• 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.

• Tribology and Lubricants
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• v.14 no.3
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• pp.17-23
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• 1998

Friction materials with three different formulations containing different solid lubricants were investigated to study the role of lubricants on the friction performance. The three friction materials contained graphite 10 vol.%, graphite 7 vol.%+$MoS_2$ 3 vol.%, and graphite 7 vol.%+$Sb_2S_3$ 3 vol.%, respectively, with the same amount of other ingredients. Results of this work showed that each formulation with different lubricants had unique advantages and disadvantages. The friction materials containing graphite 7 vol.%+$MoS_2$ 3 vol.% and graphite 7 vol.%+$Sb_2S_3$ 3 vol.% showed better resistance to fading and improved friction stability compared to the friction materials containing graphite only as a lubricant. However, the friction materials with two lubricants (graphite+$MoS_2$ or $Sb_2S_3$) showed disadvantages on DTV generation and rotor wear.

• Journal of Advanced Marine Engineering and Technology
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• v.32 no.8
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• pp.1149-1156
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• 2008

The principle of self clamping friction clutch is presented in this paper and the transmitted torque capacity is also calculated. In order to enlarge the friction force, a part of rotating force of driving side is converted to normal force of friction materials by clamping arm. The increased normal force of friction materials assures the large friction force and the transmitted torque capacity of clutch becomes large. The self clamping friction clutch is adopted in the tube type air pressure clutch and the condition of stability is investigated. It is proven that the inclined angle of clamping arm and the friction factor of friction materials are the essential elements in stability and torque capacity of self clamping friction clutch. The transmitted torque capacity of self clamping friction clutch is compared with air pressure clutch. The normal force of friction lining is magnified by 1/(1-k) and the transmitted torque capacity is also magnified with same proportion comparing with air pressure clutch. The larger the friction factor of friction lining, the larger the magnification factor. The longer the clamping arm, the smaller the magnification factor. It must be also noted that the value of k=${\mu}Y/X$ is the criterion of stability. If the value of k=${\mu}Y/X$ is greater than or equal to 1, the self clamping friction clutch is unstable and it can not be used as clutch.

• Tribology and Lubricants
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• v.16 no.5
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• pp.365-372
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• 2000

Tribological behavior of novolac resin-based friction materials with three different relative amounts of graphite and zirconium silicate was investigated by using a pad-on-disk type friction tester. The goal of this paper is to examine the effects of the relative amount of a lubricant and an abrasive in the automotive friction material on friction and wear characteristics at elevated temperature. Friction and wear of friction materials were affected by the existence of transfer film(3$\^$rd/ body layer) at friction interface and the composition of friction material, especially lubricant amount. The friction material with higher content of graphite indicated homogenized and durable transfer film, and resulted in stable friction coefficient regardless of the increase in friction heat. The experimental result also showed that the higher concentration of ZrSiO$_4$ in friction material aggravated friction stability and wear resistance due to the higher friction heat generated at fiction interface during high temperature friction test.

• 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.

• Proceedings of the Korean Society of Tribologists and Lubrication Engineers Conference
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• 1998.10a
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• pp.330-336
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• 1998

The friction and wear characteristics of automotive friction materials reinforced with carbon fibers were studied using a direct drive brake dynamometer. Two types of model friction materials, a low-metallic and an NAO type, were prepared and each of the materials was modified by substituting 5 vol% of carbon fibers with other reinforcing fiber used in the model formulations. Drag tests were carried out to investigate the friction properties of these materials at various braking conditions. Results showed that the modified friction materials were improved in the friction stability and the wear resistance.

• Journal of Institute of Control, Robotics and Systems
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• v.15 no.1
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• pp.72-81
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• 2009

This paper presents a robust adaptive control method using model reference control strategy against autonomous robot systems with random friction nature. We approximate a nonlinear robot system model by means of a feedback linearization approach to derive nominal control law. We construct a Least Square (LS) based observer to estimate friction dynamics online and then represent a perturbed system model with respect to approximation error between an actual friction and its estimation. Model reference based control design is achieved to implement an auxiliary control in order for reducing control error in practice due to system perturbation. Additionally, we conduct theoretical study to demonstrate stability of the perturbed system model through Lyapunov theory. Numerical simulation is carried out for evaluating the proposed control methodology and demonstrating its superiority by comparing it to a traditional nominal control method.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1996.11a
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• pp.987-993
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• 1996

This report suggests a new non-linear friction compensation for digital control systems. This control adopts a hysteric nonlinear clement which can introduce the phase lead of the control system to compensate the phase delay comes from the inherent time delay of a digital control. The Lyapunov direct method is used to prove the asymtotic stability of the suggested control, and the stability and the effectiveness are verified analytically and experimentally on a single axis servo driving system.

• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.19 no.3
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• pp.394-401
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• 2010

In this article, we investigate a robust friction compensation scheme for the purpose of accomplishing precision positioning performance a servo mechanical system with nonlinear dynamic friction. To estimate the friction state and tackle robustness problem for uncertainty, a RFNN and reconstructed error compensator as well as a robust friction state observer are developed. The asymptotic stability of the series of friction compensation methodologies are verified from the Lyapunov's stability theory. Some simulations and experiments on a servo mechanical system were carried out to evaluate the effectiveness of the proposed control scheme.

• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.18 no.11
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• pp.1111-1117
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• 2008

During the dynamic analysis of a system, the Coulomb friction law is emploved to calculate the friction force. Since the static friction coefficient is only employed during the zero relative velocity, it is impractical to employ the coefficient during the dynamic analysis. To calculate the static friction force, therefore, some friction models have been developed. In this study, the integration stability and the accuracy of the models are investigated with some numerical examples. The effect of time step size during the numerical integration is also investigated. The numerical study shows that the friction model employed for most commercial codes is not as good as the one proposed in this study.