Automatic System Development by Using Friction Force and Stiffness with Nonlinear Characteristic

비선형 마찰과 강성을 이용한 자동화 시스템 개발

  • 이정욱 (국민대학교 대학원 자동차공학) ;
  • 조용희 (국민대학교 대학원 자동차공학) ;
  • 장용훈 (인덕대학 기계시스템전) ;
  • 김정하 (국민대학교 자동차공학)
  • Published : 2004.07.01


In this study, we developed an automatic veneer sorting system controlled by nonlinear friction and nonlinear stiffness. With these nonlinear characteristics, it was difficult to analysis and to control the system in the fast. However it is necessary to consider nonlinear characteristics to satisfy accurate and rapid control demand in these days. We used not only nonlinear friction but also nonlinear stiffness and combined both to control the system. An experimental device was designed with 4 AC servo-motors and 2 Sensors. Through a series of experiment, we found nonlinear friction characteristics among roller versus veneer and veneer versus veneer and nonlinear stiffness characteristics with stacked veneers. Finally, we showed that the proposed control algorithm was very effective for veneer sorting system with nonlinear friction and stiffness.


Nonlinear Friction;Nonlinear Stiffness;Sliding Friction;Rolling Friction


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