• 대한기계학회논문집A
• /
• 제21권1호
• /
• pp.32-44
• /
• 1997

A moving sliding surface(MSS) was proposed earlier for the second-order variable structure control system(VSCS). The MSS was disigned to pass arbitrary initial conditions, and subsequently moved towards a predetermined sliding surface by rotating and/or shifting. This methodology led to fast and robust control responses of the second-order VSCS, especially in a reaching phase. However, the moving algorithm of the MSS was too complicated to be employed to the high-order VSCS. To resolve this problem, a new moving algorithm based on the fuzzy theory is proposed in this paper. For the generalization of the MSS, the conditions for rotating or shifting are firstly investigated. Then the fuzzy algorithm is formulated by adopting the values of the surface function and the total discontinuity gain as input variables, and the variation of the surface function as output variable. The position control problem of an electrohydraulic servomechanism is adopted in order to demonstrate the efficiency and the feasibility of the proposed MSS associated with fuzzy algorithm.

• Tribology and Lubricants
• /
• 제35권6호
• /
• pp.337-342
• /
• 2019

This paper presents an experimental investigation of friction and wear characteristic with respect to patterns occurring on the surface of 3D printed polymer products by fused deposition modeling method. The purpose of this study was to investigate the effect of the patterns and sliding directions on the tribological properties of 3D printed polymer surface. A cubic specimen was printed using polylactic acid filament as the printing material. Friction tests were conducted for different directions with respect to the patterns that were generated on the top and the side surfaces of the specimen, by using a ball-on-reciprocating type tribotester. SUJ2 bearing ball of which the diameter was 11 times greater than the width of the largest pattern was used as the counter surface to assess the frictional behavior. Friction tests were conducted on the top and the side surfaces with respect to the patterns in 3 (0°, 45°, 90°) different directions respectively. Coefficient of friction increased as cycles increased in all cases. The results of the tests showed that the lowest coefficient of friction was measured with the 45° sliding direction on the side surface. The wear rate was the lowest at 45° sliding direction on the side surface, while it was the highest at 0° sliding direction on the top surface. Coefficient of friction of about 0.45 was determined to be the converging value on the top compared to the side surface.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 2003년도 ICCAS
• /
• pp.824-828
• /
• 2003

This paper explains problems of force-reflecting teleoperation grinding work and proposes some methods to solve those. For stable contact between robot tool(grindstone) and contact surface the mechanical impedance force control is used. The sliding phenomenon of grindstone has been appeared at the contact surface during the grinding work. The sliding problems caused by friction and rotation of grindstone are eliminated by using tangential direction sliding compensation control. The rotation force of grindstone makes the tool move to tangential direction along the surface suddenly even though an operator pushes the tool only in normal direction to the surface. Normal direction force control is applied for grinder not to roll and fracture on the grinding surface. Vibration problem of grindstone is decreased by second order low-pass filter. Therefore we can precise grinding work at the grinding surface and feel the reality

• 융합신호처리학회 학술대회논문집
• /
• 한국신호처리시스템학회 2003년도 하계학술대회 논문집
• /
• pp.153-156
• /
• 2003

This short paper suggests a control strategy using a stepwise fuzzy moving sliding surface. The moving surface is a Sugeno-type fuzzy system that has the angle of state error vector and the distance from the origin in the phase plane as inputs and a first-order linear differential equation as an output. The surface initially passes arbitrary initial states and subsequently moves towards a predetermined surface via rotating or shifting. the proposed method reduces the reaching and tracking time and improves robustness. The asymptotic stability of the fuzzy sliding surface is proved. The validity of the proposed control scheme is shown in computer simulation for a second-order nonlinear system.

