• 한국정밀공학회지
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• 제19권7호
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• pp.154-162
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• 2002

The effect of nonlinear friction in the low velocity is dominant in precise controlled mechanisms and it is difficult to model. This paper is concerned with the compensation for friction using the variable structure system approach as nonmodel based method. The problem of chattering in the sliding mode controller is suppressed by the implementation of the boundary layer concept. And the estimation for friction using sliding mode observer makes the upper bound of matched uncertainty reduced. Accordingly, the effect of chattering can be more suppressed. And the sliding surface is constructed by adding an integral component to the switching function that is made by using error dynamics. This sliding surface guarantees the good tracking performance. Experimental results for a XY table system show that the proposed method has a good performance especially in the low velocity.

• 소성∙가공
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• 제19권6호
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• pp.357-362
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• 2010

Dry sliding wear behavior of pure Fe and Cu which have BCC and FCC crystal structure, respectively, was investigated. The wear characteristics of the pure metals with different crystal structure were compared. Dry sliding wear tests were carried out using a pin-on-disk wear tester at various loads under the constant sliding speed condition of 0.15 m/s against a silica ball at room temperature. Sliding distance was fixed as 600 m for all wear tests. Wear rate of a specimen was calculated by dividing the weight loss of the specimen after the test by the specific gravity and sliding distance. Worn surfaces and wear debris were analyzed by SEM. The wear of both pure Fe and Cu proceeded with surface deformation, resulting in similar wear rates despite of their structure difference under the current test conditions. Wear rates of both metals were low if the surface deformation due to wear forms thick surface-deformation layer that is strain hardened beneath the wearing surface. The pure Cu specimens showed a lot of oxides on the worn surface when tested at low loads less than 5 N, which resulted in very low wear rate.

• Tribology and Lubricants
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• 제27권6호
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• pp.351-355
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• 2011

Al/SiC composites were fabricated by thermal spray process, and the dry sliding wear tests were performed using the various sliding speed of 10, 30, 60 and 90 RPM through 1000 cycles. The applied load was 10 N and radius of wear track was 15 mm. Wear tracks on the Al/SiC composites were investigated using scanning electron microscope(SEM) and energy dispersive X-ray spectroscopy (EDS). In the case of sliding speed of 10 RPM, adhesive wear behavior caused by plastic deformation of composits surface was observed. In the cases of sliding speed of 30, 60, 90 RPM, abrasive wear behavior on the adhered layer formed by debris were observed. Through this study, it was found that the wear behavior of Al/SiC composites was mainly influenced by the sliding speed.

• Tribology and Lubricants
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• 제18권2호
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• pp.167-172
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• 2002

The wear behaviors of ultrahigh molecular weight polyethylene pins against titanium alloy and stainless steel disks moving in two different kinematic motion were investigated by conducting repeat pass rotational sliding and linear reciprocal sliding wear tests. Linear reciprocal motion wore more the polyethylene pin than did repeat pass rotational motion for both disk materials. It means that the repeated directional change of contact stresses generates more wear debris in polyethylene. For the linear reciprocal sliding tests, titanium alloy disks were damaged with some scratches after one million cycles but no surface damage was observed on the polyethylene pins. On the other hand, fur the repeat pass rotational sliding tests, all titanium alloy disks were severely abraded on the entire region of sliding track. This phenomenon can be interpreted by that stress fatigue under repeated sliding contact initiated titanium oxide layer wear particles from disk surface, and these hard particles were embedded into polyethylene pin and then they severely abraded the disk surface. From these results it can be concluded that the kinematic motion in pin-on-disk wear tests play a crucial role on the wear behaviors of UHMWPE pins against titanium alloy and stainless steef discs.

• 제어로봇시스템학회논문지
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• 제16권3호
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• pp.256-263
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• 2010

The paper proposes a sensorless speed control strategy for a PMSM (Permanent Magnet Synchronous Motor) based on a new SMO (Sliding Mode Observer), which substitutes a signum function with a sigmoid function. To apply robust sensorless control of PMSM against parameter fluctuations and disturbance, the high speed SMO is proposed, which estimates the rotor position and angular velocity from the back EMF. The low-pass filter and additional position compensation of the rotor are used to reduce the chattering problem commonly found in sliding mode observer with signum function, which becomes possible by applying the sigmoid function with the control of a switching function. Also the proposed sliding mode observer with the sigmoid function has better efficiency than the conventional sliding mode observer since it adjusts the observer gain by variable boundary layer and estimates the stator resistance. The stability of the proposed sliding mode observer is verified by the Lyapunov second method in determining the observer gain. The validity of the proposed high speed PMSM sensorless velocity control has been demonstrated by real experiments.

