• 한국정밀공학회지
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• 제25권12호
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• pp.89-99
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• 2008

In this paper, the position tracking control problem of the servo system with nonlinear dynamic friction is issued. The nonlinear dynamic friction contains a directly immeasurable friction state variable and the uncertainty caused by incomplete parameter modeling and its variations. In order to provide the efficient solution to these control problems, we propose the composite control scheme, which consists of the robust friction state observer, the FNN approximator and the approximation error estimator with sliding mode control. In first, the sliding mode controller and the robust friction state observer is designed to estimate the unknown internal state of the LuGre friction model. Next, the FNN estimator is adopted to approximate the unknown lumped friction uncertainty. Finally, the adaptive approximation error estimator is designed to compensate the approximation error of the FNN estimator. Some simulations and experiments on the servo system assembled with ball-screw and DC servo motor are presented. Results show the remarkable performance of the proposed control scheme. The robust friction state observer can successfully identify immeasurable friction state and the FNN estimator and adaptive approximation error estimator give the robustness to the proposed control scheme against the uncertainty of the friction parameters.

• 한국생산제조학회지
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• 제19권2호
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• pp.241-250
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• 2010

A recurrent adaptive model-free intelligent control with a friction estimation law is proposed to enhance the positioning performance of the mover in PMLSM system. For the PMLSM with nonlinear friction and uncertainty, an adaptive recurrent fuzzy neural network(ARFNN) and compensated control law in $H_{\infty}$ performance criterion are designed to mimic a perfect control law and compensate the approximated error between ideal controller and ARFNN. Combined with friction observer to estimate nonlinear friction parameters of the LuGre model, on-line adaptive laws of the controller and observer are derived based on the Lyapunov stability criterion. To analyze the effectiveness our control scheme, some simulations for the PMLSM with nonlinear friction and uncertainty were executed.

• 한국공작기계학회논문집
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• 제18권1호
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• pp.90-102
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• 2009

In this paper, a tracking control problem for a mechanical servo system with nonlinear dynamic friction is treated. The nonlinear friction model contains directly immeasurable friction state and the uncertainty caused by incomplete modeling and variations of its parameter. In order to provide the efficient solution to these control problems, we propose a hybrid control scheme, which consists of a robust friction state observer, a RFNN estimator and an approximation error estimator with sliding mode control. A sliding mode controller and a robust friction state observer is firstly designed to estimate the unknown infernal state of the LuGre friction model. Next, a RFNN estimator is introduced to approximate the unknown lumped friction uncertainty. Finally, an adaptive approximation error estimator is designed to compensate the approximation error of the RFNN estimator. Some simulations and experiments on the mechanical servo system composed of ball-screw and DC servo motor are presented. Results demonstrate the remarkable performance of the proposed control scheme.

• 한국자동차공학회논문집
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• 제23권4호
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• pp.361-370
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• 2015

There will inevitably be errors and uncertainties in tire yaw mark related critical speed formula, which is derived merely from the relationship between the centrifugal force and the friction force acting on the point-mass vehicle. Constructing and measuring yaw marks through appropriate simulation works have made it possible to perform uncertainty analysis in calculation of critical speeds under variation of variety of conditions and parameters while existing yaw mark experimental tests have not performed properly. This paper does not present only the critical speed analysis results for parametric sensitivity and uncertainty of chord and middle ordinate, coefficient of friction and road grade, but also modeling uncertainty such as variation of braking level during turning and vehicle size. The yaw mark analysis methods and results may be now applied in practice of traffic accident investigation.

• 대한교통학회지
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• 제28권3호
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• pp.119-130
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• 2010

교통사고의 재구성 해석은 도로와 사고흔적, 자동차 손상 등 다양한 자료들을 분석함으로서 이루어진다. 대부분의 자료들은 사고 해석에서 변수로 작용하며, 측정으로부터 구해지는 자료들은 조사자와 도구, 주어진 환경 등에 의해 측정 오차가 발생된다. 따라서 사고해석에서는 측정 오차에서 비롯되는 불확실성이 항상 존재한다. 본 연구는 불확실성이 존재할 가능성이 매우 높은 도로 기하구조와 타이어 흔적 등 길이와 마찰계수 등에 대해 반복 측정 실험을 함으로서 교통 사고해석에서의 불확실성을 정량화하였다. 또한 자동차 충돌 변형량의 사진 계측에 대한 불확실성에 대해서도 해석 결과를 제시하였다. 이러한 통계학적 분포들은 사고 재구성 불확실성을 추정하기 위해 입력 계수의 적절한 범위를 결정하는 것을 도울 수 있다.

