Search results for: sliding friction testing apparatus

Authors: M. Zamurad Shah, M. Kemal Özgören, Raza Samar

Abstract:

This paper presents a 3D guidance scheme for Unmanned Aerial Vehicles (UAVs). The proposed guidance scheme is based on the sliding mode approach using nonlinear sliding manifolds. Generalized 3D kinematic equations are considered here during the design process to cater for the coupling between longitudinal and lateral motions. Sliding mode based guidance scheme is then derived for the multiple-input multiple-output (MIMO) system using the proposed nonlinear manifolds. Instead of traditional sliding surfaces, nonlinear sliding surfaces are proposed here for performance and stability in all flight conditions. In the reaching phase control inputs, the bang-bang terms with signum functions are accompanied with proportional terms in order to reduce the chattering amplitudes. The Proposed 3D guidance scheme is implemented on a 6-degrees-of-freedom (6-dof) simulation of a UAV and simulation results are presented here for different 3D trajectories with and without disturbances.

Keywords: Unmanned Aerial Vehicles, Sliding mode control, 3D Guidance, Path following, trajectory tracking, nonlinear sliding manifolds.

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Authors: Aras Adhami Mirhoseini, Mohammad J. Yazdanpanah

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In this paper, we consider nested sliding mode control of SISO nonlinear systems, perturbed by bounded matched and unmatched uncertainties. The systems are assumed to be in strict-feedback form. A step wise procedure is introduced to obtain the controller. In each step, a continuous sliding mode controller is designed as virtual control law. Then the next step sliding surface is defined by using this virtual controller. These sliding surfaces are selected as nonlinear static functions of the system states. Finally in the last step, smooth static state feedback control law is determined such that the output reaches the desired set-point while the system is forced arbitrary close to the intersection of sliding surfaces and the states remain bounded.

Keywords: Sliding mode control, Strict-feedback form, Unmatched uncertainty, output regulation.

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Authors: S. Massoum, A. Bentaallah, A. Massoum, F. Benaimeche, P. Wira, A. Meroufel

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This paper presents a speed fuzzy sliding mode controller for a vector controlled induction machine (IM) fed by a voltage source inverter (PWM). The sliding mode based fuzzy control method is developed to achieve fast response, a best disturbance rejection and to maintain a good decoupling. The problem with sliding mode control is that there is high frequency switching around the sliding mode surface. The FSMC is the combination of the robustness of Sliding Mode Control (SMC) and the smoothness of Fuzzy Logic (FL). To reduce the torque fluctuations (chattering), the sign function used in the conventional SMC is substituted with a fuzzy logic algorithm. The proposed algorithm was simulated by Matlab/Simulink software and simulation results show that the performance of the control scheme is robust and the chattering problem is solved.

Keywords: IM, FOC, FLC, SMC, and FSMC.

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Authors: Marcus Walter, Norbert Nitzsche, Dirk Odenthal, Steffen M¨uller

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This contribution presents a friction estimator for industrial purposes which identifies Coulomb friction in a steering system. The estimator only needs a few, usually known, steering system parameters. Friction occurs on almost every mechanical system and has a negative influence on high-precision position control. This is demonstrated on a steering angle controller for highly automated driving. In this steering system the friction induces limit cycles which cause oscillating vehicle movement when the vehicle follows a given reference trajectory. When compensating the friction with the introduced estimator, limit cycles can be suppressed. This is demonstrated by measurements in a series vehicle.

Keywords: Friction estimation, friction compensation, steering system, lateral vehicle guidance.

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Authors: I. Kurashvili, G. Darsavelidze, G. Bokuchava, A. Sichinava, I. Tabatadze

Abstract:

The impact of boron doping on the internal friction (IF) and shear modulus temperature spectra of Si_1-xGe_x(x≤0,02) monocrsytals has been investigated by reverse torsional pendulum oscillations characteristics testing. At room temperatures, microhardness and indentation modulus of the same specimens have been measured by dynamic ultra microhardness tester. It is shown that boron doping causes two kinds effect: At low boron concentration (~10¹⁵ cm^-3) significant strengthening is revealed, while at the high boron concentration (~10¹⁹ cm^-3) strengthening effect and activation characteristics of relaxation origin IF processes are reduced.

Keywords: Dislocation, internal friction, microhardness, relaxation.

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Authors: Barenten Suciu

Abstract:

In this work, effects of the friction and truncation on the dynamics of a double-cone gravitational motor, self-propelled on a straight V-shaped horizontal rail, are evaluated. Such mechanism has a variable radius of contact, and, on one hand, it is similar to a pulley mechanism that changes the potential energy into the kinetic energy of rotation, but on the other hand, it is similar to a pendulum mechanism that converts the potential energy of the suspended body into the kinetic energy of translation along a circular path. Movies of the self- propelled double-cones, made of S45C carbon steel and wood, along rails made of aluminum alloy, were shot for various opening angles of the rails. Kinematical features of the double-cones were estimated through the slow-motion processing of the recorded movies. Then, a kinematical model is derived under assumption that the distance traveled by the contact points on the rectilinear rails is identical with the distance traveled by the contact points on the truncated conical surface. Additionally, a dynamic model, for this particular contact problem, was proposed and validated against the experimental results. Based on such model, the traction force and the traction torque acting on the double-cone are identified. One proved that the rolling traction force is always smaller than the sliding friction force; i.e., the double-cone is rolling without slipping. Results obtained in this work can be used to achieve the proper design of such gravitational motor.

