• Tribology and Lubricants
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• 제19권4호
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• pp.230-236
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• 2003

In applications such as MEMS and NEMS devices, the adhesion force and contact load may be of the same order of magnitude and the static friction coefficient can be very large. Such large coefficient may result in unacceptable and possibly catastrophic adhesion, stiction, friction and wear. To obtain the static friction coefficient of contacting real surfaces without the assumption of an empirical coefficient value, numerical simulations of the contact load, tangential force, and adhesion force are preformed. The surfaces in dry contact are statistically modeled by a collection of spherical asperities with Gaussian height distribution. The asperity micro-contact model utilized in calculation (the ZMC model), considers the transition from elastic deformation to fully plastic flow of the contacting asperity. The force approach of the modified DMT model using the Lennard-Jones attractive potential is applied to characterize the intermolecular forces. The effect of the surface topography on the static friction coefficient is investigated for cases rough, intermediate, smooth, and very smooth, respectively. Results of the static friction coefficient versus the external force are presented for a wide range of plasticity index and surface energy, respectively. Compared with those obtained by the GW and CEB models, the ZMC model is more complete in calculating the static friction coefficient of rough surfaces.

• 제어로봇시스템학회논문지
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• 제20권2호
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• pp.180-185
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• 2014

DC motor is a representative electric motor commonly utilized in various motion control fields. However, DC motor-based motion control systems suffer from degradation of position precision due to nonlinear static friction. In order to enhance control precision, friction model-based compensators have been introduced in previous researches, where friction models are identified and counter inputs are added to control inputs for cancelling out the identified friction forces. In this paper, a static friction compensator is proposed without use of a friction model. The proposed compensation algorithm utilizes internal state manipulation to generate compensation pulses, and related parameters are easily tuned experimentally. The proposed friction compensator is applied to a DC motor-based motion control system, and results are presented in comparison with those without a friction compensator.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1997년도 춘계학술대회 논문집
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• pp.208.2-212
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• 1997

In a model based friction comensation for a frictional system,the performance of the system is inflenceed by the selection of the friction model. Especially, when a real plant have dynamic friction characteritics, the compensation of friction with a static friction model may deteriorate the perfomance. For the system we constlucted an adaptiv parameter estimation and friction compensation with a newly introduced dynamic friction model proposed by Canudas et.[1]. The model depicts varios frictional phenomena,such as Stibeck effect,frictional memory, Stick-slip motion. Parmeter identification algorithm are followed conventional RLSM adaptive rule. The stability for the closed system was proved by the Lyapunov stability. The result say that if a real system have dynamic friction property,the friction compensation with the dynamic friction model will improve the perfomance moreover static friction model based compensation may lead to the system unstable.

• Journal of Advanced Marine Engineering and Technology
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• 제29권3호
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• pp.251-259
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• 2005

A discrete time model reference adaptive control has been applied in order to compensate the nonlinear friction characteristics in a hydraulic proportional position control system. As nonlinear friction, static and coulomb friction forces are considered and modeled as dead zone and external disturbance respectively. The model reference adaptive control system consists of a cascade combination of the dead zone. external disturbance and linear dynamic block. For adaptive control experiment. the DSP(Digital Signal Processor) board has been interfaced the hydraulic proportional position control system. The experimental results show that the MRAC(Model Reference Adaptive Control) for compensation of static and coulomb friction are very effective.

• Tribology and Lubricants
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• 제24권6호
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• pp.378-385
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• 2008

In foil bearings, the friction between bumps and their mating surfaces is the major factor which exerts great influence on the bearing performance. From this point of view, many efforts have been made to improve the understanding of the influence of the friction on the foil bearing performance by developing a number of analytical models. However, most of them did not consider the hysteretic behavior of the foil structure resulting from the friction. The present work developed the static structural model in which hysteretic behavior of the friction was considered. The foil structure was modeled using finite element method and the algorithm which determines the conditions of the contact nodes and the directions of the friction forces was used to take into account the friction. The developed model was integrated into the foil bearing prediction code to investigate the effects of the friction on the static performance of the bearing. The results of analysis show that multiple static equilibrium positions are presented for the one static load under the influence of the friction, inferring its great effects on the dynamic performance. However, the effect of friction on the minimum film thickness which determines load capacity of the bearing is negligible.

