• Tribology and Lubricants
• /
• v.8 no.1
• /
• pp.63-69
• /
• 1992

In order to gain better understanding of wear behaviors of TiN-coated boron cast iron, tests and analyses were conducted with block-on disc type tribometer. TiN layer of thickness $2 \mu m$ and $4 \mu m$, coated by cathodic arc evaporation process, were experimentally investigated with the variation of applied load and sliding speed under dry sliding condition. Wear characteristics were expressed in terms of the three-dimentional wear map as well as the wear rate vs sliding speed and load. Comparisons of wear and friction characteristics between coated cast irons and uncoated cast irns were also made. Wear mechanism of TiN layer was explained in view of surface interaction between the mating surfaces. The thicker coating exhibited higher hardness and adhesion strength. the significance of stresses at the surface and in the subsurface was briefly discussed in relation to the wear behavior.

• Proceedings of the Korean Geotechical Society Conference
• /
• 2003.06a
• /
• pp.129-144
• /
• 2003

Generally, investigation methods of cut slope are conducted only geological surface survey to gain engineering geological data of cut slopes. These methods have many problems such as limitations of investigation for a special area. So geophysical investigations such as geotomography, seismic and electrical resistivity methods have been used to search for failure surface in potential failure slopes or failed slopes. But investigation method using the borehole camera is recently a used method and it is thought that this method is more reliable method than other investigation methods because of being able to see by the eyes. Therefore, this paper was conducted investigations of borings and BIPS(Borehole Image Processing System) to search for potential sliding surfaces and was applied to obtain information of discontinuity on failed and potential failure slope in highway. As the results of BIPS, we could decide potential sliding surface in the slope, conducted to check slope stability and decided slope stability measures.

• 제어로봇시스템학회:학술대회논문집
• /
• 1997.10a
• /
• pp.1275-1278
• /
• 1997

Cutting process has been automated by progress of CNC and CAD/CAM, but polishing process has been depended on only experiential knowledge of expert. To automate the polishing pricess polishing robot with 2 degrees of freedom which is attached to a machining center with 3 degrees of freedom has been developed. this automatic polishing robot is able to keep the polishing tool normal on the curved surface of die to improve a performance of polishing. Polishing task for a curved surface die demands repetitive operation and high precision, but conventional control algorithm can not cope with the problem of disturbance such as a change of load. In this research, we develop robust controller using real time sliding mode algorithm. To obtain gain parameters of sliding model control input, the signal compression method is used to identify polishing robot system. To obtain an effect of 5 degrees of freedom motion, 5 axes NC data for polishing are divided into data of two types for 3 axis machining center and 2 axis polishing are divided into data of two types for 3 axis machining center and 2 axis polishing robot. To find an efficient polishing condition to obtain high quality, various experiments are carried out.

• Journal of Ocean Engineering and Technology
• /
• v.6 no.1
• /
• pp.11-18
• /
• 1992

비선형성 및 측정할 수 없는 외란에 영향을 받은 무인잠수정의 깊이 조종을 위한 슬라이딩 모우드 조종기를 설계하였다. 먼저, 성형화 된 운동방정식을 기초로 하여 슬라이딩 표면계수를 수치행석으로 최적화 시켰으며, 이 설계된 슬라이딩 표면을 비선형 운동방정식에 적용하여, 그 특성을 고찰하었다. 마지막으로, 용이하게 설계된 슬라이딩 모우드 조종기를 비선형성과 외란을 갖는 NPS(Naval postgraduate School) 형태의 무인잠수정에 적용하여 얻어진 실험치의 동적 특성을 통해 슬라이딩 모우드의 강인성을 확인하였다.

• Proceedings of the KIEE Conference
• /
• 2004.07d
• /
• pp.2236-2238
• /
• 2004

This paper proposes the self-recurrent wavelet neural network (SRWNN) observer based sliding mode control (SMC) method for nonlinear systems. Unlike the classical SMC, we assume that all states of nonlinear systems are not measured and design the SRWNN observer to measure the states of nonlinear systems. The SRWNN in the observer is used for approximating the observer system's gain. To generate the control input for controlling the nonlinear system, the measured states are used. The sliding surface with a boundary layer is defined to remove the chattering of the control input. Simulation result to show the effectiveness of the SRWNN observer is presented.

