• Journal of the Korean Society of Manufacturing Process Engineers
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• v.10 no.3
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• pp.100-107
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• 2011

To evaluate the wear characteristics of very thin ceramic coated layer, it is very important to investigate its wear process in great detail. An effective method for investigating the wear of a thin layer is the observation of wear process in microscopic detail, using in-situ system. In this study, based on the SEM Tribosystem as in-situ system, the microscopic wear mode of TiN coatings was investigated in repeated sliding. Consequently, four modes were revealed for TiN coatings: Ploughing, powder formation, flake formation and coating delimitation. Sc(Severity of contact) can clarify transition condition of those microscopic wear modes.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2008.11a
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• pp.371-372
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• 2008

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2008.11a
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• pp.127-128
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• 2008

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2009.10a
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• pp.613-614
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• 2009

• Journal of Mechanical Science and Technology
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• v.15 no.9
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• pp.1207-1216
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• 2001

• 제어로봇시스템학회:학술대회논문집
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• 1991.10a
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• pp.446-450
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• 1991

PID controller is popular but have defect inversing following reference input and noise elimination. Therefor, this paper focus on reducing rise time and robustness against noise. The result that is simulated with feedforward method and sliding mode show that rise time decrease and robustness increase.

• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.15 no.3 s.96
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• pp.290-296
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• 2005

This paper proposes the modeling scheme of the Miniature Universal Testing Machine (MUTM) composed of 36 thin-beam-type bimorph PZTs and the control algorithm to minimize the residual vibration of the MUTM in the dynamic testing of specimens. In the operation of the MUTM, hysteresis, residual displacement and vibration of it are major issues. From the analysis of the MUTM behaviors, the hysteresis is described by the curving fitting scheme with the function of an input voltage. The dynamic characteristics of the MUTM are identified by the frequency domain modeling technique based on the experimental data. The interested bandwidth is focused on 125-315HZ for effective modeling and control. For the robust vibration control of the MUTM, the sliding mode control and the Kalman filter as observer are proposed. The paper also proposes the best input signal type to operate the MUTM effectively. The feasibility of the proposed modeling scheme and control algorithm are tested and verified experimentally.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2004.11a
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• pp.476-481
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• 2004

This paper proposes the modeling scheme of the Miniature Universal Testing Machine (MUTM) composed of 36 thin-beam-type bimorph PZTs and the control algorithm to minimize the residual vibration of the MUTM in the dynamic testing of specimens. In the operation of the MUTM, hysteresis, residual displacement and vibration of it are major issues. From the analysis of the MUTM behaviors, the hysteresis is described by the curving fitting scheme with the function of an input voltage. The dynamic characteristics of the MUTM are identified by the frequency domain modeling technique base on the experimental data. The interest bandwidth is focused on 125-315HZ for effective modeling and control. For the robust vibration control of the MUTM, the sliding mode control and the Kalman filter as observer are proposed. The paper also proposes the best input signal type to operate the MUTM effectively. The feasibility of the proposed modeling scheme and control algorithm are tested and verified experimentally.

• Journal of the Korean Society of Industry Convergence
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• v.19 no.2
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• pp.81-87
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• 2016

This paper presents a new approach to control of stable motion of single wheel driving robot system of a pitch that is controlled by an in-wheel motor and a roll that is controlled by a reaction wheel. This robot doesn'thave any actuator for a yaw axis control, which makes the derivation of the dynamics relatively simple. The Lagrange equations was applied to derive the dynamic equations of the one wheel driving robot to implement the dynamic speed control of the mobile robot. To achieve the real time speed control of the unicycle robot, the sliding mode control and optical regulator are utilized to prove the reliability while maintaining the desired speed tracking performance. In the roll controller, the sigmoid-function based robust controller has been adopted to reduce the vibration by the situation function. The optimal controller has been implemented for the pitch control to drive the unicycle robot to follow the desired velocity trajectory in real time using the state variables of pitch angle, angular velocity, angle and angular velocity of the driving wheel. The control performance of the control systems from a single dynamic model has been illustrated by the real experiments.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.25 no.1
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• pp.135-144
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• 2001

In this study, the time varying boundary control using the right boundary transverse motion is suggested to stabilize the transverse vibration of an axially moving string on the basis of the energy flux between the moving string and the boundaries. The effectiveness of the active velocity boundary control is showed through the FDM simulation results. Sliding mode control is adopted in order to achieve velocity tracking control of the time varying right boundary to dissipate vibration energy of the string effectively. Optical sensor system for measuring the transverse vibration of an axially moving string is developed, and the angle of the incident wave to the right boundary, which is the input of the velocity boundary controller, is obtained. Experimental research is carried out to examine the validity and the performance of the transverse vibration control using the suggested velocity right boundary control scheme.