• 전기학회논문지
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• 제60권11호
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• pp.2139-2146
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• 2011

In this paper, a robust adaptive controller is proposed for trajectory tracking of robot manipulators with the unknown friction coefficient and bounded disturbance. A new adaptive control law is developed based on sliding mode and derived from the Lyapunov stability analysis. The introduction of a boundary layer solves the problem of chattering. The proposed adaptive controller is globally asymptotically stable and guarantees zero steady state error for joint positions. The estimated friction coefficients can also approach the actual coefficients asymptotically. A simulation example is provided to demonstrate the performance of the proposed algorithm.

• Tribology and Lubricants
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• 제16권3호
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• pp.173-181
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• 2000

Friction, wear and corrosion characteristics of various MoS$_2$ bonded film lubricants were investigated to apply them to automotive wheel joints. MoS$_2$ bonded film lubricants were formulated by combinations of several additives and binders, and they were coated onto the pre-treated surfaces of specimens. Friction and wear characteristics were evaluated with Falex pin & vee-block test and LFW-1 block-on-ring test. For the corrosion resistant characteristics of the films, salt solution spray corrosion tests were performed. Results showed that MoS$_2$ bonded films containing both inorganic and organic corrosion-resistant additives yielded a synergy effect on anti-corrosion resistance. Also, binders having the better water-proof and thermal stability showed the lower friction and higher corrosion resistance.

• 한국철도학회:학술대회논문집
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• 한국철도학회 2008년도 춘계학술대회 논문집
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• pp.2080-2093
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• 2008

대표적으로 높은 운동에너지를 가지는 고속철도와 항공기의 제동장치에 적용되는 금속계 소결마찰재와 내열강 간의 트라이볼로지 특성 연구를 목적으로 각각 2종류의 고속철도용 금속계 마찰재와 항공기용 금속계 마찰재를 Lab-Scale Dynamometer를 이용하여 시험하였다. 그 결과 철도용 금속계 마찰재가 항공기용 마찰재에 비해 높은 마찰계수 및 마찰계수 안정성을 나타내었고, 마모량도 철도용 금속계 마찰재는 항공기용 마찰재에 비해 약 50%수준에 불과하여 본 시험조건에서는 철도용 소결마찰재가 뛰어난 것으로 나타났다. 또한, 동계 마찰재가 철계 마찰재보다 제동시 급격하게 온도가 상승하며, 냉각도 동계 마찰재가 빨리 되지만, 동계 마찰재라도 마찰재의 기지의 량에 따라 달라지는 것으로 나타났다. 마찰재에 따라 마찰면에 형성되는 산화피막의 안정성은 달라지는 것으로 나타났으며, 산화피막은 $Fe_2O_3$와 $Fe_3O_4$계통이며, 마찰재에 따라서 마모메카니즘이 달라지는 것으로 판단된다.

• 자원환경지질
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• 제42권4호
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• pp.357-366
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• 2009

풍화작용은 암석의 물리적 및 화학적 특성을 변화시킬 뿐만 아니라 공학적 특성에도 영향을 미친다. 대개 풍화는 암석의 밀도 및 강도, 내부마찰각과 점착력 등을 감소시키며 이로 인해 암석으로 구성된 사면의 안정성에 부정적인 영향을 미칠 수 있다. 따라서 본 연구에서는 풍화등급에 따른 암반 사면의 안정성을 분석하여 풍화가 사면의 안정성에 미치는 영향을 분석해 보았다. 이를 위하여 암반사면의 안정성에 가장 주요한 영향을 미치는 불연속면 시료를 풍화등급별로 채취하여 공학적인 특성의 변화를 분석하였다. 이러한 결과를 활용하여 신선한 암반으로 구성된 사면과 풍화된 암반으로 구성된 사면의 안전율을 산정하였다. 신선한 암반의 경우 안전율이 1.25로 안전한 것으로 분석되었으며 풍화된 암반의 경우 안전율이 1.0으로 계산되었다. 그러나 이렇게 산정된 안전율은 값의 분산이 심한 불연속면 거칠기 계수(JRC)와 잔류마찰각에 따라 심하게 변동되고 있어 안전율로 사면의 안정성을 정확하게 파악하기 힘든 실정이다. 따라서 본 연구에서는 불연속면 거칠기 계수(JRC)와 잔류마찰각이 일정한 범위 내에 분포한다는 점에 착안하여 확률변수로 고려하였으며 확률론적 해석을 수행하였다. 확률론적 해석 결과 신선한 암반에서의 파괴확률은 25.6%로 계산되어 매우 불안정한 것으로 파악되었으며 풍화된 암반의 경우는 45.9%의 파괴확률이 획득되었다. 현장으로부터 획득된 자료들의 분산으로 인해 결정론적 해석기법은 사면의 안정성을 평가하는 데 부적절한 것으로 판단된다.

