• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1995년도 Proceedings of the Korea Automation Control Conference, 10th (KACC); Seoul, Korea; 23-25 Oct. 1995
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• pp.219-222
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• 1995

This paper presents a control law of multiple actuation servo systems. Multiple actuation systems have an ability to solve some difficult engineering problems; Coulomb friction, backlash, and disturbance. This fact is shown by basic experiments as well as theoretical analysis. The proposed control strategy remarkably improves the performance comparing with conventional single actuation systems.

• 터널과지하공간
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• 제29권3호
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• pp.172-183
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• 2019

Hoek et al.(2002)이 개발한 일반화된 Hoek-Brown(GHB) 파괴기준식은 암반의 파괴응력 조건을 정의하는 비선형 함수이다. 관련 강도정수들은 GSI 지수값을 이용하여 체계적으로 결정된다. GSI 지수는 현장 암반의 상태를 정량화한 수치이므로 GHB 파괴기준식은 현장의 암반조건을 파괴기준식에 반영할 수 있는 실용적인 암반파괴함수이다. 대부분의 암반공학 기술자들이 선형 Mohr-Coulomb 파괴기준식에 익숙하며, 다수의 암반공학 소프트웨어들이 Mohr-Coulomb 식을 채택하고 있음을 고려하여 등가마찰각과 등가점착력 계산식이 GHB 파괴기준식 발표와 함께 제시되었다. 그러나 이 목적으로 제시된 등 가마찰각 및 등가점착력 계산식은 선형 최적화가 수행되는 최소주응력 범위의 하한 값을 암반의 인장강도로 고정시키고 있다. 따라서 해석영역에 인장응력이 분포하지 않은 경우 Hoek et al.(2002)의 제안식을 이용한 등가마찰각 및 등가점착력 산정결과는 정확성이 떨어질 수 있다. 이러한 기존 등가마찰각 및 등가점착력 산정수식의 단점을 극복하기 위하여 이 연구에서는 임의의 최소주응력 구간에 대해서도 최적 등가마찰각과 등가점착력을 계산할 수 있는 해석적 수식을 유도하고 결과식의 정확성을 검증하였다.

• 한국소음진동공학회논문집
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• 제12권11호
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• pp.904-913
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• 2002

In this study, a dynamic analysis of the reciprocating compression mechanism considering viscous friction force of a piston used in small refrigeration compressors is performed. The length of cylinder in this class of compressors is shortening to diminish the frictional losses of the piston-cylinder system. So, the contacting length between piston and cylinder liner is in variable with the rotating crank angle around the BDC of the reciprocating piston. In the problem formulation of the compression mechanism dynamics, the change in bearing length of the piston and all corresponding viscous forces and moments are considered in order to determine the trajectories of piston and crankshaft. The piston orbits for viscous friction model and Coulomb friction model were used to compare the effect of the friction forces of piston on the dynamic trajectories of piston. To investigate the effect of friction force acting on the piston for the dynamic characteristics of crankshaft, comparison of the crankshaft loci is given in both viscous model and Coulomb model. Results show that the viscous friction force of piston must be considered in calculating for the accurate dynamic characteristics of the reciprocating compression mechanism.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2007년도 추계학술대회논문집
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• pp.875-879
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• 2007

The effects of the statistical properties of the Coulomb friction coefficients on the dynamic responses of a galloping quadruped robot are investigated in this paper. In general, the Coulomb friction coefficients are assumed to be deterministic for a controller design to achieve required motion characteristics. However, the friction coefficients between the ground and the robot legs are not constant in reality. Therefore, statistical characteristics of the friction coefficients need to be considered for a multi-body modeling of the robot galloping on the ground. The effects of the statistical properties on the dynamic responses of the quadruped robots are investigated.