• Journal of Power Electronics
• /
• v.13 no.6
• /
• pp.955-963
• /
• 2013

To acquire a performed and practical solution that is free from chattering, this study proposes the use of an adaptive super-twisting algorithm to drive a single-phase induction motor. Partial feedback linearization is applied before using a super-twisting algorithm to control the speed and stator currents. The load torque is considered an unknown but bounded disturbance. Therefore, a time-varying switching gain that does not require prior knowledge of the disturbance boundary is proposed. A simple sliding surface is formulated as the difference between the real and desired trajectories obtained from the indirect rotor flux oriented control strategy. To illustrate the effectiveness of the proposed control structure, an experimental setup around a digital signal processor (dS1104) is developed and several tests are performed.

• Journal of the Korean Institute of Intelligent Systems
• /
• v.16 no.6
• /
• pp.747-752
• /
• 2006

In this paper, the adaptive fuzzy sliding mode controller with two systems is designed. The existing sliding mode controller used to $approximation{\^{u}}(t)$ with discrete sgn function and sat function for keeping the state trajectories on the sliding surface[1]. The proposed controller decrease the disturbance for uncertain control gain and This paper is concerned with an Adaptive Fuzzy Sliding Mode Control(AFSMC) that the fuzzy systems ate used to approximate the unknown functions of nonlinear system. In the adaptive fuzzy system, we adopt the adaptive law to approximate the dynamics of the nonlinear plant and to adjust the parameters of AFSMC. The stability of the suggested control system is proved via Lyapunov stability theorem, and convergence and robustness properties ate demonstrated. Futhermore, fuzzy tuning improve tracking abilities by changing some sliding conditions. In the traditional sliding mode control, ${\eta}$ is a positive constant. The increase of ${\eta}$ has led to a significant decrease in the rise time. However, this has resulted in higher overshoot. Therefore the proposed ${\eta}$ tuning AFSMC improve the performances, so that the controller can track the trajectories faster and more exactly than ordinary controller. The simulation results demonstrate that the performance is improved and the system also exhibits stability.

• The Proceedings of the Korean Institute of Illuminating and Electrical Installation Engineers
• /
• v.9 no.4
• /
• pp.55-61
• /
• 1995

Variable structure control (VSC) can be used for the control of power plants required stability and robustness such as elevator control. It has no overshoot and is insensitive to parameter variations and disturbances in the sliding mode where the system structure is changed with the sliding surface in the center. But in the real system, VSC has a high frequency chattering which has a bad influence upon the control system proformances. In this paper, to alleviate the high frequency chattering, a binary controller (BC) with inertial type external loop is implemented by DSP and applied to position control of brushless DC motor. Binary controller has external loop to generate the continuous control input with the flexible variation of primary loop gain. Thus it has the property of chattering alleviation in addition to advantages of the conventional variable structure control.

• Journal of the Korea Institute of Information and Communication Engineering
• /
• v.21 no.2
• /
• pp.416-422
• /
• 2017

The robot control with safety consideration is required since robots and human work together in the same space more frequently in these days. For safety, robots must have compliance to human force and robust tracking performance with high impednace for the nonhuman disturbances. The novel idea is proposed to achieve the compliance and high impedance with one controller structure. For the compliance, the ISMC(Integral Sliding Mode Control) and HDOB(Human Disturbance Observer) The human force is identified by using the human band pass filter and its output is sent to the sliding surface. The sliding mode dynamic is affected by human disturbance and the compliance for human is achieved. The disturbances besides human frequencies are decoupled by the ISMC and the robust tracking is achieved. The additional LDOB(Low Frequency Disturbance Observer) decreases the maxim nonlinear gain and leads low chattering. The introduction of human disturbance into the sliding mode dynamic is the main novel idea of this paper.

• 한국지구물리탐사학회:학술대회논문집
• /
• 1999.08a
• /
• pp.217-239
• /
• 1999

Investigation methods of cut slope are conducted generally only geological surface survey to gain engineering geological data of cut slopes. These methods have many problems such as limitation of investigation for a special area. So geophysical investigations such as geotomography, seismic and electrical resistivity methods have been used to search for failure surface in potential failure slopes or failed slopes. But investigation method using the borehole camera is recently a used method and it is thought that this method is more reliable method than other investigation methods because of being able to see by the eyes. Therefore, this paper was conducted investigations of 4 boleholes and BIPS (Borehole Image Processing System) to search for potential sliding surfaces and was applied to obtain information of discontinuity on failed highway slope. As the results of BIPS, we could decide potential sliding surface in the slope and conducted to check slope stability. And decided slope stability measures.