Keywords: Truncated double-cone, friction, rolling and sliding, dynamic model, gravitational motor.

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Authors: Mustafa Resa Becan

Abstract:

The performance of a type of fuzzy sliding mode control is researched by considering the nonlinear characteristic of a missile-target interception problem to obtain a robust interception process. The variable boundary layer by using fuzzy logic is proposed to reduce the chattering around the switching surface then is applied to the interception model which was derived. The performances of the sliding mode control with constant and fuzzy boundary layer are compared at the end of the study and the results are evaluated.

Keywords: Sliding mode control, fuzzy, boundary layer, interception problem.

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Authors: Süha Yılmaz, Melih Turgut

Abstract:

In this paper, a method to calculate Frenet Apparatus of the curves in five dimensional Euclidean space is presented.

Keywords: Classical Differential Geometry, Euclidean-5 space, Frenet Apparatus.

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Authors: Mujde Turkkan, Nurkan Yagiz

Abstract:

The vibrations, caused by the irregularities of the road surface, are to be suppressed via suspension systems. In this paper, sliding mode control for a half bus model with air suspension system is presented. The bus is modelled as five degrees of freedom (DoF) system. The mathematical model of the half bus is developed using Lagrange Equations. For time domain analysis, the bus model is assumed to travel at certain speed over the bump road. The numerical results of the analysis indicate that the sliding mode controllers can be effectively used to suppress the vibrations and to improve the ride comfort of the busses.

Keywords: Sliding mode control, bus model, air suspension.

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Authors: Mostafa M. Makrahy, Nouby M. Ghazaly, G. T. Abd el-Jaber

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This paper presents the experimental study of vibration generated by friction materials of an automotive disc brake system using brake test rig. Effects of silica sand particles which are available on the road surface as an environmental condition with a size varied from 150 μm to 600 μm are evaluated. Also, the vibration of the brake disc is examined against the friction material in humidity environment conditions under variable rotational speed. The experimental results showed that the silica sand particles have significant contribution on the value of vibration amplitude which enhances with increasing the size of silica sand particles at different speed conditions. Also, it is noticed that the friction material is sensitive to humidity and the vibration magnitude increases under wet testing conditions. Moreover, it can be reported that with increasing the applied pressure and rotational speed of the braking system, the vibration amplitudes decrease for all cases.

Keywords: Friction material, silica sand particles, humidity environment, vibration of brake.

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Authors: Abolfazl Mohammadijoo

Abstract:

In this paper, we are investigating sliding mode control approach for trajectory tracking of a two-link-manipulator with wheeled mobile robot in its base. The main challenge of this work is dynamic interaction between mobile base and manipulator which makes trajectory tracking more difficult than n-link manipulators with fixed base. Another challenging part of this work is to avoid chattering phenomenon of sliding mode control that makes lots of damages for actuators in real industrial cases. The results show the effectiveness of sliding mode control approach for desired trajectory.

Keywords: Mobile manipulator, sliding mode control, dynamic interaction, mobile robotics.

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Authors: Behzad Khademian, Mohammad Haeri

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In this paper, an effective sliding mode design is applied to chaos synchronization. The proposed controller can make the states of two identical modified Chua-s circuits globally asymptotically synchronized. Numerical results are provided to show the effectiveness and robustness of the proposed method.

Keywords: Sliding mode, Chaos synchronization, Modified Chua's circuit.

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Authors: Abdallah Ghoul, Bachir Ouamri, Ismail Khalil Bousserhane

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In this paper, we have developed a sliding mode controller for PUMA 600 manipulator robot, to control the remote robot a teleoperation system was developed. This system includes two sites, local and remote. The sliding mode controller is installed at the remote site. The client asks for a position through an interface and receives the real positions after running of the task by the remote robot. Both sites are interconnected via the Internet. In order to verify the effectiveness of the sliding mode controller, that is compared with a classic PID controller. The developed approach is tested on a virtual robot. The results confirmed the high performance of this approach.

Keywords: Internet, manipulator robot, PID controller, remote control, sliding mode, teleoperation.

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Authors: T. C. Kuo

Abstract:

In this paper, a novel adaptive fuzzy sliding mode control method is proposed for the robust tracking control of robotic manipulators. The proposed controller possesses the advantages of adaptive control, fuzzy control, and sliding mode control. First, system stability and robustness are guaranteed based on the sliding mode control. Further, fuzzy rules are developed incorporating with adaptation law to alleviate the input chattering effectively. Stability of the control system is proven by using the Lyapunov method. An application to a three-degree-of-freedom robotic manipulator is carried out. Accurate trajectory tracking as well as robustness is achieved. Input chattering is greatly eliminated.

Keywords: Fuzzy control, sliding mode control, roboticmanipulator, adaptive control.