• 한국정밀공학회지
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• 제13권2호
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• pp.102-109
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• 1996

Effects of frictional laws on finite element solutions in metal forming were investigated in this paper. A rigid-viscoplastic finite element formulation was given with emphasis on the frictional laws. The Coulomb friction and the constant shear friction laws were compared through finite element analyses of compression of rings and cylinders with different aspect ratios, ring-gear forging, multi-stage cold extrusion and hot strip rolling under the isothermal condition. It has been shown that two laws may yield quite different results when the aspect ratio of a process and the fractional contact region are large.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2000년도 추계학술대회 논문집
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• pp.517-522
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• 2000

When a body including a crack inside is subjected to the compressive forces, the crack is closed and sliding occurs on the crack surfaces. In this work, a subsurface crack subjected to a static or moving compressive load is analyzed with the finite element method considering friction on the crack surface. The friction on the crack surface is assumed to follow the Coulomb friction law. A numerical method based on the finite element method and iterative method is applied in this work. And the result is compared with the frictional contact of crack by ANSYS using contact 12 element. The numerical results of two methods are compared with the wellknown analytical solutions, and the accuracy of iterative method is checked..

• 유체기계공업학회:학술대회논문집
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• 유체기계공업학회 2005년도 연구개발 발표회 논문집
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• pp.803-809
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• 2005

This paper presents the theoretical model to investigate the effect of Coulomb damping in the sub-structure of a foil bearing. Foil deflection is restricted by friction of bumps. Equivalent viscous damping of the bump foils is derived from the Coulomb friction. Dynamic equation of the bumps is constituted by stiffness and damping terms. This point give the difference from Heshmat's frictionless and simple compliance bump model. The fluid is modeled with the compressible Reynolds equation. A perturbation approach is used to determine the static and dynamic performance of the bearing from the coupled fluid-structural model. The analysis result shows that the static and dynamic performance is enhanced by bump friction. This analysis technique would be extended to development of a high performance bearing.

• 한국유체기계학회 논문집
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• 제9권1호
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• pp.47-55
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• 2006

This paper presents the theoretical model to investigate the effect of Coulomb damping in the sub-structure of a foil bearing. Foil deflection is restricted by friction of bumps. Equivalent viscous damping of the bump foils is derived from the Coulomb friction. Dynamic equation of the bumps is constituted by stiffness and damping terms. This point give the difference from Heshmat's frictionless and simple compliance bump model. The fluid is modeled with the compressible Reynolds equation. A perturbation approach is used to determine the static and dynamic performance of the bearing from the coupled fluid-structural model. The analysis result shows that the static and dynamic performance is enhanced by bump friction. This analysis technique would be extended to development of a high performance bearing.

• 한국정밀공학회지
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• 제12권6호
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• pp.52-63
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• 1995

This paper presents a detailed derivation of the equations of motion for the stable member of a four-axis platform. Gimbal bearing friction is considered for motion analysis. First, dynamic characteristics of platform, gimbal and gyro with Coulomb friction are studied due to vehicle's angular motion. Second, Vehicle's motion is assumed the sinusoidal function and dynamic characteristics of platform, gimbal and gyro are studied. Conclusively, considering effects of Coulomb friction, they could not follow the vehicle's angular motion and have constant errors. In case of sinusoidal motion, relative angles for each gimbal are amplified, but they are sinusoidal function with almost the same phases.

• 대한토목학회논문집
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• 제34권3호
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• pp.947-954
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• 2014

일반적으로 Mohr-Coulomb 파괴 이론을 바탕으로 한 재료 파괴는 최대수직응력이나 최대전단응력 상태에서 파괴가 일어나는 것이 아니라 수직응력과 전단응력의 임계결합상태에서 파괴된다. 이에 본 연구에서는 배수성 아스팔트 혼합물 2종과 SMA 10mm혼합물 및 일반 밀입도 아스팔트 19mm를 이용한 $45^{\circ}C$와 $60^{\circ}C$에서 삼축압축시험을 실시하였다. Mohr-Coulomb의 파괴 이론을 바탕으로 삼축압축시험 결과를 정리한 결과 내부마찰각은 $38.9^{\circ}{\sim}46.9^{\circ}$로 다소 불규칙하게 측정되었으나 점착력의 경우 온도와 시편의 수침여부에 따라 다르게 나타났다. 또한, 아스팔트 혼합물의 간접인장강도시험과 삼축압축시험 상관관계를 알아보기 위해 삼축압축시험 결과로 평가된 점착력과 내부마찰각을 이용하여 계산된 이론적인 간접인장강도와 시험을 통해 직접 측정된 간접인장강도를 분석하였다. 두 간접인장강도 값은 비례하는 경향을 보였다.