• Journal of Institute of Control, Robotics and Systems
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• v.20 no.2
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• pp.180-185
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• 2014

DC motor is a representative electric motor commonly utilized in various motion control fields. However, DC motor-based motion control systems suffer from degradation of position precision due to nonlinear static friction. In order to enhance control precision, friction model-based compensators have been introduced in previous researches, where friction models are identified and counter inputs are added to control inputs for cancelling out the identified friction forces. In this paper, a static friction compensator is proposed without use of a friction model. The proposed compensation algorithm utilizes internal state manipulation to generate compensation pulses, and related parameters are easily tuned experimentally. The proposed friction compensator is applied to a DC motor-based motion control system, and results are presented in comparison with those without a friction compensator.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.2555-2559
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• 2003

In this study, we develop an automatic sorting system, which is mostly affected by frictional forces between a veneer and friction-generating device. So we will make a suitable dynamic model and mechanism to control friction force using a AC servo-motor. We suggest Stick friction and Column friction model, which is occurred between roller and veneer and within veneers as well. A kind of sensor can get the velocity of roller and movement of roller vertical direction. We assume that the several things to simplify the complicate and difficult nonlinear friction phenomenon. And to create an optimal normal force, which can generate a suitable friction force, we control the movement of sorting roller and supporter as well. We introduce several results about a friction character and suggest the value of calibration of sorting roller movement and supporters as well.

• Journal of Mechanical Science and Technology
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• v.19 no.4
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• pp.927-935
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• 2005

In the present paper the dynamics of the structure varying multibody systems caused by stick-slip motion with two-dimensional dry friction are analyzed. The methods to determine friction force both in stick and slip states are described. The direct method of considering the wagon bogie system as a structure varying system was used to consider two dimensional friction at the wheelset-side frame connection. The concept of friction direction angle used to determine the friction force components of two-dimensional dry friction both in the stick and slip motion states was used. A speed depended friction coefficient was used and described approximately by hyperbolic secant function. All switch conditions were derived and friction forces both for stick and slip states. Some simulation results are provided.

• Proceedings of the Korean Society of Tribologists and Lubrication Engineers Conference
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• 2002.10b
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• pp.57-58
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• 2002

Asperity arrays and Independent asperities were fabricated on a silicon plate. Then pull-off and friction forces were measured on each asperity pattern by using AFM (atomic force microscope) in humid air and high vacuum of $2{\times}10^{-5}$ Pa. The probe of AFM cantilever has a flat square of about $1\;{\mu}m^2$ on its tip. The results showed that the pull-off force was proportional to the curvature radius of asperity peak in each ambient condition. The friction force was proportional to the pull-off force and was slightly higher in the humid air than in the high vacuum.

• Journal of the korean Society of Automotive Engineers
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• v.12 no.4
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• pp.66-74
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• 1990

Friction between piston-ring assembly and cylinder wall of a spark ignition engine was evaluated under various engine operating conditions utilizing a grasshopper linkage system. The friction force was estimated by the force balance relation at the small end of connecting rod. Three forces were chosen to be measured for the objective. They were gas pressure inside the cylinder, inertia force of the piston-ring assembly, and the force exerted by the connecting rod. These forces were measured by a piezo type pressure sensor, an accelerometer and strain gauges, respectively. Comparisons were made with the frictional force evaluated by the conventional method where the assumption of constant rotational speed of engines was adopted. Due to the variation of rotational speed of engines, the conventional method was found to lead to a large error in the evaluation of the frictional force.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.26 no.8
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• pp.1698-1708
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• 2002

The main topic covered in this paper is that of the impact process, that is, where two bodies come into contact and rebound or stick together. This paper presents how to determine the rebound velocities of a microparticle that approaches a surface with arbitrary initial velocities and relate the impact process to the physical properties of the materials and to the adhesion force. Actual adhesion forces demonstrate a significant amount of energy dissipation in the form of hysteresis, and act generally in a normal to the contact surfaces. Microparticles must also contend with forces tangent to the contact surfaces, namely Coulomb dry friction. The developed model has an algebraic form based on the principle of impulse and momentum and hypothesis of energy dissipation. Finally, several analyses are carried out in order to estimate impact parameters and the developed analytical model is validated using experimental results.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.924-927
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• 1996

In this work, we investigate the quasi-static crawling of the four-bar mechanism. Since the crawling of the mechanism is based on sliding of contact points of the mechanism with the ground, interaction forces and friction forces at contact points of the mechanism with the ground should be computed. For this purpuse, we introduce the concept of imaginary joints to find these forces. Therefore, we are able to treat the closed mechanism as a serial one. Also, sliding conditions of the mechanism in quasi-static equilibrium are examined. Lastly, the required torques for the mechanism to crawl with respect to various configurations of the mechanism but with a fixed ground friction are investigated.

• Journal of the Korean Society for Precision Engineering
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• v.21 no.10
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• pp.20-25
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• 2004

Using the multiple regression analysis cutting forces of turning processes have been predicted based on the cutting conditions such as feed rate(f), depth of cut(d), and cutting velocity(v). The statistical inference of the equation was checked by ANOVA test. The validity of the proposed regression analysis was verified by two sets of cutting tests of 27 cutting conditions and the additional cutting tests of 18 cutting conditions. From the results of analytical and experimental studies, it was found that there was no significant difference between the measured and predicted cutting forces. Also, the shear and friction characteristics of turning processes were analyzed with predicted cutting forces.

• Journal of the Korean Society for Railway
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• v.9 no.6 s.37
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• pp.682-688
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• 2006

In this paper, a method which can deduce the traction farce or the braking force from the acceleration or the deceleration of the train, has been suggested. In the case of Korean high speed train (HSR-350x), the traction force and the braking forces have been obtained by using this method. It is proven that the proposed method is a very good tool in estimating the traction force or the braking force when the train starts or stops. Also, these forces on be used to calculate friction coefficients of mechanical brakes and the transmission efficiency of the traction system.

• Journal of Institute of Control, Robotics and Systems
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• v.8 no.3
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• pp.226-232
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• 2002

In this work, the quasi-static crawling of the four-bar mechanism is investigated. Since the crawling of the mechanism is based on sliding of contact points of the mechanism with the ground, interaction forces and friction forces at contact points of the mechanism with the ground should be computed. For this purpose, we introduce the concept of imaginary joints to find these forces and treat the closed mechanism as a serial one. Lastly, the required torques for the mechanism to crawl with respect to various configurations of the mechanism on a flat ground with uniform friction coefficient, based on sliding conditions of the mechanism in quasi-static equilibrium, are investigated.