• International Journal of Precision Engineering and Manufacturing
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• v.8 no.2
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• pp.85-89
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• 2007

Linear ball guideways have been used recently in precision or ultra-precision positioning devices. However, when the inner balls begin to roll or the moving direction reverses, these guideways are subject to rolling friction or nonlinear spring behavior. An ultra-precision device with a linear motor, referred to as a 'tunnel actuator' (TA), has been constructed to measure these phenomena. The application of a TA is beneficial for two reasons: it mostly cancels the attractive magnetic force between the stator and mover (armature), and its magnetic flux leakage is very low. The influence of the nonlinear spring behavior in ball guideways was investigated in this study using the pure driving force from a TA. The equilibrium between the driving force from the TA and the nonlinear spring force provided great accuracy for a positioning stage using a linear ball guideway.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.56 no.5
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• pp.944-957
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• 2007

In general mechanical servo systems, friction deteriorates the performance of controllers by its nonlinear characteristics. Especially, friction phenomenon causes steady-state tracking errors and limit cycles in position and velocity control systems, even though gains of controllers are tuned well in linear system model. Even if sensor is used higher accuracy level, it is difficult to improve tracking performance of the position to the same level with a general control method such as PID type. Therefore, many friction models were proposed and compensation methods have been researched actively. In this paper, we consider that the variation of mover's mass is various by loading and unloading. The normal force variation occurs by it and other parameters. Therefore, the proposed control system is composed of main position controller and a friction compensator. A parameter estimator for a nonlinear friction model is designed by adaptive control law and adaptive backstopping control method.

• Journal of the Korean Society of Manufacturing Process Engineers
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• v.11 no.2
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• pp.34-39
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• 2012

In this study, the friction welding experiment was performed by using the design of experiment. And the signal data acquired by acoustic emission sensor were analyzed to predict the tensile strength of friction welding part at friction welding process for AZ31 magnesium alloy. A dimensionless coefficient($\phi_{AE}$), which consisted in the square of AE rms and variance, was defined as the characteristic of friction welding and the prediction equation was obtained by using linear regression. As the result of analysis, it was seen that the correlation between predicted and measured values became very close and on-line prediction of the ensile strength was possible in friction welding part.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.422-422
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• 2000

Parallel manipulators have been used to a variety of applications, including the motion simulators and mechanism for precise machining. A Stewart-Gough type parallel manipulator is composed of six linear joints which have wider contact areas than revolute ones, so linear joints are more affected by frictional force. First, the reference trajectories are computed from the model of the parallel manipulator assuming that it is subject to only the gravitational force and no friction exists. In the actual operation where friction exists, the control inputs, which correspond to the friction forces, are obtained by forcing the actual joint variables to follow these trojectories by proper control. It is shown that control performance can be improved when the friction compensation based on this information is added to the controller for position control of the moving plate of a parallel manipulator.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.29 no.7 s.238
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• pp.938-946
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• 2005

Friction is a dominant nonlinear factor in servomechanisms, which seriously deteriorates system accuracy. A friction compensator is indispensable to fabricate high-performance servomechanisms. In order to compensate for the friction in the servomechanism, identification of the friction elements is required. To estimate the friction of the servomechanism, an accurate linear element model of the system is required first. Tn this paper, a nonlinear friction model, in which static, coulomb and viscous frictions as well as Stribeck effect are included, is identified through the describing function approximation of the nonlinear element. A nonlinear element composed of two relays is intentionally devised to induce various limit cycle conditions in the velocity control loop of the servomechanism. The friction coefficients are estimated from the intersection points of the linear and nonlinear elements in the complex plane. A Butterworth filter is added to the velocity control loop not only to meet the assumption of the harmonic balance method but also to improve the accuracy of the friction identification process. Validity of the proposed method is confirmed through numerical simulations and experiments. In addition, a model-based friction compensator is applied as a feedforward controller to compensate fur the nonlinear characteristics of the servomechanism and to verify the effectiveness of the proposed identification method.

• Journal of Institute of Control, Robotics and Systems
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• v.18 no.7
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• pp.680-687
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• 2012

One of the frequent problems in the stabilized gimbal system is the rejection of disturbances associated with moving components. Very often such disturbances have non-linear characteristics. In a typical gimbal system, each gimbal and platform are connected by a mutual bearing which induces inevitable friction. Particularly, the non-linear Coulomb friction causes position errors as well as slow responses that lead to unfavorable performance. In this paper, a modified PID controller that is augmented by Coulomb friction estimator is presented. Through constantly estimating the Coulomb friction torque, it is applied to the output of the existing PID controller. The effectiveness of the proposed controller is evaluated through a series of experiments.

• Transactions of the Korean Society of Mechanical Engineers
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• v.18 no.8
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• pp.2026-2038
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• 1994

A numerical scheme is developed for the analysis of incipient sliding contact with orthotropic friction condition subjected to tangential load and twisting moment. The inherent nonlinearity in the orthotropic friction law has been treated by a polyhedral friction law. Then, a three-dimensional linear complementarity problem(LCP) formulation in an incremental form is obtained, and the existence of a solution is investigated. A Lemke's complementary pivoting algorithm is used for solving the LCP. The scheme is illustrated by spherical contact problems, and the effects of eccentricity of elliptical friction domain on the traction and stick region are discussed.

• The Transactions of the Korean Institute of Electrical Engineers D
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• v.51 no.3
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• pp.89-95
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• 2002

This paper describes a new identification method for friction in motion control systems, in which the friction model is not necessarily linear in parameters. The proposed method works well with any measurement data of velocity and input control force, as long as the initial and final velocities are identical. Most importantly, the proposed method does not require the information of acceleration for its implementation, in contrast with the previously known methods. This is due to the orthogonality property between acceleration and a function of velocity. In particular, if the parametric model is linear in parameters, its friction parameters can be identified in closed form without resorting to numerical search methods. To illuminate further the generality and practicality of the proposed friction identification method, we show good performance of the proposed method through some simulation results.

• Proceedings of the Earthquake Engineering Society of Korea Conference
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• 1999.10a
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• pp.193-202
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• 1999

effect of pounding and friction between oscillators upon global response behaviors of a bridge system under seismic excitations are examined in this study. For convenience an idealized mechanical model is proposed which still retains the dynamic characteristics of bridge motions using multiple oscillators, Each oscillator is consisting of four degrees-of-freedom to implement the pounding between the adjacent oscillators and friction at movable supports, The impact element and bi-linear model are utilized for pounding and friction at movable supports. The impact element and bi-linear model are utilized for pounding and friction respectively. Also the effects of abutments are investigated by adding the addition oscillators consisting of two degrees-of-freedom. The effects of pounding and frictions are determined using the proposed model and the effect of the abutment is also verified, It is found that both pounding and friction affect the bridge responses significantly while the first pounding occurs between the abutment and the nearby oscillator.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• v.1
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• pp.405-413
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• 2006

In general mechanical servo systems, friction deteriorates the performance of controllers by its nonlinear characteristics. Especially, friction phenomenon causes steady-state tracking errors and limit cycles in position and velocity control systems, even though gains of controllers are tuned well in linear system model. Even if sensor is used higher accuracy level, it is difficult to improve tracking performance of the position to the same level with a general control method such as PID type. Therefore, many friction models were proposed and compensation methods have been researched actively. In this paper, we consider that the variation of mover's mass is various by loading and unloading. The normal force variation occurs by it an other parameters. Therefore, the proposed control system is composed of main position controller and a friction compensator. A parameter estimator for a nonlinear friction model is designed by adaptive control law and adaptive backstepping control method.