• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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• pp.507-507
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• 2000

In this paper, a kind of limit cycle of an inverted pendulum system is discussed. We propose a stabilization control law for such a limit cycle of an inverted pendulum system that the pendulum rotates periodically. Besides, the stabilization control law is extended so as to ensure not only stability of the limit cycle but also an L$_2$-gain disturbance attenuation in the presence of modeling error and viscosity friction.

• Coupled systems mechanics
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• 제4권4호
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• pp.279-295
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• 2015

The article presents a theoretical-experimental approach developed for modeling the coefficient of sliding friction in the dynamic system tool-workpiece in slide diamond burnishing of low-alloy unhardened steels. The experimental setup, implemented on conventional lathe, includes a specially designed device, with a straight cantilever beam as body. The beam is simultaneously loaded by bending (from transverse slide friction force) and compression (from longitudinal burnishing force), which is a reason for geometrical nonlinearity. A method, based on the idea of separation of the variables (time and metric) before establishing the differential equation of motion, has been applied for dynamic modeling of the beam elastic curve. Between the longitudinal (burnishing force) and transverse (slide friction force) forces exists a correlation defined by Coulomb's law of sliding friction. On this basis, an analytical relationship between the beam deflection and the sought friction coefficient has been obtained. In order to measure the deflection of the beam, strain gauges connected in a "full bridge" type of circuit are used. A flexible adhesive is selected, which provides an opportunity for dynamic measurements through the constructed measuring system. The signal is proportional to the beam deflection and is fed to the analog input of USB DAQ board, from where the signal enters in a purposely created virtual instrument which is developed by means of Labview. The basic characteristic of the virtual instrument is the ability to record and visualize in a real time the measured deflection. The signal sampling frequency is chosen in accordance with Nyquist-Shannon sampling theorem. In order to obtain a regression model of the friction coefficient with the participation of the diamond burnishing process parameters, an experimental design with 55 experimental points is synthesized. A regression analysis and analysis of variance have been carried out. The influence of the factors on the friction coefficient is established using sections of the hyper-surface of the friction coefficient model with the hyper-planes.

• Smart Structures and Systems
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• 제8권5호
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• pp.501-524
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• 2011

Recent studies have discovered that a conventional passive isolation system may suffer from an excessive isolator displacement when subjected to a near-fault earthquake that usually has a long-period velocity pulse waveform. Semi-active isolation using variable friction dampers (VFD), which requires a suitable control law, may provide a solution to this problem. To control the VFD in a semi-active isolation system more efficiently, this paper investigates experimentally the possible use of a control law whose control logic is similar to that of the anti-lock braking systems (ABS) widely used in the automobile industry. This ABS-type controller has the advantages of being simple and easily implemented, because it only requires the measurement of the isolation-layer velocity and does not require system modeling for gain design. Most importantly, it does not interfere with the isolation period, which usually decides the isolation efficiency. In order to verify its feasibility and effectiveness, the ABS-type controller was implemented on a variable-friction isolation system whose slip force is regulated by an embedded piezoelectric actuator, and a seismic simulation test was conducted for this isolation system. The experimental results demonstrate that, as compared to a passive isolation system with various levels of added damping, the semi-active isolation system using the ABS-type controller has the better overall performance when both the far-field and the near-fault earthquakes with different PGA levels are considered.

• 한국자동차공학회논문집
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• 제12권2호
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• pp.160-167
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• 2004

A two degree-of-freedom mathematical model is presented to investigate the friction mechanism of a disc brake system. A contact parameter is introduced to describe the coupling between the in-plane and the out-of-plane motions. The model with the contact parameter is considered under the assumption that the out-of-plane motion depends on the friction force along the in-plane motion. In order to describe the relationship between the friction force and the out-of plane motion, the dynamic friction coefficient is considered as a function of both relative velocity and normal farce. Using this friction law, a contact stiffness matrix along the normal direction can be obtained. The out-of-plane motion is then investigated by both the stability analysis and the numerical analysis for various parametric conditions. The results show that the stiffness parameters of the pad and the disc must be controlled at the same time. Also, the numerical analysis shows the existence of limit cycle caused by the effect of intermittent contact stiffness.

