• Journal of the Computational Structural Engineering Institute of Korea
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• v.23 no.2
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• pp.199-208
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• 2010

A friction damper installed at a building shows nonlinear behavior since its stick and slip states are occurred repeatedly depending on the amplitude of external loadings to dissipate input energy. Friction damping is existed for the building with a friction damper. In additionally viscous one is inherently included. Therefore, the building installed in such combined damping is quite involved to find the analytical solution. In this study, first, displacement and acceleration characteristics are identified based on the exact solution for a single-degree-freedom building with a friction damper having both friction and viscous damping. Second, in free vibration, the equivalent viscous damping ratio is obtained by the energy dissipation. Third, numerical analysis is carried out to find response configuration with various friction force ratios. Fourth, corresponding equivalent viscous damping ratio is derived with the finding that the response reaches into steady-state for both friction and viscous damped structure. It is deduced using balance of input external energy and output dissipation energy for steady-state response. Finally, the equivalent viscous damping ratios of free or harmonic vibration are verified through nonlinear analysis.

• Journal of the Computational Structural Engineering Institute of Korea
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• v.23 no.4
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• pp.435-443
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• 2010

This study presents key parameters for the structure installed with MR controller in reducing its responses. MR controller is regarded as Bingham model of which control forces are frictional and viscous ones. The parameters are identified as friction force ratios, $R_f$ and $R_h$ which are, respectively, ratio of MR controller friction force to static restoring force for free vibration and ratio of the friction force to amplitude of harmonic force. Structure-MR controller system shows nonlinear response behavior due to friction force. Energy balance strategy is adopted to transform the behavior to linear one with equivalent damping ratio. Finally, proposed equivalent linear process is compared to the nonlinear one, which turns out to give acceptably good results.

• Tribology and Lubricants
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• v.23 no.5
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• pp.219-227
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• 2007

The dynamic performance of air foil bearings relies on a coupling between a thin air film and an elastic foil structure. A number of successful analytical techniques to predict dynamic performance have been developed. However, the evaluation of its dynamic characteristic is still not enough because of the mechanical complexity of the foil structure and strong nonlinear behavior of friction force. This work presents a nonlinear transient analysis method to predict dynamic performance of foil bearings. In this method, time dependent Reynolds equation is used to calculate pressure distribution and a finite element method is used to model the bump foil structure. The analysis is treated with a direct implicit integration technique that can handle nonlinear problems and the stick-slip algorithm is used to consider friction force. Using this method the response to the mass unbalance excitation is investigated for various design parameters and operating conditions. The results of analysis show that foil bearing is very effective on the restriction of vibration at the resonance frequency compared to the rigid surface bearings and the effectiveness depends on the operating conditions, static load and a amount of mass unbalance. In addition, there exist optimum values of friction coefficient, bump foil stiffness and number of circumferential slit with regards to minimizing dynamic response at the resonance frequency. These optimum values are system dependent.

• 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.

• The Transactions of the Korean Institute of Electrical Engineers D
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• v.55 no.11
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• pp.483-490
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• 2006

When the nonlinearities, such as friction and backlash, are not considered in the controller design, undesirable oscillations can occur in the steady-state response of a control system. This paper deals with a method to reduce oscillations that often appear in the steady-state response of a pendulum system, which is controlled by a state feedback controller based on the linearized system model. With an assumption that the oscillations shown in the steady-state are caused by the Coulomb friction, we improve the performance of stabilization and tracking by estimating and compensating for the Coulomb friction in the pendulum system. Experimental results show that the control performance can be improved sufficiently by the proposed method, when it is applied to an inverted cart pendulum which is a multi-variable unstable system. Furthermore, we could see that the Coulomb friction model used in the estimation of the friction is valid in applying the suggested method.

• 제어로봇시스템학회:학술대회논문집
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• 1987.10b
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• pp.346-351
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• 1987

In this study, digital simulation with nonlinear modeling is carried out to analyse the performance of a hydraulic servomotor system developed for the position control of a large inertia. Nonlinear element, such as nonlinear pressure flow relationships of servovalve, valve spool limits, nonlinear friction, and backlash and resilience of gear system are included in the simulation along with the dynamic characteristics of variable delivery pump compensation mechanism. Simulation results are compared with experimental results for both step and sinusoidal inputs. Independent of input magnitude, both results are in good agreement with minor differences in detail.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2001.05a
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• pp.277-282
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• 2001

Partial rotor rub occurs when an obstacle on the stator of a rotating machinery disturbs the free whirling motion of a rotor, which is more common than full annular rub for the cases of rubbing in rotating machinery. The nonlinearity due to the intermittent contacts and friction during partial rotor rub makes the phenomenon complex. The several nonlinear phenomena of superharmonics, subharmonics, and jump phenomenon are demonstrated for the partial rub using an experimental apparatus in this study. A piecewise-linear model and a rebound model using the coefficient of restitution are investigated on the basis of experimental observations in order to adopt as an analytical model of the contact between the rotor and stator during whirling motion. The contact stiffness, coefficient of restitution, and friction coefficient for the contact during partial rub are calculated from the comparison between the numerical simulation and the experimental results. Also, the numerical simulations for the model of partial rub are done for the various system parameters of clearance, contact stiffness, and friction coefficient in order to find the nonlinear behavior of partial rotor rub.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.70-70
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• 2000

Recently, a neuro-fuzzy approach, a combination of neural networks and fuzzy reasoning, has been playing an important role in the motor control. In this paper, a novel method of fiction compensation using neuro-fuzzy architecture has been shown to significantly improve the performance of a DC motor system with nonlinear friction characteristics. The structure of the controller is the neuro-fuzzy network with the TS(Takagi-Sugeno) model. A back-propagation neural network based on a gradient descent algorithm is employed, and all of its parameters can be on-line trained. The performance of the proposed controller is compared with both a conventional neuro-controller and a PI controller.

• Transactions of the Korean Society of Automotive Engineers
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• v.12 no.4
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• pp.146-153
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• 2004

This paper presents a discrete analysis approach to investigate the performance of dual mass flywheel (DMF). In the discrete analysis, arcspring installed between the flywheels is modeled as N- discrete elements. Each element consists of mass, spring and nonlinear friction element. LuGre friction model is used to describe nonlinear friction characteristic. Based on the dynamic models of the DMF, clutch, engine, manual transmission and vehicle, a DMF performance simulator is developed using MATLAB Simulink. Simulation results of the engine speed, driveshaft torque and vehicle velocity are compared with test results. It is found that the discrete DMF model describes the vehicle behavior closely, especially during the clutch actuation period.

• Proceedings of the KIEE Conference
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• 1995.07b
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• pp.720-725
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• 1995

The most important problems which should be considered in designing servo controllers are resonance effects and nonlinear friction. These problems exist in almost all the servo systems, especially for the robotic maniplators and numerical control systems and cause difficulties in designing controllers. In this paper, controller design procedure which employs $H_{\infty}$ control theory is proposed for the servo systems with these problems. Sometimes, for these systems, there is a possibility of limit cycles due to the interation between the nonlinear friction and integrator. To check the possibility of limit cycles, describing fuction method is used.