• Tribology and Lubricants
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• 제24권5호
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• pp.215-220
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• 2008

An internal friction model was developed to model the frictional behavior of automotive Constant Velocity (CV) joints by using the test data from an instrumented CV joint friction apparatus with actual driveshaft assemblies. Experiments were conduced under different realistic operating conditions of oscillatory speeds, CV joint articulation angles, lubrication, and torque. The experimental data were used to develop a physics-based semi-empirical CV joint internal friction coefficient model as a function of different CV Joint operating parameters. It was found that the proposed friction model captures the experimental results well not only the static behavior of friction coefficient, but also the dynamic friction terms, which is the main source of force that causes vehicle vibration problems.

• 한국소음진동공학회논문집
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• 제22권8호
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• pp.748-755
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• 2012

Friction causes self-excited vibration, stick-slip vibration and any other friction-induced phenomena. That kinds of vibrations cause chatter and squeal. In order to predict such vibrations accurately, employing an accurate friction model is very important because a dynamic behavior of a system with friction is dominantly governed by a friction model. A Coulomb friction model is the most widely known model. Coulomb friction model is useful model to obtain analytical solutions of the system with friction and the model gives relatively good simulation result. However, defining a friction force at a stick state in simulation is hard because of the characteristic itself and a Coulomb friction model is discontinuous function between a static and a dynamic friction coefficient. Therefore, applying the Coulomb friction model to a simulation is not appropriate. In order to resolve these problems, an approximated Coulomb friction model was developed using simple and continuous function. However, an approximated Coulomb friction model cannot realize stick. Therefore, an approximated Coulomb friction model cannot describe friction phenomena accurately. In order to analyze a friction phenomenon accurately, a friction model for a simulation was proposed in this paper. A proposed friction model realizes stick and gives reasonably good results compared to results obtained by the simulation employing an approximated Coulomb friction model. Accuracy of a proposed friction model was verified by comparing experimental results.

• 대한전기학회논문지:전기기기및에너지변환시스템부문B
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• 제54권2호
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• pp.60-65
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• 2005

This study tries to analyzes the static friction torque that generated in a micro-electromagnetic clutch by using FEM. For the purpose of design change and optimization of the micro-electromagnetic clutch, the static friction torque prediction is very important. We construct the axi symmetric FEM model for analyze the static friction torque and the real material properties are substituted to the FEM model. For a test, predicted static friction torque is compared with experimental one to discuss the rationality of torque analysis process. The analytical result agrees well to experimental data. explaining the validity of the mathematical process and FEM model.

• 대한전기학회논문지:전기기기및에너지변환시스템부문B
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• 제55권5호
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• pp.245-249
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• 2006

This study tries to test and analyze the static friction torque generated by an electromagnetic clutch. Then the torque is improved by optimizing the shape of armature. For the purpose of design change and optimization of the electromagnetic clutch, the static friction torque prediction is very important. We construct an axi symmetric FEM model for analyzing the static friction torque and used a torque tester for evaluating the real torque. For a test, predicted static friction torque is compared with the experimental one to discuss the rationality of torque analysis process. The analytical result agrees well with experimental data, explaining the validity of the mathematical process and FEM model. After confirming the torque analysis process, the optimization process is investigated. The optimization result shows that the static torque is improved by changing the armature shape.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2004년도 추계학술대회
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• pp.1016-1021
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• 2004

The need for developing a mathematical model for pad-pivot friction in tilting pad proceeding bearings has been well-recognized, since previous experimental work about the performances of the bearings hypothesized that the friction in the bearings is closely related to their performances. Especially, the sliding friction between pad and pivot in the ball and socket type of the bearings can influence the performance of the bearing. We propose a mathematical model for pad-pivot friction in the ball and socket type, which considers the geometrics of the pad and pivot of the bearings, by assuming the sliding friction in the ball and socket bearing as Coulomb friction. By utilizing the proposed model for pad-pivot friction, we show the analysis of Reynolds equation and energy equation, which explain the thermo-hydrodynamic characteristics of tilting pad proceeding bearings, by taking into account the turbulence and inlet pressure building as well. The results of the study show that the performance of titling-pad proceeding bearings can be greatly influenced by the pad-pivot friction. In particular, we have shown that the analysis of the pad-pivot friction is useful to explain the static proceeding loci and the dynamic characteristics of the ball and socket type of the bearings. Furthermore, for a given operating condition, we can obtain various equilibrium states which satisfy the static equilibrium conditions, by considering the pad-pivot friction.