• 한국윤활학회:학술대회논문집
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• 한국윤활학회 2000년도 제32회 추계학술대회 정기총회
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• pp.67-71
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• 2000

The wear behaviors of ultrahigh molecular weight polyethylene pins against titanium alloy and stainless steel disks moving in two different kinematic motion were investigated by conducting repeat pass rotational sliding and linear reciprocal sliding wear tests. Linear reciprocal motion wore more the polyethylene pin than did repeat pass rotational motion for both disk materials. It means that the repeated directional change of contact stresses generates more wear debris in polyethylene. For the linear reciprocal sliding tests, titanium alloy disks were damaged with some scratches after one million cycles but no surface damage was observed on the polyethylene pins. On the other hand, for the repeat pass rotational sliding tests, all titanium alloy disks were severely abraded on the entire region of sliding track. This phenomenon can be interpreted by that stress fatigue under repeated sliding contact initiated titanium oxide layer wear particles from disk surface, and these hard particles were embedded into polyethylene pin and then they severely abraded the disk surface. From these results it can be concluded that the kinematic motion in pin-on-disk wear tests play a crucial role on the wear behaviors of UHMWPE pins against titanium alloy and stainless steel disks.

• Journal of Power Electronics
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• 제18권6호
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• pp.1708-1719
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• 2018

A complete current loop decoupling control strategy based on a sliding mode observer (SMO) is proposed to eliminate the influence of current dynamic coupling and back electromotive force (EMF) in the vector control of permanent magnet synchronous motors. With this strategy, current dynamic decoupling and back EMF compensation can be simultaneously achieved. Unlike conventional methods, the proposed strategy can avoid the disturbances caused by the parametric variations of motor systems and maintain the advantages of proportional integral (PI) controllers, which are robust and easy to operate. An improved SMO, which uses a special PI regulator other than a linear saturation function as the equivalent control law in the boundary layer of a sliding surface, is proposed to eliminate the estimated errors caused by the quasi-sliding mode and obtain a satisfactory decoupling performance. The stability and parameter robustness of the proposed strategy are also analyzed. Physical experimental results are presented to verify the validity of the method.

• 제어로봇시스템학회논문지
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• 제14권10호
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• pp.1014-1021
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• 2008

This paper proposes an intelligent sliding mode control method for robotic systems with the unknown bound of model uncertainties. In our control structure, the unknown bound of model uncertainties is used as the gain of the sliding controller. Then, we employ the function approximation technique to estimate the unknown nonlinear function including the width of boundary layer and the uncertainty bound of robotic systems. The adaptation laws for all parameters of the self-recurrent wavelet neural network and those for the reconstruction error compensator are derived from the Lyapunov stability theorem, which are used for an on-line control of robotic systems with model uncertainties and external disturbances. Accordingly, the proposed method can not only overcome the chattering phenomenon in the control effort but also have the robustness regardless of model uncertainties and external disturbances. Finally, simulation results for the five-link biped robot are included to illustrate the effectiveness of the proposed method.

• Tribology and Lubricants
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• 제7권1호
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• pp.16-27
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• 1991

The mechanism of failure of lubricated surfaces at high sliding speeds was investigated. Experiments were performed with the ball-on-flat and cylinder-on-flat geometries, using lubricants of four different chemical reactivities. Surface failure was found to not be predictable using the ratio, $\lambda$, of fluid film thickness to composite surface roughness except when chemically inert lubricants are used. Even then the influence of temperature rise on fluid film thickness does not adequately explain the low load carrying capacity of lubricants at high sliding speeds, which causes surface failure. The protective layers on sliding surfaces that form by chemical reaction with the lubricant were found to reduce the surface roughening and increase the load carrying capacity of surfaces to values of $\lambda$ as low as 0.03. Neither the surface roughening nor the formation of the protective layers have been incorporated into failure models for lubricated systems.

• 한국분말야금학회:학술대회논문집
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• 한국분말야금학회 2006년도 Extended Abstracts of 2006 POWDER METALLURGY World Congress Part2
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• pp.1124-1125
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• 2006

Dry sliding wear behavior of electro-pressure sintered Co-Fe, Co-Ni and Co-Fe-Ni compacts was investigated. Pin-on-disk wear tests were performed on the sintered compacts disk specimens against alumina $(Al_2O_3)$ and silica $(SiO_2)$ ball counterparts at various loads ranging from 3N to 12N. Two sliding speeds of 0.1m/sec and 0.2m/sec and a fixed sliding distance of 1,000m were employed. Worn surfaces and cross sections of them were examined by a scanning electron microscopy, and wear mechanism of the compacts was investigated. Effects of the oxide layer that was formed on wearing surface of the compacts on the wear were also studied.