• Journal of Ocean Engineering and Technology
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• v.23 no.2
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• pp.1-7
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• 2009

This paper presents a sliding mode controller based on Ackermann's formula and applies it to stabilizing a two-wheeled mobile inverted pendulum in equilibrium. The mobile inverted pendulum is a system with an inverted pendulum on a mobile cart. The dynamic modeling of the mobile inverted pendulum was established under the assumptions of a cart with no slip and a pendulum with only planar motion. The proposed sliding mode controller was based upon a class of nonlinear systems whose nonlinear part of the modeling can be linearly parameterized. The sliding surface was obtained in an explicit form using Ackermann's formula, and then a control law was designed from reachability conditions and made the sliding surface attractive to the equilibrium state of the mobile inverted pendulum. The proposed controller was implemented in a Microchip PIC16F877 micro-controller. The developed overall control system is described. The simulation and experimental results are presented to show the effectiveness of the modeling and controller.

• Journal of Mechanical Science and Technology
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• v.16 no.9
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• pp.1040-1053
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• 2002

This research deals with the influence of nonlinearities associated with impact and sliding upon the rocking behavior of a rigid block, which is subjected to two-dimensional horizontal and vertical excitation. Nonlinearities in the vibration were found to depend strongly on the effect of the impact between the block and the base, which involves an abrupt reduction in the system's kinetic energy. In particular, when sliding occurs, the rocking behavior is substantially changed. Response analysis using a non-dimensional rocking equation was carried out for a variety of excitation levels and excitation frequencies. The chaos responses were observed over a wide response region, particularly, in the cases of high vertical displacement and violent sliding motion, and the chaos characteristics appear in the time histories, Poincare maps, power spectra and Lyapunov exponents of the rocking responses. The complex behavior of chaotic response, in phase space, is illustrated by the Poincare map. The distribution of the rocking response is described by bifurcation diagrams and the effects of sliding motion are examined through the several rocking response examples.

• Journal of Power Electronics
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• v.7 no.2
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• pp.159-173
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• 2007

In this paper, an intelligent sliding-mode position controller (ISMC) for achieving favorable decoupling control and high precision position tracking performance of permanent-magnet synchronous motor (PMSM) servo drives is proposed. The intelligent position controller consists of a sliding-mode position controller (SMC) in the position feed-back loop in addition to an on-line trained fuzzy-neural-network model-following controller (FNNMFC) in the feedforward loop. The intelligent position controller combines the merits of the SMC with robust characteristics and the FNNMFC with on-line learning ability for periodic command tracking of a PMSM servo drive. The theoretical analyses of the sliding-mode position controller are described with a second order switching surface (PID) which is insensitive to parameter uncertainties and external load disturbances. To realize high dynamic performance in disturbance rejection and tracking characteristics, an on-line trained FNNMFC is proposed. The connective weights and membership functions of the FNNMFC are trained on-line according to the model-following error between the outputs of the reference model and the PMSM servo drive system. The FNNMFC generates an adaptive control signal which is added to the SMC output to attain robust model-following characteristics under different operating conditions regardless of parameter uncertainties and load disturbances. A computer simulation is developed to demonstrate the effectiveness of the proposed intelligent sliding mode position controller. The results confirm that the proposed ISMC grants robust performance and precise response to the reference model regardless of load disturbances and PMSM parameter uncertainties.

• Tribology and Lubricants
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• v.39 no.2
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• pp.43-48
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• 2023

In this study, we investigate the tribological behavior of AISI 304 stainless steel pairs under deionized water and hexagonal boron nitride (h-BN) water dispersion lubrication. The specimen friction and wear properties are evaluated using a reciprocating ball-on-flat tribometer. The coefficient of friction remains nearly constant throughout the test under both lubricant conditions. The wear depth of the specimens under h-BN lubrication is smaller than that under deionized water lubrication, indicating the inhibition behavior of h-BN nanolubricants on direct metal-metal contacts. Optical micrographs and stylus profilometer measurements are performed to evaluate the severity of damage caused by the sliding motion and to determine the wear morphology of the specimens, respectively. The results show that h-BN nanolubricants does not have a significant effect on the friction behavior but demonstrates reduced wear owing to their trapping effect between the sliding interfaces. Moreover, scanning electron microscopy and energy-dispersive X-ray spectroscopy images of the specimens were acquired to confirm the trapping effect of h-BN between the sliding interfaces. The results also suggest that the trapped lubricants can distribute the contact pressure, reducing the wear damage caused by the metal-metal contact at the interface. In conclusion, h-BN nanolubricants have potential as an anti-wear additive for lubrication applications. Further investigation is needed to provide direct evidence of the trapping effect of h-BN nanoparticles between the sliding interfaces. These findings could lead to the development of more efficient and effective lubricants for various industrial applications.

