• Journal of the Institute of Convergence Signal Processing
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• v.6 no.3
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• pp.157-162
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• 2005

This paper presents an adaptive compensator using the fuzzy systems for robot manipulator with unknown frictions. In general, frictions are neglected or dynamic frictions are only considered in robot control theories. The proposed control method considers viscous frictions as well as dynamic frictions. Using the property that the frictions of joints are decoupled, SISO-fuzzy systems are utilized to approximate each friction. The stability of overall control system is proven and the adaptive laws are derived based on Lyapunov stability theorey. To verify the validity of the proposed control strategy, the results of computer simulations are shown for 2-link robot manipulator. The ability of approximating of the fuzzy system is also shown.

• Journal of the Korean Society of Manufacturing Process Engineers
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• v.19 no.6
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• pp.1-8
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• 2020

This paper proposes a method for measuring friction forces and creating a friction model for a rotary motion control system as well as an autonomous vehicle testbed. The friction forces versus the velocity were measured, and the viscous friction, Coulomb friction, and stiction were identified. With a nominal PID (proportional-integral-derivative) controller, we observed the adverse effects due to friction, such as excessive steady-state errors, oscillations, and limit-cycles. By adding an adequate friction model as part of the augmented nonlinear dynamics of a plant, we were able to conduct a simulation study of a motion control system that well matched experimental results. We have observed that the implementation of a model-based friction compensator improves the overall performance of both motion control systems, i.e., the rotary motion control system and the Altino testbed for autonomous vehicle development. By utilizing a better simulation tool with an embedded friction model, we expect that the overall development time and cost can be reduced.

• Journal of Mechanical Science and Technology
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• v.18 no.9
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• pp.1668-1679
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• 2004

The design of an axial piston pump for electro-hydrostatic transmission systems requires accurate information where and how much the internal friction and flow losses are produced. This study is particularly focused on the friction losses of a bent-axis type hydraulic piston pump, aiming at finding out which design factors influence its torque efficiency most significantly. To this end, the friction coefficients of the pump parts such as piston heads, spherical joints, shaft bearings, and valve plate were experimentally identified by a specially constructed tribometer. Applying the experimental data to the equations of motion for pistons as well as to the theoretical friction models for the pump parts, the friction torques produced by them were computed. The accuracy of the computed results was confirmed by the comparison with the practical input torque of the pump. In this paper, it is shown that the viscous friction forces on the valve plate and input shaft bearing are the primary source of the friction losses of the bent-axis type pump, while the friction forces and moments on the piston are of little significance.

• 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 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.6
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• pp.255-260
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• 2007

This paper presents the contact pressure distribution of pin bushing bearings for various lubrication friction modes such as oil film and elastohydrodynamic lubrication contacts, a mixed lubrication contact, a boundary contact, and a dry contact. During a sliding contact of a plain bearing, the boundary and dry rubbing contacts are dominated between a piston pin and a pin bushing bearing. This may come from a micro-scale clearance, an explosive impact pressures from the piston head, and an oscillatory motion of a pin bearing. The computed results show that as the oil film parameter $h/{\sigma}$ is increased from the dry rubbing contact to the oil film lubrication friction, the maximum oil film pressure is radically increased due to an increased viscous friction with a thin oil film thickness and the maximum asperity contact pressure is reduced due to a decreased asperity contact of the rubbing surfaces.

• Tribology and Lubricants
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• v.21 no.6
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• pp.283-288
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• 2005

This paper presents the theoretical model and analysis results to investigate the effect of Coulomb damping in the sub-structure of a foil bearing. Vertical and horizontal deflection of a bump is restricted by friction of the bump. Equivalent viscous damping of the bump foil is derived from the Coulomb friction. Dynamic equation of the bump is constituted by stiffness and damping terms. The air film is modeled by the compressible Reynolds equation. A perturbation approach and finite difference numerical method is used to determine the static and dynamic performance of the bearing from the coupled fluid-structural model. The analysis result shows that the static and dynamic performance is enhanced by the bump friction.

• Earthquakes and Structures
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• v.13 no.6
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• pp.551-559
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• 2017

A large number of isolation systems are designed without considering the non-uniform friction distribution in space. In order to analyze the effects of non-uniform friction distribution on the structural response of isolation system, this paper presented a simplified rolling-damper-spring isolation system and analyzed the structural responses under earthquakes. The numerical results indicate that the calculation errors related to the peak values of structural acceleration, relative displacement and residual displacement are sequentially growing because of the ignorance of non-uniform friction distribution. However, the influence rule may be weakened by the spring and damper actions, and the unreasonable spring constant may lead to the sympathetic vibration of isolation system. In the case when the friction variability is large and the damper action is little, the non-uniform friction distribution should be taken into consideration during the calculation process of the peak values of structural acceleration and relative displacement. The non-uniform friction distribution should be taken into full consideration regardless of friction variability degree in calculating the residual displacement of isolation system.

• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.20 no.1
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• pp.22-28
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• 2010

Approximate analysis for a building installed with a friction damper is performed to get insight of its dynamic behavior. Energy balance equation is used to have a closed analytical form solution of dynamic magnification factor(DMF). It is found out that DMF is dependent on friction force ratio and resonance frequency. Approximation of DMF and equivalent damping ratio of a friction damper is proposed with such assumption that the building with a friction damper shows harmonic steady-state response and narrow banded response behavior near resonance frequency. Linear transfer function from input external force to output building displacement is suggested from the simplified DMF equation. Root mean square of a building displacement is derived under earthquake-like random excitation. Finally, design procedure of a friction damper is proposed by finding friction force corresponding to target control ratio. Numerical analysis is carried out to verify the proposed design procedure.

• KSTLE International Journal
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• v.3 no.1
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• pp.1-6
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• 2002

The purpose of this paper is to investigate the effects of design parameters on the friction loss in piston skirt. An analytical model to describe the friction characteristics of piston skirt has been presented, which is based on the secondary motion of piston and mixed lubrication theory, It could be shown that the skirt friction closely depends on the side force acted on the piston pin. The side force is inf1uenced by cylinder pressure at low engine speed, but by inertia force at high engine speed. The usage of extensive skirt area and low weight piston is effective to reduce the friction loss at high speed. The low viscosity oil considerably decreases viscous friction as engine speed increases, but it increases boundary friction at low engine speed. From the parametric study, it is found that the skirt axial profile is the most important design parameter related to the reduction of skirt friction.