• Tribology and Lubricants
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• 제39권5호
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• pp.183-189
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• 2023

A bearing is a mechanical component that transmits rotation and supports loads. According to the type of rotating mechanism, bearings are categorized into ball bearings and tapered roller bearings. Tapered roller bearings have higher load-bearing capabilities than ball bearings. They are used in applications where high loads need to be supported, such as wheel bearings for commercial vehicles and trucks, aircraft and high-speed trains, and heavy-duty spindles for heavy machinery. In recent times, the demand for reducing the driving friction torque in automobiles has been increasing owing to the CO₂ emission regulations and fuel efficiency requirements. Accordingly, the research on the driving friction torque of bearings has become more essential. Researchers have conducted various studies on the lubrication, friction, and contact in tapered roller bearings. Although researchers have conducted numerous studies on the friction in the lips and on roller misalignment and skew, studies considering the influence of roller shape, specifically roller shape errors including lips, are few. This study investigates the driving friction torque of tapered roller bearings considering roller geometric uncertainties. Initially, the study calculates the driving friction torque of tapered roller bearings when subjected to axial loads and compares it with experimental results. Additionally, it performs Monte Carlo simulations to evaluate the influence of roller geometric uncertainties (i.e., the effects of roller geometric deviations) on the driving friction torque of the bearings. It then analyzes the results of these simulations.

• 한국지반신소재학회논문집
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• 제17권2호
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• pp.33-40
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• 2018

지반구조물에서는 흙과 구조물 사이의 상호 마찰 특성이 구조물에 작용하는 하중과 저항 분석에 큰 영향을 미친다. 일반적으로 지반구조물의 주재료로서 콘크리트 또는 강재가 많이 사용되며, 흙 입자 크기와 비교하여 마찰면의 거칠기 정도에 따라 경계면 마찰 특성이 큰 차이를 보인다. 특히 비신장성 보강재를 사용하는 보강토 옹벽, 말뚝 주면, 옹벽면 등의 지반구조물에 대해서는 흙과 구조물 사이의 마찰특성을 합리적으로 분석하여 구조물의 안전성을 확보하여야 한다. 구조물면과 사질토 사이의 마찰특성에 대하여 보다 정확한 예측식을 제시하고 이 예측식이 가지고 있는 불확실성을 제시하는 것은 지반-지반구조물의 신뢰성 분석에 필수적이다. 따라서 본 연구에서는 기존 양질의 연구 문헌들에 보고된 흙과 거칠기가 다른 면 사이의 마찰실험결과를 분석하여, 강재와 사질토 사이의 첨두 경계면 마찰각을 구하는 식을 제안하였다. 첨두 경계면 마찰각을 결정하는 주요인자는 경계면의 상대조도, 흙의 상대밀도, 구속압, 한계상태 경계면 마찰각이다. 본 연구에서 개발한 첨두 경계면 마찰각 예측식에 대한 불확실성을 통계적으로 Goodness-of-fit 시험 결과를 반영하여 평가하였다.

• Earthquakes and Structures
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• 제11권1호
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• pp.25-43
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• 2016

The uneven distribution of rolling friction coefficient may lead to great uncertainty in the structural seismic isolation performance. This paper attempts to improve the isolation performance of a spring-damper-rolling isolation system by artificially making the uneven friction distribution to be concave. The rolling friction coefficient gradually increases when the isolator rolls away from the original position during an earthquake. After the spring-damper-rolling isolation system under different ground motions was calculated by a numerical analysis method, the system obtained more regular results than that of random uneven friction distributions. Results shows that the concave friction distribution can not only dissipate the earthquake energy, but also change the structural natural period. These functions improve the seismic isolation efficiency of the spring-damper-rolling isolation system in comparison with the random uneven distribution of rolling friction coefficient, and always lead to a relatively acceptable isolation state even if the actual earthquake significantly differs from the design earthquake.

• 한국생산제조학회지
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• 제19권3호
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• pp.394-401
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• 2010

In this article, we investigate a robust friction compensation scheme for the purpose of accomplishing precision positioning performance a servo mechanical system with nonlinear dynamic friction. To estimate the friction state and tackle robustness problem for uncertainty, a RFNN and reconstructed error compensator as well as a robust friction state observer are developed. The asymptotic stability of the series of friction compensation methodologies are verified from the Lyapunov's stability theory. Some simulations and experiments on a servo mechanical system were carried out to evaluate the effectiveness of the proposed control scheme.

• 전기학회논문지P
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• 제59권2호
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• pp.163-172
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• 2010

A robust positioning control system has been studied using a friction parameter observer and a recurrent fuzzy neural network based on the sliding model. To estimate a nonlinear friction parameters of the LuGre friction model, a dual friction model-based observer is introduced. In addition, an approximating method for a system uncertainty has been developed using a recurrent fuzzy neural network technique to improve positioning performance. Experimental results have been presented to validate the performance of a proposed intelligent compensation scheme.