• 대한기계학회:학술대회논문집
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• 대한기계학회 2005년도 창립60주년 기념 추계 학술대회
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• pp.183.2-183.2
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• 2005

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2010년도 춘계학술대회 논문집
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• pp.331-332
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• 2010

• 한국기계가공학회지
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• 제19권6호
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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.

• 한국전산구조공학회논문집
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• 제24권4호
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• pp.457-462
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• 2011

본 논문은 지진응답을 제어하기 위해 다층 건물에 설치된 마찰감쇠기의 간단한 설계절차를 제안하였다. 마찰감쇠기는 비선형성이 강하므로 마찰감쇠기가 설치된 건물의 제어효과를 파악하는 것은 어렵다. 마찰감쇠기의 제어력은 층간속도에 영향을 받으므로, 인접한 모드가 서로 연계된다. 따라서 응답은 공진일 때 안정상태응답으로 가정하여 유도하였다. 첫째로 지진하중에 대한 정해응답을 구하는 것은 불가능하므로 조화가진을 받을 때의 근사해를 유도하였다. 둘째, 다층 건물을 단자유도로 변환하기 위해서 모드해석이 수행되었다. 셋째, 근사해를 이용하여 등가감쇠비를 유도하였다. 그리고 등가감쇠비를 이용하여 응답감소계수를 제안하였다. 마지막으로, 마찰감쇠기의 마찰력을 응답감소계수에 의해 설계하고 설계된 감쇠기를 7개의 지진파를 통해 검증하였다. 비선형해석 결과가 제안된 절차의 유효성을 확인하였다.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1993년도 추계학술대회 논문집
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• pp.363-368
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• 1993

Hilbert Transform has been used for detection of nonlinearity in modal analysis. HTD(Hilbert Transform Describers) are used to quantify and identify nonlinearity. Mottershead and Stanway method for identification of N-th power velocity nonlinear damping are extended to P-th power displacement stiffness, N-th power velocity damping and dry friction. Time domain and frequency domain data are used and HTD and Mottershead methods are combined for identification of nonlinear parameters in this paper. Computer simulations and experimental results are shown to verify nonlinear structure identification methods.

• Earthquakes and Structures
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• 제12권1호
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• pp.35-45
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• 2017

The current paper investigates the effect of the seismic pounding of neighboring buildings on the response of structures isolated by Triple Friction Pendulum Bearing (TFPB). To this end, a symmetric three-dimensional single story building is modeled for analysis with two specified levels of top deck and base deck, to capture the seismic response of the base isolators and building's roof. Linear elastic springs with different level of gaps are employed to calculate the impact between the buildings. Nonlinear Dynamic Time History Analyses (NDTHA) are conducted for seismic evaluation. Also, five different sizes with four different sets of friction coefficients are assumed for base isolators to cover a whole range of base isolation systems with various geometry configurations and fundamental period. The results are investigated in terms of base shear, buildings' drift and top deck acceleration of the superstructure. The results also indicate the profound effect of the stiffness of the adjacent buildings on the value of the impact they impose to the superstructure. Also, in situations of potential pounding, the increment of the fundamental period of the TFPB base isolator could intensify the impact force up to nearly five-fold.

• 한국정밀공학회지
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• 제27권3호
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• pp.41-49
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• 2010

Two promising control candidates have been selected to test the sinusoidal reference tracking performance for a brush-type polishing machine having strong nonlinearities and disturbances. The controlled target system is an oscillating mechanism consisting of a common positioning stage of one degree-of-freedom with a screw and a ball nut driven by a servo motor those can be obtained commercially. Beside the strong nonlinearity such as stick-slip friction, the periodic contact of the polishing brush and the work piece adds an external disturbance. Selected control candidates are a Sliding Mode Control (SMC) and a variant of a feedback linearization control called Smooth Robust Nonlinear Control (SRNC). A SMC and SRNC are selected since they have good theoretical backgrounds, are suitable to be implemented in a digital environment and show good disturbance and modeling uncertainty rejection performance. It should be also noted that SRNC has a nobel approach in that it uses the position information to compensate the stickslip friction. For both controllers analytical and experimental studies have been conducted to show control design approaches and to compare the performance against the strong nonlinearity and the disturbances.

• 한국정밀공학회지
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• 제17권1호
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• pp.216-223
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• 2000

A robot arm with free joints has some advantages over conventional ones. A light weight and low power consumed arm can be made by a reduction of the number of joint actuators. And this arm can easily overcomes actuator failure due to unexpected accident. In general such underactuated arm does not have controllability because of the lack of joint actuators. The two-link arm with a free joint introduced in this paper is also uncontrollable in the sense of linear system theory. However, the linearized system sometimes can not represent the inherent dynamic behavior of the nonlinear system. In this paper the dynamic characteristics of the two-link arm with a free joint in view of global motion including damping and friction effect of the joints is investigated. In the case of considering only the damping effect, the controllable goal positions are confined to a specific trajectories. But in the case of considering the friction effect, the system can be controlled to arbitrary positions using the friction of the free joint as a holding brake. Also numerical example of position control is presented.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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• pp.179-179
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• 2000

An adaptive neural network compensator for stick-slip friction phenomena in servo systems is proposed to supplement the traditionally available position and velocity control loops for precise motion control. The neural network compensator plays a role of canceling the effect of nonlinear slipping friction force. This enables the mechatronic systems more precise control and realistic design in the digital computer. It was confirmed that the control accuracy is more improved near zero velocity and the points of changing the moving direction through numerical simulation

• 한국소음진동공학회논문집
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• 제26권1호
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• pp.55-62
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• 2016

Nuclear fuels are always exposed to hot temperature and high speed coolant flow during the reactor operation. Thus the fuel rod accompanies small amplitude vibration due to the turbulent flow. The random vibration causes friction between the fuel rod and the grid structure which provides the lateral supports. The friction is critical to the fuel rod fretting wear, and it degrades fuel performance when a severe wear is developed. LuGre friction model is introduced in the paper, and the performance was evaluated comparing to the classical Coulomb model. It is shown that the developed friction force considering the Coulomb friction is not enough to stop or delay the motion while the stick-slip can be simulated using LuGre friction model. Numerical solutions of the two dimensional spacer grid cell model with the modern friction are also reviewed, and it is discussed that the new friction model simulates well the nonlinear mechanism.