• Journal of Advanced Marine Engineering and Technology
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• 제20권5호
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• pp.58-67
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• 1996

In the present study, the pressure distribution, wall shear stress distribution and friction factor of developing turbulent pulsating flows are investigated theoretically and experimentally in the entrance region of a square duct. The pressure distribution for turbulent pulsating flows are in good agreement with the theoretical values. The time-averaged pressure gradients of the turbulent pulsating flows show the same tendency as those of turbulent steady flows as the time-averged Reynolds number $(Re_{ta})$ increase. Mean shear stresses in the turbulent pulsating flow increase more in the inlet flow region than in the fully developed flow region and approach to almost constant value in the fully developed flow region. In the turbulent pulsating flow, the friction factor of the quasi-steady state flow $({\lambda}_{q, tu})$ follow friction factor's law in turbulent steady flow. The entrance length of the turbulent pulsating flow is not influenced by the time-averaged Reynolds number $(Re_{ta})$ and it is about 40 times as large as the hydraulic diameter.

• 한국콘텐츠학회논문지
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• 제15권2호
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• pp.499-506
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• 2015

마찰속도란 벽면 가까이의 흐름에서 벽면의 마찰 응력과 밀도로 정의되는 속도의 차원을 갖는 양이다. 또한 마찰속도는 바닥 흐름에서 전단력을 나타내는 수리학적 매개변수이다. 게다가 개수로 설계나 하천, 해안에서 유사 및 물질의 거동을 파악하는데 정확한 마찰속도의 산정이 매우 중요하며 주 흐름방향의 혼합계수를 결정하는데 필수적인 요소이다. 이러한 마찰속도를 산정하는 방법들은 하상경사를 이용하는 방법, 레이놀즈 응력분포를 이용하는 방법, 점성저층에서 평균유속의 선형법칙을 이용하는 방법, 벽 전단 응력의 직접적 측정방법 등이 있다. 본 연구에서는 기존 방법과 달리 확률통계 기법에 사용되는 엔트로피 개념에 접목하여 새로운 마찰속도공식을 제안하였고, 이를 검증하기 위해 Song의 실측 실험데이터를 이용하였다. 제안한 공식과 마찰속도 공식에 의해 산정된 마찰속도의 결정계수는 0.999-1.000로 잘 일치한 것으로 분석되었다.

• 한국습지학회지
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• 제21권3호
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• pp.207-214
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• 2019

본 실험연구는 자유수면을 이루는 환형수조에서 초음파 유속계를 이용하여 흐름특성을 분석하였다. 여기서 점착성 유사의 응집을 방해하지 않도록 설계된 실린더의 회전에 따라 흐름이 형성되도록 하였다. 종방향 유속에 대한 내부 실린더의 영향은 이동 경계 근처에서 가장 높았고 외측 벽쪽으로는 감소했다. 종방향 저유속에서 난류 운동에너지는 바닥근처 지점에서 가장 크게 나타났지만 종방향 유속이 증가함에 따라 위쪽으로 이동하였다. 멱법칙으로 산정된 종방향 유속은 바닥 마찰길이를 고려한 대수분포형태인 로그법칙으로 예측한 값보다 실측치와 잘 일치하였다. 레이놀즈 응력 방법으로 산정한 평균마찰속도는 종방향 유속이 증가할 때 로그법칙과 멱법칙으로 계산된 값보다 작게 나타났다.

• 한국소성가공학회:학술대회논문집
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• 한국소성가공학회 2008년도 추계학술대회 논문집
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• pp.304-307
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• 2008

In order to evaluate the effect of permanent softening behavior on springback prediction, 2D-draw bending simulations were compared with experiments for friction stir welded DP590 steel sheets. To account fur the nonlinear hardening behavior, the combined isotropic-kinematic hardening law was utilized with and without considering the permanent softening behavior during reverse loading. Also, the non-quadratic orthotropic yield function, Yld2000-2d, was used to describe the anisotropic initial-yielding behavior of the base sheet while anisotropic properties of the weld zone were ignored for simplicity.

• 한국정밀공학회지
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• 제18권7호
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• pp.91-97
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• 2001

When a body including a crack inside is subjected to the compressive forces, the crack is closed and sliding occurs on the crack surfaces. In this work, a subsurface crack subjected to a static compressive load is analyzed with the finite element method considering friction on the crack surface. The friction on the crack surface is assumed to follow the Coulomb friction law, and a numerical method based on the finite element method and iterative method is applied in this work. The result is compared with those of ANSYS and references.

• 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.