• The Journal of Korea Robotics Society
• /
• v.13 no.3
• /
• pp.174-181
• /
• 2018

For a mobile robot that travels along a terrain consisting of various geology, information on tire force and friction coefficient between ground and wheel is an important factor. In order to estimate the lateral force between ground and wheel, a lot of information about the model and the surrounding environment of the vehicle is required in conventional method. Therefore, in this paper, we are going to estimate lateral force through simple model (Minimal Argument Lateral Slip Curve, MALSC) using only minimum data with high estimation accuracy and to improve estimation reliability of the friction coefficient by using the estimated lateral force data. Simulation is carried out to analyze the correlation between the longitudinal and transverse friction coefficients and slip angles to design the simplified lateral force estimation model by analysing simulation data and to apply it to the actual field environment. In order to verify the validity of the equation, estimation results are compared with the conventional method through simulation. Also, the results of the lateral force and friction coefficient estimation are compared from both the conventional method and the proposed model through the actual robot running experiments.

• Transactions of the Korean Society of Automotive Engineers
• /
• v.21 no.1
• /
• pp.78-85
• /
• 2013

This paper presents the sliding mode control methods for anti-lock brake system (ABS) with the friction force observer. Using a simplified quarter car model, the sliding mode controller for ABS is designed to track the desired wheel slip ratio. Here, new method to find the desired wheel slip ratio which produces the maximum friction force between road and tire is suggested. The desired wheel slip ratio is varying according road and tire conditions to produce maximum friction force. In order to find optimum desired wheel slip ratio, the sliding mode observer for friction force is used. The proposed sliding mode controller with observer is evaluated in simulation, and the control design is shown to have high performance on roads with constant and varying adhesion coefficients.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
• /
• 2007.05a
• /
• pp.582-587
• /
• 2007

In this study, based on the results from the sinusoidal base excitation analyses of a single degree of freedom system with a tuned mass damper (TMD), it is verified that optimal friction force can improve the performance of a TMD like a linear viscous damper which has been usually used in general TMD. The magnitude of the optimal friction increases with increasing mass ratio of the TMD and decreases with increasing structural damping. Particularly, it is observed that the optimized friction force gives better control performance than the optimized viscous damping of the TMD. However, because the performance of the TMD considerably deteriorates when the friction force increases over the optimal value, it is required to keep the friction force from exceeding the optimal value.

• Transactions of the Korean Society for Noise and Vibration Engineering
• /
• v.17 no.6 s.123
• /
• pp.553-559
• /
• 2007

In this study, based on the results from the sinusoidal base excitation analyses of a single degree of freedom system with a tuned mass damper (TMD), it is verified that optimal friction force can improve the performance of a TMD like a linear viscous damper which has been usually used in general TMD. The magnitude of the optimal friction increases with increasing mass ratio of the TMD and decreases with increasing structural damping. Particularly, it is observed that the optimized friction force gives better control performance than the optimized viscous damping of the TMD. However, because the performance of the TMD considerably deteriorates when the friction force increases over the optimal value, it is required to keep the friction force from exceeding the optimal value.

• Journal of the Korean Institute of Electrical and Electronic Material Engineers
• /
• v.17 no.10
• /
• pp.1041-1048
• /
• 2004

Chemical mechanical polishing (CMP) process was studied in terms of tribology in this paper. CMP performed by the down force and the relative motion of pad and wafer with slurry is typically tribological system composed of friction, wear and lubrication. The piezoelectric quartz sensor for friction force measurement was installed and the friction force was detected during CMP process. Various friction signals were attained and analyzed with the kind of pad, abrasive and abrasive concentration. As a result of experiment, the lubrication regime is classified with ηv/p(η, v and p; the viscosity, relative velocity and pressure). The characteristics of friction and material removal mechanism is also different as a function of the kind of abrasive and the abrasive concentration in slurry. Especially, the material removal per unit distance is directly proportional to the friction force and the non~uniformity has relation to the coefficient of friction.

