• Journal of the Korean Society of Safety
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• v.9 no.4
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• pp.42-48
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• 1994

A rotor flux error-based approach for correcting the rotor time constant estimation used in the slip frequency calculator of indirect field oriented controller is presented in this paper. The controller was derived from the d-q induction machine model. Slip frequency gain is dependent on the machine parameter errors. And parameter errors result in rotor flux error. Thus, estimated rotor flux is compared to commanded rotor flux. The error between them is used for the estimation of rotor time constant. Simulation results which demonstrate the performance of this approach are presented.

• International Journal of Automotive Technology
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• v.5 no.2
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• pp.123-133
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• 2004

This paper describes a robust and fast wheel slip tracking control using a moving sliding surface technique. A traction control system (TCS) is the active safety system used to prevent the wheel slipping and thus improve acceleration performance, stability and steerability on slippery roads through the engine torque and/or brake torque control. This paper presents a wheel slip control for TCS through the engine torque control. The proposed controller can track a reference input wheel slip in a predetermined time. The design strategy investigated is based on a moving sliding surface that only contains the error between the reference input wheel slip and the actual wheel slip. The used moving sliding mode was originally designed to ensure that the states remain on a sliding surface, thereby achieving robustness and eliminating chattering. The improved robustness in driving is important due to changes, such as from dry road to wet road or vice versa which always happen in working conditions. Simulations are performed to demonstrate the effectiveness of the proposed moving sliding mode controller.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.4 no.2
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• pp.487-492
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• 2000

This paper presents a novel method of slip-compensation for rotor time constant variation in indirect field orientation control of induction motor drives. In field oriented control due to variation of rotor time constant, decoupling between the flux and torque components of stator current is lost and hence, the performance of operation of the machine deteriorates. To solve the problem, the q-axis is aligned to reference frame without phase difference by comparing the real flux component with the reference flux component. Then to compensate the slip, PI controller is used. The proposed method keeps a constant slip by compensating the gain of direct slip frequency when the rotor resistance of induction motor varies. To prove the validations of the proposed algorithm in the paper, computer simulations and experiments are executed.

• Journal of the Korean Society of Safety
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• v.27 no.5
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• pp.185-189
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• 2012

While there is no standards on slip risk for contaminants on surface, glycerol is described in standard contaminant for measuring coefficient of friction(COF) and slip resistance such as ISO 13287. But that is just used to measure the slip resistance of surface materials and shoes not to evaluate the contaminant materials. Therefore the objective of this study was to find out the relationship between standard contaminant and the contaminants used usually at the workplaces. For this, some measurement criteria were acquired from the analysis based on biomechanics and kinetics of human gait during slips. The slip resistance according to viscosity of the contaminants was measured applying the criteria and slip probability was determined by the gait analysis. Some factors which should be considered when measuring the slip resistance were identified. The velocity, acceleration, contact time and contact pressure should be 1 m/sec, 10 $m/sec^2$, 350 kPa and less than 0.5sec respectively. The variation of viscosity according to temperature for working oils was different from that of standard contaminant. The static coefficient of friction (SCOF) of working oils was almost 0.5 times as large as the SCOF of standard contaminant. So it was assumed to be difficult to compare the contaminants at the workplaces with the glycerol as a standard contaminant for estimating the slip risk.

• Transactions of the Korean Society of Mechanical Engineers B
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• v.26 no.4
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• pp.587-593
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• 2002

The present research proposes a pressure based approach along with Langmuir slip condition for predicting microscale fluid flows. Using this method, gaseous slip flows in 2 -dimensional microchannels are numerically investigated. Compared to the DSMC simulation, statistical errors could be avoided and computing time is much less than that of the aforementioned molecular approach. Maxwell slip boundary condition is also studied in this research. These two slip conditions give similar results except for the pressure nonlinearity at high Knudsen number regime. However, Langmuir slip condition seems to be more promising because this does not need to calculate the streamwise velocity gradient accurately and to calibrate the empirical accommodation coefficient. The simulation results show that the proposed method using Langmuir slip condition is an effective tool for predicting compressibility and rarefaction in microscale slip flows.