• Proceedings of the Materials Research Society of Korea Conference
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• 2003.11a
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• pp.91-91
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• 2003

Sliding wear behaviors of Inconel 600 and 690 were investigated at room temperature in air. In the present study, Archard's equation which has low reliability was modified. In the prediction of wear volume by Archard's equation, the reliabilities of Inconel 600 and 690 were about from 26.3% to 45.7% and from 69. l% to 88.6%, respectively, The sliding wear behaviors of Inconel 600 and 690 turned out to be influenced by their stacking fault energy, and the fact was confirmed by using TEM and micro-hardness test Based on experimental results, the wear coefficient was modified as a function of the sliding distance. The calculation with the modified wear equation showed that the reliability of Inconel 600 tested with 409 ferritic stainless steel increased from 45.7% to 93.4%.

• Structural Engineering and Mechanics
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• v.69 no.3
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• pp.307-315
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• 2019

This paper proposes a chattering-free sliding mode control (CFSMC) method for seismically excited structures. The method is based on a fuzzy logic (FL) model applied to smooth the control force and eliminate chattering, where the switching part of the control law is replaced by an FL output. The CFSMC is robust and keeps the advantages of the conventional sliding mode control (SMC), whilst removing the chattering and avoiding the time-consuming process of generating fuzzy rule basis. The proposed method is tested on an 8-story shear frame equipped with an active tendon system. Results indicate that the new method not only can effectively enhance the seismic performance of the structural system compared to the SMC, but also ensure system stability and high accuracy with less computational cost. The CFSMC also requires less amount of energy from the active tendon system to produce the desired structural dynamic response.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.7 no.3
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• pp.314-318
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• 2006

This study is to analyze the intensity of welding part by simulating the dynamic procedure during the fracture of plates with spot welding. The upper and tower plates attached with spot welding can be seen to fall apart at the elapsed time of 0.64 ms after the upper plate is stretched from the lower plate. The maximum von Mises stress is shown at the welding part in the mid of upper and lower plates. The internal energy decreases largely and the kinetic energy increases suddenly near the elapsed time of 0.64 ms when welding part breaks down. The sliding energy decreases with step-by-step style as the time elapses. The value of this energy becomes 0 at the elapsed time of 0.2 ms and on the contrary, two plates stick each other as this value becomes a minus after this time.

• Journal of Power Electronics
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• v.17 no.4
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• pp.1048-1057
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• 2017

An indirect matrix converter (IMC) is a modern power generation system that enables a direct ac/ac conversion without the need for any bulky and limited lifetime electrolytic capacitor. This system also allows four-quadrant operation, generation of sinusoidal output voltage waveforms with variable frequency and amplitude, and control of input power factor. This study proposes a pulse-width modulation-based sliding-mode controller to achieve unity input-power factor operation of the IMC independently of the active power exchanged with the grid, as well as a fast dynamic response. The designed equivalent control law determines, at each sampling period, the appropriate q-axis component of the modulated input current to be injected into the grid through the LC input filter. An integral term of the error is included in the expression of the sliding surface to increase the accuracy of the control method. A double space vector modulation method is used to synthesize the direction of the space vector of the input currents as required by the sliding-mode controller and the space vectors of the target output voltages. Simulation and experimental results are provided to show the effectiveness and evaluate the performance of the proposed control method.

• Journal of Information Processing Systems
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• v.2 no.1
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• pp.44-47
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• 2006

One of the critical issues in a sensor network concerns the detection of changes in data streams. Recently presented change detection schemes primarily use a sliding window model to detect changes. In such a model, a distance function is used to compare two sliding windows. Therefore, the performance of the change detection scheme is greatly influenced by the distance function. With regard to sensor nodes, however, energy consumption constitutes a critical design concern because the change detection scheme is implemented in a sensor node, which is a small battery-powered device. In this paper, we present a comparative study of various distance functions in terms of execution time, energy consumption, and detecting accuracy through simulation of speech signal data. The simulation result demonstrates that the Euclidean distance function has the highest performance while consuming a low amount of power. We believe our work is the first attempt to undertake a comparative study of distance functions in terms of execution time, energy consumption, and accuracy detection.

• Proceedings of the Korean Society of Tribologists and Lubrication Engineers Conference
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• 2002.10b
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• pp.195-196
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• 2002

Studied is fretting wear behaviour of transversely vibrating tube which is supported by springs and dimples. This simulates the fuel rod fretting due to flow-induced vibration in a nuclear reactor. The contact between spacer grid springs and fuel cladding tubes arc brought into focus in this paper. From the mechanical viewpoint, a concave contact shape of spring is considered to perform a wider distribution of the contact stress. Sliding/impacting experiments are conducted in air at room temperature with the conditions of positive contact force and gap existence to accommodate the mechanical condition between the fuel rod and the grid spring during reactor operation. It is found that wear region is separated and wear volume becomes larger as the supporting condition becomes poorer. Spring and dimple cause similar wear.