• Smart Structures and Systems
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• 제6권8호
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• pp.953-974
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• 2010

The performance of variable dampers for seismic protection of the benchmark highway bridge (phase I) under six real earthquake ground motions is presented. A simplified lumped mass finite-element model of the 91/5 highway bridge in Southern California is used for the investigation. A variable damper, developed from magnetorheological (MR) damper is used as a semi-active control device and its effectiveness with friction force schemes is investigated. A velocity-dependent damping model of variable damper is used. The effects of friction damping of the variable damper on the seismic response of the bridge are examined by taking different values of friction force, step-coefficient and transitional velocity of the damper. The seismic responses with variable dampers are compared with the corresponding uncontrolled case, and controlled by alternate sample control strategies. The results of investigation clearly indicate that the base shear, base moment and mid-span displacement are substantially reduced. In particular, the reduction in the bearing displacement is quite significant. The friction and the two-step friction force schemes of variable damper are found to be quite effective in reducing the peak response quantities of the bridge to a level similar to or better than that of the sample passive, semi-active and active controllers.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1997년도 한국자동제어학술회의논문집; 한국전력공사 서울연수원; 17-18 Oct. 1997
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• pp.253-256
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• 1997

This paper proposes a control strategy of position and force control in the same direction based on hybrid position/force control. In order to control position and force in the same direction, a weighting matrix is introduced instead of a selection matrix suggested by Raibert and Craig. The major part of the controller output comes from the position controller when a position control error is large, from the force controller when a position control error is large. The proposed algorithm is implemented by the simulation and experiment focusing on the peg-in-hole task where friction exist significantly and is not constant. It also adopts and event control scheme for more efficient performance.

• 한국생산제조학회지
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• 제19권4호
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• pp.449-454
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• 2010

The force control of a constrained flexible manipulators has been one of the major research topics. However, a little effort has been devoted for the relation between friction force and elastic deflection of end-effector for a constrained flexible manipulator. So, the aim of this paper is to clarify the friction mechanism of a constrained spatial multi-link flexible manipulator by changing the material and connected method of end-effector. In this study, a concise hybrid position/force control scheme is applied to the control of a flexible manipulator, and the experimental results for the constrained vertical motion and constrained horizontal motion is presented. Finally a comparison between these results are presented to show the reduction of vibration of link and friction force.

• 한국정밀공학회지
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• 제17권1호
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• pp.198-203
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• 2000

In this paper, a numerical analysis is carried out to show the effect of friction farce on the dynamic characteristics of a flow divider valve. The continuity equations and the equation of motion fur spool are numerically solved. The viscous friction force acting on the spool is considered analyzing the Reynolds equation which governs the viscous flow in the clearance gap between the spool and sleeve. Dynamic characteristics are highly affected by the viscous friction farce whose magnitude is relatively small compare with other fluid forces. Therefore present theoretical formulation and numerical scheme can be used generally in designing and performance evaluation of all the hydraulic spool valve.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2009년도 제40회 하계학술대회
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• pp.1640_1641
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• 2009

Dynamic friction and force ripple are the most predominant factors that affect the positioning accuracy of permanent magnet synchronous motor(PMSM) servo drives system, and it is desirable to compensate them in finite time with a continuous control law. In this paper, based on LuGre dynamic friction model, a robust adaptive skidding mode controller is proposed to compensate the nonlinear effect of friction and force ripple. The controller scheme consists of a PD component and a robust adaptive sliding mode controller for estimating the unknown system parameter. Using Lyapunov stability theorem, asymptotic stability analysis and position tracking performance are guaranteed. Simulation results well verify the feasibility and the effectiveness of the proposed scheme for high0precision motion trajectory tracking.

• International Journal of Precision Engineering and Manufacturing
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• 제4권2호
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• pp.13-22
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• 2003

To coordinate the robot manipulator along the desired trajectory, the exact model of the dynamics is required. The added mass and added moment of inertia, buoyancy, drag force, and friction mainly affect the dynamics of the undersea robot manipulator, and they are quite complex and unknown. In this reason. the exact model of the undersea robot manipulator is difficult to obtain. In this paper, instead of having efforts to get the exact model of the robot dynamics, a control-based approach was performed. We modeled the dynamics of the undersea robot manipulator whose parameters are unknown, and then applied a proposed direct adaptive and robust control, which is different from previous studies. The unknown added mass, and added moment of inertia, drag force and friction are estimated by the direct adaptive control scheme, and the drag force which is dominant disturbance is compensated by the robust control. Also, stability of the proposed control scheme is analyzed.