• Proceedings of the Korea Concrete Institute Conference
• /
• 2000.04a
• /
• pp.417-422
• /
• 2000

In prestressed concrete structures, determining serviceability and safety it is important to exactly calculate effective prestress force acting on structures. for the determination of effective prestress force, friction loss of the prestressing tendon should be decided exactly, but it is very difficult to measure the exact prestress force on the site and there is no actual field data. Therefore the friction loss coefficient recommended by the specification is not verified. in this paper, the friction loss standard PSC-Beam will be investigated, and is will be found what kind of relationship between the specification and the site. The results from this study can be summarized as follows. For jacking at both ends, actual intial prestress force in the center section of PCS-Beam was about 1.61% larger than theoretical initial prestress force and for hacking at one end, actual initial prestress force was approximate 4.9% lower than theoretical initial prestress force. Thus, for the exact calculation of friction loss, friction coefficient should be modified according to jacking methods.

• Proceedings of the Korea Concrete Institute Conference
• /
• 2000.04a
• /
• pp.645-650
• /
• 2000

In the prestressed concrete structures, the effective prestressing force of tendon is basically most important item for structural safety and serviceability. The frictional loss is one of the major items for determinating the effective prestressing force and depend on the construction accuracy of the structures. In this thesis, it will be analyzed and found through measured hydraulic jack pressure, tendon elongation and prestressing control system that the tendancy of apparent curvature friction coefficient, the ratio of jacking force and required prestressing force, the ratio of initial jacking force and required prestressing force and compatibility of specified friction loss coefficient. The specified control limit for curvature friction coefficient of prestressing control system is about 0.25 and wobble friction coefficient 0.005. Thus, the control limit should be modified according to changed vale of friction coefficient.

• Design & Manufacturing
• /
• v.17 no.4
• /
• pp.8-13
• /
• 2023

In this study, it was studied whether a new measurement factor "frictional vibration" that occurs due to the material flow of the die and sheet metal in the flange area during deep drawing process, could be measured using an vibration sensor. The blank holder force acting on the flange area during drawing processing acts as a friction force in the opposite direction into which the sheet material flows and causes friction vibration. As the blank holder force increases, the friction force increases, and as the blank holder force decreases, the friction force also decreases. Because of this, friction vibration also increases and decreases in proportion to the size of the blank holder force. According to this theory, whether frictional vibration occurs was measured using a flange simulator and a vibration sensor. The initial pressure was created using a torque wrench, and it was confirmed that the amplitude increased by about 4 times when torque 6 Nm was increased. When the forming velocity was rapidly changed to 300 mm/min, the amplitude increased approximately 4 times. It was confirmed that the amplitude of frictional vibration according to the measurement location was greater the further away from the specimen. It was verified that a new measurement factor "friction vibration" in the flange area can be measured and used for online monitoring.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
• /
• 2009.10a
• /
• pp.850-854
• /
• 2009

Approximate analysis for a building installed with a friction damper is revisited to get insight of its dynamic behavior. Energy balance equation is used to have a closed analytical form solution of dynamic magnification factor (DMF) for the building with combined viscous and friction damping. It is found out that DMF is dependent on friction force ratio and resonance frequency. Linear transfer function from input external force to output building displacement is obtained by simplifying DMF equation. Root mean square of building displacement is derived under earthquake-like random excitation. Finally, design of friction damper is proposed by processing target control ratio, damping ratio factor, and friction force in sequence.

• Journal of Industrial Technology
• /
• v.24 no.B
• /
• pp.207-214
• /
• 2004

An active stick which supplies force feedback to the operator is developed in this study. A mathematical model of the active stick is derived, and compared with the experimental result. It turns out that the frictional torque due to the mechanical contacts of several parts of the stick is one of the major barriers to achieve high precision operation of the stick. The frictional effect of the stick is cancelled out by using a friction observer. The efficacy of the friction observer is verified through the numerical simulation. Because of the observer dynamics, there are some limitations in exact recovering the static friction and Stribeck effect. However, the friction observer follows the real friction on the average. It's anticipated that the application of the friction observer to the closed loop control of the active stick improves the performance of the displacement versus force characteristics, which will be proved experimentally in the further study.