• Tribology and Lubricants
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• 제17권5호
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• pp.351-357
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• 2001

Tribological behavior of NAO type brake linings containing different volume ratios of graphite and Sb$_2$S$_3$ was investigated using a scale dynamometer. Three different test modes consisting of stop, drag, and fade tests were employed to elucidate the effect of the solid lubricants on brake performance. Results of this work showed that the two solid lubricants, graphite and Sb$_2$S$_3$, significantly affected friction characteristics at various braking situations. Compared with the brake linings containing a single lubricant, the brake linings containing both solid lubricants showed better friction stability due to the synergistic effect of the two disparate lubricants during the stop and the drag test. In particular, in the case of containing two solid lubricants, the brake lining with higher contents of graphite showed better fade resistance than others.

• 융합신호처리학회논문지
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• 제6권3호
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• pp.157-162
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• 2005

본 논문은 미지의 마찰력을 갖는 로봇 매니퓰레이터에 대하여 퍼지시스템을 이용한 적응보상기를 제안한다. 일반적인 로봇제어이론에서는 대부분 마찰력을 무시하거나 단순히 다이나믹 마찰력만을 고려한다. 본 논문에서는 다이나믹 마찰력뿐만 아니라 비스코스 마찰력까지도 고려한 제어방식이다. 마찰력이 관절마다 결부되지 않는다는 성질을 이용하여 각 관절에 해당하는 마찰력을 SISO 퍼지시스템으로 근사하며 전체제어시스템이 안정도를 Lyapunov 안정도 이론을 이용하여 증명하고 적절한 적응법칙을 설계한다. 제안된 제어방식의 타당성을 보이기 위해 2-링크 로봇 매니퓰레이터에 대하여 컴퓨터 시뮬레이션을 보이고 각 링크에 대한 마찰력을 퍼지시스템이 잘 근사한다는 것을 보인다.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2014년도 추계학술대회 논문집
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• pp.986-992
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• 2014

This research investigates experimentally and numerically the tilting angle, eccentricity ratio, flying height of axial direction, friction torque, and critical mass of the HDD disk-spindle system due to HDD positioning angle. The tilting angle and the eccentricity ratio are the maximum when the HDD positioning angle is $90^{\circ}$ respect to horizontal position because the external force in radial direction and the torque applied to the rotating part are the maximum when the HDD positioning angle is $90^{\circ}$. The flying height increases with the increase of the HDD positioning angle because the direction of gravity applied to the rotating part changes. The friction torque increases with the increase of the HDD positioning angle until it becomes $60^{\circ}$, and decreases with the increase of the HDD positioning angle after it becomes $60^{\circ}$. The stability is the maximum when the HDD positioning angle is $90^{\circ}$.

• 농업과학연구
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• 제24권2호
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• pp.226-236
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• 1997

The results obtained by elasto-plastic analysis method about the displacement, deformation and stability on the soft ground excavation using sheet pile were summarized as follows ; 1. In the case of strut 1 step, the maximum wall displacement value in the first and the second excavation was small, but it increase remarkably after the third excavation and when the excavation depth was 8m, the point of maximum wall displacement was shown 0.75H~0.8H. 2. The value of safety factor(Fs) was increased with increasing of the penetration depth of sheet pile, cohesion and internal friction angle of ground. Safety factor was mostly effected by penetration depth of sheet pile and more effected by cohesion than internal friction angle of ground. 3. Since the deformation of sheet pile of this ground from the results of analysis and measurement increased remarkabaly after 6m excavation depth, it was desirable that the point of strut installation was GL-6m. 4. Safe excavation depth on ground by analysis considered penetration depth, cohesion and internal friction was shown at the table 3.

• International Journal of Control, Automation, and Systems
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• 제4권5호
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• pp.545-558
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• 2006

In this paper, PD-like visual servoing is modified in two ways: a sliding-mode observer is applied to estimate the joint velocities, and a RBF neural network is used to compensate the unknown gravity and friction. Based on Lyapunov method and input--to-state stability theory, we prove that PD-like visual servoing with the sliding mode observer and the neuro compensator is robust stable when the gain of the PD controller is bigger than the upper bounds of the uncertainties. Several simulations are presented to support the theory results.

• KSTLE International Journal
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• 제2권2호
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• pp.120-126
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• 2001

Performance requirements for automatic transmission fluids have been changed reflecting the design changes of automatic transmissions. The major purpose of these design changes is concentrated upon improvements of both fuel economy and drivability. In order to formulate such high performance ATFs as satisfy those requirements, it is necessary to use high quality base oils like VHVI base oils and PAOs. In this study, the effect of base oils characteristics on ATF performance is investigated, mainly regarding differences in frictional characteristics with deterioration. Frictional characteristics are determined using the SAE No. 2 machine and ATFs are deteriorated under various controlled conditions. Moreover low-temperature fluidity, oxidation stability, and seal compatibility are also compared for four different ATFs. From the investigation, it was found that the use of Group III and IV base oils in ATFs gives several benefits with respect to low temperature viscosity, oxidation stability and SAE No.2 friction characteristics.