• Journal of Institute of Control, Robotics and Systems
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• v.20 no.1
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• pp.58-69
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• 2014

This paper proposes a method for predicting maximum friction coefficients and optimal slip ratios as optimal control parameters for traction control or slip control of autonomous mobile robots on rough terrain. This paper focuses on strength of ground surface which indicates different characteristics depending on material types on surface. Strength of various material types can be estimated by Willoughby sinkage model and by a developed testbed which can measure forces, velocities, and displacements generated by wheel-terrain interaction. Estimated strength is collaborated on building improved Brixius model with friction-slip data from experiments with the testbed over sand and grass material. Improved Brixius model covers widespread material types in outdoor environments on predicting friction-slip characteristics depending on strength of ground surface. Thus, a prediction model for obtaining optimal control parameters is derived by partial differentiation of the improved Brixius model with respect to slip. This prediction model can be applied to autonomous mobile robots and finally gives secure maneuverability on rough terrain. Proposed method is verified by various experiments under similar conditions with the ones for real outdoor robots.

• Journal of the Korean Society of Safety
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• v.28 no.2
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• pp.14-20
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• 2013

All most of floors can become less slip resistant with wear. The deterioration of slip resistance can often occur rapidly. So relatively new products can become hazardous within a short period of time. The main objective of this study was the comparison of slip resistance variations caused by traffic wear and accelerative wear. The second objective was to ascertain the effect of wear, and to find out the causes of slip resistance change. Although statistical differences were observed between results of traffic wear and accelerative wear, the trend of the variations of slip resistance caused by traffic wear and accelerative wear was very similar. The measured slip resistance of tested floor changed up to 29%(and 26.5%) after 100,000 steps(and 750 cycles). As the traffic wear and accelerative wear were progressed, the surface roughness of the tested floor became smoother, and so the floor became more slippery under the wet condition. The abraded(worn out) floor surface tended to become hydrophilic surface, while the new floor surface tended to show hydrophobic nature. This phenomenon would change the wettability of floor surface, and the wettability would affect the variation of slip resistance.

• Journal of the Korea Institute of Military Science and Technology
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• v.20 no.5
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• pp.597-607
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• 2017

The general control method for Anti-lock Brake System(ABS) is that the wheel slip ratio is observed and the braking force is controlled in real time in order to keep the wheel slip ratio under the value of the best slip ratio. When a wheel runs on the state of the best slip ratio, the ground friction of the wheel approaches the highest value. The value of best slip ratio, theoretically, is known as the value between 10 and 20 % and it is dependant on the ground condition such as dry, wet and ice. It is an important parameter for the braking performance and affects the braking stability and efficiency. In this thesis, an experimental method is suggested, which is a reliable way to decide the best slip ratio through dynamo tests simulating aircraft taxiing conditions. The obtained best slip ratio is proved its validity by results of aircraft taxiing tests.

• Journal of the Korean Ceramic Society
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• v.35 no.2
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• pp.180-184
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• 1998

It was examined that the rheological behaviors of fly ash 70wt%-clay 30wt% slip in which nonplastic fly ash was a major component. We have systematically investigated the effects of deflocculant(Tetrasodium pyrophosphate ; Na4P2O7 nH2O Sodium silicate; Na2SiO3) and coagulant(CaSO4) on the rheological behavior of ash-clay slip. Ash-clay slip have been characterized on the basis of the time dependent rheology which was done out by the gel-curve test. Dispersion mechanism of ash-clay slip is the steric stabilization by the Na2SiO3 coating of cenospheres surface. Coagulated slip seems to have the new network structure and shows the gellation behaviors which makes it possible to direct coagulated casting(DCC).

• 한국기계연구소 소보
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• s.18
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• pp.29-35
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• 1988

When low sliding velocities in the boundary lubrication range are operating, irregular movements frequently occur which are a result of the stick-slip phenomenon. Such slide motions are undesirable in precision machine tools, particularly with feed back systems used in numerical and adaptive control machine tools. Accordingly, this paper reports analytical and experimental studies in the stick-slip characteristic of machine tool feeding system. The main conclusions of this study are as follows; The tendency towards stick-slip effects may be reduced by; 1). Reducing the drop in friction coefficient in the Stribeck curve(on the rising part of the friction characteristic at higher sliding speeds, the system is stable all the time) 2). Reducing the transition velocity by the use of a higher viscosity lubricating oil. 3). Increasing the stiffness(Damping)and reducing normal load(Sliding mass) Therefore, the Critical velocity is decided from the above conclusions and in designing of machine tool, feed rates(sliding velocity)must be design the more than critical velocity.