• Journal of the Korea Institute of Information and Communication Engineering
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• v.11 no.12
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• pp.2352-2360
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• 2007

Due to the friction characteristics of cylinders and the rail of a passenger car, in the elevator actuated with hydraulic systems, there exist dead zones, which can not be controlled by a PID controller. In this paper, the friction characteristics of a cylinder is examined, which may cause the abrupt increase of the acceleration in the zero-costing speed region. To overcome the drawbacks of a PID controlled hydraulic elevator system, a zooming fuzzy logic controller is designed and finally an improved hybrid fuzzy controller is proposed. The effectiveness of the proposed control scheme are shown by simulation and experimental results, which the proposed fuzzy hybrid control method yields good control performance not only in the zero-crossing speed region but also in the overall control region including steady-state region.

• Proceedings of the KIEE Conference
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• 1999.07b
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• pp.770-772
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• 1999

본 논문은 마찰력을 갖는 기계시스템에 대한 시간최적제어문제의 엄밀한 해를 제시한다. 특히 최적제어입력을 되먹임 형태로 구한다. 기존의 연구들에서 미리 보상되거나 무시되던 Coulomb 마찰력까지 완전히 고려하여 빠른 응답을 얻는데 제어입력을 최대한 활용할 수 있게 한다.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.45 no.11
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• pp.967-974
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• 2017

Reaction wheel shows nonlinear torque response on low-speed region due to friction. Thus precise satellite attitude control on this region is hard to achieve. Previous research tries to solve this problem, by compensating friction or applying dither command. However, due to difficulties of drag torque modeling or frequent zero wheel speed crossing, these methods are not suitable to apply on the real satellite attitude control. To solve this problem, we propose the attitude controller gain adjustment method based on the attitude error.

• Journal of the Korean Institute of Illuminating and Electrical Installation Engineers
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• v.19 no.3
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• pp.85-92
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• 2005

Due to the friction characteristic of pump, cylinder, and between passenger car and the rail, there exist dead zone in the hydraulic system actuated with inverter, which can not be controlled by a PID controller. In this paper, the friction characteristic of a cylinder is considered first, which may cause the uncontrolled speed in the zero-crossing speed region. And then, the zooming fuzzy logic controller is designed to overcome the drawback by the existing PID speed controller. Finally, The proposed hybrid fuzzy controller is applied to the PID controller in the normal speed region and to the fuzzy controller in the zero-crossing speed region. The reason is that the problem of the uncontrolled speed in the zero-crossing speed region caused by the friction characteristic of the cylinder in hydraulic elevator can be solved, and the effectiveness of the controlling system not only in the zero-crossing speed region but also the overall controlling region including steady-state can be simulated and performed.

• Proceedings of the KIEE Conference
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• 2006.07b
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• pp.927-928
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• 2006

본 논문에서는 전동기의 속도제어에 필요한 관성과 마찰계수를 추정하는 알고리즘을 제안한다. 속도관측기에서 발생하는 추정속도와 실제속도로부터 최소자승법을 이용하여 관성과 마찰계수를 동시에 추정한다. 모의실험을 수행하여 추정관성과 추정마찰계수가 제안된 방법에 의하여 각각 실제값에 수렴함을 보인다.

• Journal of the Korean Society for Precision Engineering
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• v.16 no.3 s.96
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• pp.109-115
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• 1999

This paper presents a stabilization control designed to improve position stabilization performance of a position servo-system(turret) mounted on a manuvering platform(vehicle). In the consideration of the motion of the platform, a dynamic model of the stabilization system is derived and shows the viscous and stick-slip friction torques are the major source of stabilization errors. An extended generalized minimum variance control which consists of a feedforward disturbance compensation as well as a pole placement feedback control is suggested to reduce the stabilization errors caused from the friction disturbances. This modeling and control are applied to a small experimental set-up and the experimental results confirm the accuracy of the model and the effectiveness of the suggested control.

• Proceedings of the KIEE Conference
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• 2000.07d
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• pp.2874-2876
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• 2000

본 연구에서는 [1]에서 제안된 알고리즘을 마찰력이 존재하는 로봇 매니퓰레이터에 적용하여 위치제어를 수행하였다. 제안된 제어 알고리즘은 로봇의 위치 정보만을 이용하는 반복적 제어구조를 가지고 있다. 또한 제어기 설계 시, 로봇의 파라미터를 이용하지 않기 때문에 파라미터 불확실성이 있는 시스템에 강인한 특징을 보인다. 제안된 제어기의 성능을 검증하기 위하여.마찰력이 존재하는 2축 SCARA형 로봇에 적용하여 시뮬레이션 수행하였다

• Journal of the Korean Society for Precision Engineering
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• v.14 no.4
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• pp.88-96
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• 1997

This paper suggests a new non-linear friction compensation for digital control systems. This control adopts a hysteresis nonlinear element which can introduce the phase lead of the control system to compensate the phase delay comes from the inherent time delay of a digital control. A proper Lyapunov function is selected and the Lyapunov direct method is used to prove the asymptotic stability of the suggested control.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1996.11a
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• pp.987-993
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• 1996

This report suggests a new non-linear friction compensation for digital control systems. This control adopts a hysteric nonlinear clement which can introduce the phase lead of the control system to compensate the phase delay comes from the inherent time delay of a digital control. The Lyapunov direct method is used to prove the asymtotic stability of the suggested control, and the stability and the effectiveness are verified analytically and experimentally on a single axis servo driving system.

• Journal of the Computational Structural Engineering Institute of Korea
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• v.24 no.4
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• pp.457-462
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• 2011

In this study, a simplified design procedure for friction dampers of a multi-story structure in order to reduce seismic response is proposed. To get insight for control effect of the structure with friction dampers is difficult, because of a nonlinear characteristic by a friction damper. Since a control force of a friction damper is influenced by coupling velocity between floors, adjoining modes are coupled. Thus structural response are derived by assuming steady-state response in resonance. As it is impossible that an exact solution is obtained for seismic load, first, a closed form solution can be achieved under harmonic vibration. Second, to convert a three-story building into a single-degree-of-freedom(SDOF) structure, modal analysis is performed. Third, an equivalent damping ratio is derived with utilizing closed form solution. And response reducing factor is proposed by it. Finally, friction force of a damper is designed for using response reducing factor, and then designed dampers are verified for seven seismic data. The nonlinear analysis results confirm the validity of the proposed procedure.