• 한국윤활학회:학술대회논문집
• /
• 한국윤활학회 2002년도 proceedings of the second asia international conference on tribology
• /
• pp.155-156
• /
• 2002

During the sliding between a-CNx and $Si_3N_4$, applying nitrogen as environmental gas provided very low friction as the level of 0.01 in friction coefficient. In order to know the effect of the running-in process on the reduction of the friction, the effect of surface roughness of mating surface on friction was investigated. It was shown that smooth surface in wear scar of ball provided low friction coefficient. Friction coefficient after running-in was proportional to the Ry value of wear scar of ball. Also smooth thin transferred layer was observed on the wear scar of balls with an AFM after sliding test. Those results showed the smoothing of wear scar of ball, the generating of the transferred layer from CNx was necessary for low friction.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
• /
• pp.379-382
• /
• 1996

Evolution Strategy is used as an effective search algorithm in optimization problems and Sliding Mode Control is well known as a robust control algorithm. In this paper, we propose a Sliding Mode Control Method for robot manipulator using Evolution Strategy. Evolution Strategy is used to estimate Sliding Mode Control Parameters such as sliding surface gradient, continuous function boundary layer, unknown plant parameters and switching gain. Experimental results show the proposed control scheme has accurate and robust performances with effective search ability.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 2001년도 ICCAS
• /
• pp.38.4-38
• /
• 2001

In this paper, a novel model following sliding mode control is proposed by using a novel sliding mode with virtual state. This sliding surface has nominal dynamics of an original system and makes it possible that the Sliding Mode Control(SMC) technique is combined with the optimal controller. Its design is based on the argument system whose dynamics have one higher order than that of the original system. The reaching phase is eliminated by using an initial virtual state that makes the initial sliding function equal to zero.

• 한국지능시스템학회:학술대회논문집
• /
• 한국퍼지및지능시스템학회 2006년도 추계학술대회 학술발표 논문집 제16권 제2호
• /
• pp.323-326
• /
• 2006

Rotational inverted pendulum is a typical under-actuated system. For its highly nonlinear characteristic, a sliding mode controller is chosen for its robustness against the system uncertainties. Tow fuzzy inference mechanisms are applied in this paper to reduce the chattering phenomenon. One is proposed to construct a time-varying sliding surface. Another one is used to obtain the minimum upper bound of the uncertainties. A comparison between the conventional sliding mode and the fuzzy sliding mode is shown by simulations.

• 전기학회논문지
• /
• 제67권1호
• /
• pp.103-113
• /
• 2018

In this paper, an improved integral variable structure regulation controller is designed by using a special integral sliding surface and a disturbance observer for the improved regulation control of highly nonlinear rigid robot manipulators with prescribed output performance. The sliding surface having the integral state with a special initial condition is employed in this paper to exactly predetermine the ideal sliding trajectory from a given initial condition to the desired reference without any reaching phase. And a continuous sliding mode input using the disturbance observer is also introduced in order to effectively follow the predetermined sliding trajectory within the prescribed accuracy without large computation burden. The performance of the prescribed tracking accuracy to the predetermined sliding trajectory is clearly investigated in detail through the two theorems, together with the closed loop stability. The design of the proposed regulation controller is separated into the performance design and robustness design in each independent link. The usefulness of the algorithm has been demonstrated through simulation studies on the regulation control of a two-link robot under parameter uncertainties and payload variations.

• 한국소성가공학회:학술대회논문집
• /
• 한국소성가공학회 2006년도 춘계학술대회 논문집
• /
• pp.149-152
• /
• 2006

Dry sliding wear behavior of low carbon dual phase steel, of which microstructure consists of hard martensite in a ductile ferrite matrix, has been investigated. The wear characteristics of the dual phase steel was compared with that of a plain carbon steel which was normalized at $950^{\circ}C$ for 30min and then air-cooled. Dry sliding wear tests were carried out using a pin-on-disk type tester at various loads of 1N to 10N under a constant sliding speed condition of 0.2m/sec against an AISI 52100 bearing steel ball at room temperature. The sliding distance was fixed as 1000m for all wear tests. The wear rate was calculated by dividing the weight loss measured to the accuracy of $10^{-5}g$ by the specific gravity and sliding distance. The worn surfaces and wear debris were analyzed by SEM, EDS and a profilomter. Micro vickers hardness values of the cross section of worn surface were measured to analyze strain hardening behavior underneath the wearing surfaces. The were rate of the dual phase steel was lower than the plain carbon steel. Oxidation on the sliding surface and strain hardening were attributed for the higher wear resistance of the dual phase steel.