• International Journal of Control, Automation, and Systems
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• 제5권5호
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• pp.559-569
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• 2007

In this paper, the dynamic controller design problem of a redundant planar 2-dof parallel manipulator is studied. Using the Euler-Lagrange equation, we formulate the dynamic model of the parallel manipulator in the joint space and propose an augmented PD controller with forward dynamic compensation for the parallel manipulator. By formulating the controller in the joint space, we eliminate the complex computation of the Jacobian matrix of joint angles with end-effector coordinate. So with less computation, our controller is easier to implement, and a shorter sampling period can be achieved, which makes the controller more suitable for high-speed motion control. Furthermore, with the combination of static friction model and viscous friction model, the active joint friction of the parallel manipulator is studied and compensated in the controller. Based on the dynamic parameters of the parallel manipulator evaluated by direct measurement and identification, motion control experiments are implemented. With the experiments, the validity of the dynamic model is proved and the performance of the controller is evaluated. Experiment results show that, with forward dynamic compensation, the augmented PD controller can improve the tracking performance of the parallel manipulator over the simple PD controller.

• Journal of Welding and Joining
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• 제7권3호
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• pp.19-27
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• 1989

Both the SS41 steel and the M.E.F(martensite encapsulated islands of frrite) dual phase steel made of SS41 steel by heat treatment were welded by friction welding, and then manufactured machinemade Vnotch standard Charpy impact specimens and precracked with a fatigue system at BM(base metal), HAZ(heat affected zone) and WZ(weld interface Zone). The impact test of them was performed with an instrumented impact test machine at a number of temperatures in constant loading velocity and the dynamic fracture characteristics were studied on bases of the absorbed energy, dynamic fracture toughness and fractography from the test. The results obtained are as follows; At the room temperature, the absorbed energy is HAZ.geq.WZ.geq.BM in case of the M.E.F. dual phase steel: BM.geq.HAZ.geq.WZ in case of the SS41 steel, HAZ.geq.BM.geq.WZ at the low temperature. The absorbed energy is decreased markedly with the temperature lowering; it is highly dependent on the temperature. The dynamic fracture toughness of the M.E.F. dual phase steel is HAZ.geq.WZ.geq.BM at the room temperature; BM.geq.WZ.geq.HAZ below-60.deg. C. Therefore the reliability of friction welding is uncertain at the low temperature(below-60.deg. C). The dynamic fracture toughness of the SS41 steel; HZA.geq.WZ.geq.BM at overall temperature region. The flaw formed by rotational upsetting pressure was shown y SEM; in this region. The absorbed energy per unit area and dynamic fracture toughness were low relative to other region.

• 터널과지하공간
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• 제16권2호
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• pp.166-178
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• 2006

암반구조물의 대형, 대단면화에 따라 자유면에 노출된 암반블록의 거동특성 평가가 더욱 중요해지고 있으며, 최근 들어 지진이나 발파, 고속철도의 운행에 의한 진동 등으로 야기되는 동적하중의 발생빈도가 증가하는 추세이므로 동적 하중조건 하에서 암반 절리의 거동특성 파악을 위한 연구의 필요성이 증대되고 있다. 본 연구에서는 거친 절리면의 동적 마찰거동 특성 파악을 위해 인공 인장절리시료를 제작하고 3차원 표면거칠기 측정을 통해 인장절리면의 거칠기 특성을 분석하였으며, 다양한 조건에서 진동대 시험을 수행하였다. 절리면이 맞물린 조건에서 경사시험을 통해 구한 한계 경사각과 진동하중 하에서의 임계가속도로부터 역산한 정적 마찰각을 비교한 결과 동하중 하에서 정적 마찰각이 평균 $2.7^{\circ}$ 정도 낮게 산정되는 경향을 보였다. 엇물린 상태에서 진동하중에 의해 미끄러지는 암석블록의 가속도 및 변위 계측결과를 블록거동 프로그램에 의한 결과와 비교하여 동적 마찰각을 산정하였는데 동적 마찰각 역시 한계 경사각에 비해 평균 $1.8^{\circ}$ 감소하는 결과를 얻었다. 미끄러짐 변위패턴을 4가지로 분류하였으며 이는 절리면의 1차 거칠기와 관련있는 것으로 나타났다. 절리면이 맞물린 상태에서 측정된 한계 경사각과 정적 마찰각은 2차 거칠기를 표현하는 파라미터인 평균 거 각과 상관성을 가지는 것으로 보이나, 엇물린 상태에서 측정된 한계 경사각과 동적 마찰각은 거칠기 파라미터와 특별한 상관성을 파악할 수 없었다. 진동대 시험에 의한 동적, 정적 마찰각은 직접전단시험에 의한 마찰각 결과보다 작게 산정되었다.

