that can be used for estimating the influence of friction on cable force distribution. Thus, this study proposes an efficient friction element to simulate friction between cable and joint. A flowchart for estimating the value of friction force is introduced. These novel numerical methods were adopted to estimate the influence of friction on cable force distribution. The accuracy and efficiency of these numerical methods were validated through numerical tests.

• Journal of Institute of Control, Robotics and Systems
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• v.18 no.10
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• pp.940-946
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• 2012

This paper proposes a method to predict maximum traction for unmanned robots on rough terrain in order to improve traversability. For a traction prediction, we use a friction-slip model based on modified Brixius model derived empirically in terramechanics which is a function of mobility number $B_n$ and slip ratio S. A friction-slip model includes characteristics of various rough terrains where robots are operated such as soil, sandy soil and grass-covered soil. Using a friction-slip model, we build a prediction model for terrain parameters on which we can know maximum static friction and optimal slip with respect to mobility number $B_n$. In this paper, Mobility number $B_n$ is estimated by modified Willoughby Sinkage model which is a function of sinkage z and slip ratio S. Therefore, if sinkage z and slip ratio are measured once by sensors such as a laser sensor and a velocity sensor, then mobility number $B_n$ is estimated and maximum traction is predicted through a prediction model for terrain parameters. Estimation results for maximum traction are shown on simulation using MATLAB. Prediction Performance for maximum traction of various terrains is evaluated as high accuracy by analyzing estimation errors.