• Earthquakes and Structures
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• 제13권2호
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• pp.151-164
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• 2017

This article aims to investigate the possible retrofitting of a deficient building with soft story failure mode by connecting it to an adjacent building which is designed based on current code with friction dampers at all floors. Low cost and high performance reliability along with significant energy dissipation pertaining to stable hysteretic loops may be considered in order to choose the proper damper for connecting adjacent buildings. After connecting two neighbouring floors by friction dampers, the sliding forces of dampers at various stories are set in two arrangements: uniform sliding force and then variable sliding force. In order to account for the stochastic nature of the seismic events, incremental dynamic analyses are employed prior and after the installation of the friction dampers at the various floors. Based on these results, fragility curves and mean annual rate of exceedance of serviceability and ultimate limit states are obtained. The results of this study show that the collapse mode of the deficient building can affect the optimum arrangement of sliding forces of friction dampers at Collapse Prevention (CP) performance level. In particular, the Immediate Occupancy (IO) performance level is not tangible to the sliding force arrangement and it depends solely on sliding force value. Generally it can be claimed that this rehabilitation scheme can turn the challenge of pounding two adjacent buildings into the opportunity of dissipating a large amount of the seismic input energy by the friction dampers, thus improving significantly the poor seismic performance of the deficient structure.

• 전기학회논문지
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• 제56권4호
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• pp.777-783
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• 2007

In this paper, we present a novel control approach for linear motor-based transfer systems in which friction reduction and enhancement of control performance are considered. In general, in such systems friction effects from rails and wheels, and internal bearings complicate control scheme since in particularly its dynamics are arbitrarily changed due to mass variation, detent force of motor systems, and gaps among stators. Our control approach is achieved to reduce this undesired friction dynamics using fuzzy system. We construct hybrid control approach for this control system which Is composed of a nominal control and a vertical control against friction. Fuzzy parameter vector is optimally determined from iterative simulation experiments. We demonstrate its superiority via numerical simulations comparing with a traditional control method.

• Journal of Advanced Marine Engineering and Technology
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• 제20권2호
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• pp.75-75
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• 1996

The rapid expansion for the auto-industry and the worldwide trend toward non-asbestos friction materials for brake lining force our industry to transfer into non-asbestos ones from asbestos-based friction materials. Furthermore, it is imperative for the friction materials to have technological excellence and lower production cost to be competitive in the world market. There is no known theoretical procedures to formulate friction materials. It, rather, depends on the trial and error process. Thus, it is quite clear how important it is to accumulate the know-how on the formulation and manufacturing the friction material. This study concerns the practical ways of conceptualizing the formulation and optimizing the manufacturing process. This study focused on the development of formulation for non-asbestos friction material as well as deriving the physical properties of the trial product to prove its validity and applicability. Elaboration of the formula and optimizing scheme of the manufacturing process to get better quality are also sought. Physical properties were obtained by constant velocity test dynamotest, hardness test and strength test. Differential scanning calorimeter was also used to analyze the thermal reactions of organic constituents, microstructures, bond effects, and degree of mixture.

• Journal of Advanced Marine Engineering and Technology
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• 제20권2호
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• pp.7-14
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• 1996

The rapid expansion for the auto-industry and the worldwide trend toward non-asbestos friction materials for brake lining force our industry to transfer into non-asbestos ones from asbestos-based friction materials. Furthermore, it is imperative for the friction materials to have technological excellence and lower production cost to be competitive in the world market. There is no known theoretical procedures to formulate friction materials. It, rather, depends on the trial and error process. Thus, it is quite clear how important it is to accumulate the know-how on the formulation and manufacturing the friction material. This study concerns the practical ways of conceptualizing the formulation and optimizing the manufacturing process. This study focused on the development of formulation for non-asbestos friction material as well as deriving the physical properties of the trial product to prove its validity and applicability. Elaboration of the formula and optimizing scheme of the manufacturing process to get better quality are also sought. Physical properties were obtained by constant velocity test dynamotest, hardness test and strength test. Differential scanning calorimeter was also used to analyze the thermal reactions of organic constituents, microstructures, bond effects, and degree of mixture.