• 전기학회논문지
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• 제56권5호
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• pp.944-957
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• 2007

In general mechanical servo systems, friction deteriorates the performance of controllers by its nonlinear characteristics. Especially, friction phenomenon causes steady-state tracking errors and limit cycles in position and velocity control systems, even though gains of controllers are tuned well in linear system model. Even if sensor is used higher accuracy level, it is difficult to improve tracking performance of the position to the same level with a general control method such as PID type. Therefore, many friction models were proposed and compensation methods have been researched actively. In this paper, we consider that the variation of mover's mass is various by loading and unloading. The normal force variation occurs by it and other parameters. Therefore, the proposed control system is composed of main position controller and a friction compensator. A parameter estimator for a nonlinear friction model is designed by adaptive control law and adaptive backstopping control method.

• 한국자동차공학회논문집
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• 제16권4호
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• pp.103-109
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• 2008

Semi-spherical CVT(SS-CVT) is one of friction drives, which transmits power via the friction force between a spherical shaped variator and output disks. The variator varies the speed ratio of SS-CVT continuously as well as transmits input power into the output shaft. Therefore two friction forces are normally applied on the variator; one is the longitudinal friction force for power transmission and the other is the lateral for shifting. In order to investigate the dynamic behavior of SS-CVT, we introduced a numerical model of 2-dimensional friction force using a function of slip ratio and slip angle. And a dynamic model, which describes the shifting mechanism of SS-CVT, is developed through 3-dimensional vector analysis. Finally we presented numerical results of the shift characteristics focused on the transient behavior of the variator's slip ratio and slip angle. The numerical results also show the typical CVT shifting characteristics of SS-CVT and stable shifting behaviors of the variator.

• 한국철도학회논문집
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• 제20권3호
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• pp.299-310
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• 2017

본 연구에서는 3-piece 마찰 웨지 화차의 주행성능을 예측하기 위해 ADAMS/View에서 독립하중 마찰 웨지 모델을 개발하였다. 마찰 웨지 모델은 볼스터의 좌우, 수직방향에 따른 마찰을 각각 구현해줄 수 있다. 개발된 마찰 웨지 모델은 ADAMS/Rail 차량 모델에 적용하여 동역학 해석 결과를 얻었다. 대상차량은 임계속도 210km/h를 가진다. 직선 안정성 해석에서 UIC518에 근거해 차체의 횡, 수직방향 한계 가속도에 만족하는 것을 확인하였다. 300R 곡선에서 해석 적용 속도는 70km/h로 UIC518에 근거해 차체, 대차의 한계 가속도에 만족하였다. 또한 "철도차량 안전기준에 관한 규칙"의 윤중감소율, 횡압, 탈선계수에 만족하는 것을 확인하였다.

• Tribology and Lubricants
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• 제8권2호
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• pp.73-79
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• 1992

The pressure distribution between the piston pad and the cylinder wall is analyzed to reduce the friction and to get the dynamic stability in the low friction piston. The calculated results indicate that the rectangular pad may reduce the friction in comparison to the square one. And the low friction piston can be stabilized when the pressure difference between the top and bottom of the piston skirt is very small.

• 한국정밀공학회지
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• 제24권12호
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• pp.57-64
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• 2007

There have been many researches for optimal controllers in multivariable systems, and they generally use accurate linear models of the plant dynamics. Real systems, however, contain nonlinearities and high-order dynamics that may be difficult to model using conventional techniques. Therefore, it is necessary a PID gain tuning method without explicit modeling for the multivariable plant dynamics. The PID tuning method utilizes the sign of Jacobian and gradient descent techniques to iteratively reduce the error-related objective function. This paper, especially, focuses on the role of I-controller when there is a steady state error. However, it is not easy to tune I-gain unlike P- and D-gain because I-controller is mainly operated in the steady state. Simulations for an overhead crane system with dynamic friction show that the proposed PID-LC algorithm improves controller performance, even in the steady state error.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2007년도 춘계학술대회A
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• pp.1057-1062
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• 2007

The purpose of this study is to find out design parameters of vibrating screen, such as particles motion, specific gravity, shape, and kinetic friction. In order to approach this problem, four materials of construction wastes, wood, styrofoam, concrete, and sand are used for dynamic modeling. To present friction between the particles material and tilt plates material, these particles model is applied in order to verify effectively. Generally, the vibrating screen is composed of three assemblies such as screen, wastes guide, supported of screen. This model regards vibrator as system of screen fixed tilt plates. The model is analyzed to present what kind of particles motion while the system is vibrating. and this vibration system has been implemented in a ADAMS dynamaic program. This modeling is consist of dynamic model separation state on particle size. This study make good technique to verify in theory.

• 한국소음진동공학회논문집
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• 제19권10호
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• pp.1034-1042
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• 2009

In this paper, the magic formula model was applied for a friction damper in a drum-type washing machine. To describe characteristics of the hysteretic damping force, Physical tests were first carried out to get experimental results using an MTS machine. Then, parameters for the magic formula model were determined from the experimental curves. The ADAMS and MATLAB programs were used for the multibody modeling of the damper and process for parameter identification. The model of drum-type washing machine was applied for a dynamic model of friction damper, in which the accuracy of the proposed damper model was verified.