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Authors: C. Guven, M. Tufekci, E. Bayik, O. Gedik, M. Tas

Abstract:

A sliding door system is used in commercial vehicles and passenger cars to allow a larger unobstructed access to the interior for loading and unloading. The movement of a sliding door on vehicle body is ensured by mechanisms and tracks having special cross-section which is manufactured by roll forming and stretch bending process. There are three tracks and three mechanisms which are called upper, central and lower on a sliding door system. There are static requirements as strength on different directions, rigidity for mechanisms, door drop off, door sag; dynamic requirements as high energy slam opening-closing and durability requirement to validate these products. In addition, there is a kinematic requirement to find out force values from door handle during manual operating. In this study, finite element analysis and physical test results which are realized for sliding door systems will be shared comparatively.

Keywords: Finite element analysis, sliding door, experimental, verification, vehicle tests.

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Authors: Jongmin Kim, Tae-Ho Song

Abstract:

A measurement apparatus is designed and fabricated to measure the effective thermal conductivity (keff) of a VIP (vacuum insulation panel) core specimen under various vacuum states and external loads. The apparatus consists of part for measuring keff, and parts for controlling external load and vacuum condition. Uncertainty of the apparatus is validated by measuring the standard reference material and comparing with commercial devices with VIP samples. Assessed uncertainty is maximum 2.5 % in case of the standard reference material, 10 % in case of VIP samples. Using the apparatus, keff of glass paper under various vacuum levels is examined.

Keywords: Effective thermal conductivity, guarded hot plate method, vacuum insulation panel

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Authors: Süha Yılmaz, Melih Turgut

Abstract:

These In this work, a regular unit speed curve in six dimensional Euclidean space, whose Frenet curvatures are constant, is considered. Thereafter, a method to calculate Frenet apparatus of this curve is presented.

Keywords: Classical Differential Geometry, Euclidean 6-space, Frenet Apparatus of the curves.

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Authors: Gu Tian-yang, Shi Yin-sheng, Fang You-yuan

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Software security testing is an important means to ensure software security and trustiness. This paper first mainly discusses the definition and classification of software security testing, and investigates methods and tools of software security testing widely. Then it analyzes and concludes the advantages and disadvantages of various methods and the scope of application, presents a taxonomy of security testing tools. Finally, the paper points out future focus and development directions of software security testing technology.

Keywords: security testing, security functional testing, securityvulnerability testing, testing method, testing tool

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Authors: Jae-Young Choi, Sung-Gaun Kim

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This paper suggests a calibration method to reduce errors occurring due to mobile robot sliding during location estimation using the Dead-reckoning. Due to sliding of the mobile robot caused between its wheels and the road surface while on free run, location estimation can be erroneous. Sliding especially occurs during cornering of mobile robot. Therefore, in order to reduce these frequent sliding errors in cornering, we calibrated the mobile robot-s heading values using a vision camera and templates of the ceiling.

Keywords: Dead-reckoning, Localization, Odomerty, Vision Camera

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Authors: C. D. Naiju, K. Annamalai, Siva Prasad Darla, Y. Murali Krishna

Abstract:

This work presents the results of a study carried out to determine the sliding wear behavior and its effect on the process parameters of components manufactured by direct metal laser sintering (DMLS). A standard procedure and specimen had been used in the present study to find the wear behavior. Using Taguchi-s experimental technique, an orthogonal array of modified L8 had been developed. Sliding wear testing using pin-on-disk machine was carried out and analysis of variance (ANOVA) technique was used to investigate the effect of process parameters and to identify the main process parameter that influences the properties of wear behavior on the DMLS components. It has been found that part orientation, one of the selected process parameter had more influence on wear as compared to other selected process parameters.

Keywords: ANOVA, DMLS, Taguchi, Wear.

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Authors: Yu-Sheng Lu, Chung-Hsin Cheng, Shuen-Shing Jan

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This paper presents the design and implementation of a sliding-mod controller for tracking servo of optical disk drives. The tracking servo is majorly subject to two disturbance sources: radial run-out and shock. The lateral run-out disturbance is mostly repeatable, and a model of such disturbance is incorporated into the controller design to effectively compensate for it. Meanwhile, as a shock disturbance is usually non-repeatable and unpredictable, the sliding-mode controller is employed for its robustness to abrupt perturbations. As a result, a sliding-mode controller design based on the internal model principle is tailored for tracking servo of optical disk drives in order to deal with these two major disturbances. Experimental comparative studies are conducted to investigate the effectiveness of the specially designed controller.

Keywords: Mechatronics, optical disk drive, sliding-mode control, servo systems.

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Authors: Jinsiang Shaw, Ray Pan, Yin-Chieh Chang

Abstract:

In this paper, an magnetorheological (MR) mount with fuzzy sliding mode controller (FSMC) is studied for vibration suppression when the system is subject to base excitations. In recent years, magnetorheological fluids are becoming a popular material in the field of the semi-active control. However, the dynamic equation of an MR mount is highly nonlinear and it is difficult to identify. FSMC provides a simple method to achieve vibration attenuation of the nonlinear system with uncertain disturbances. This method is capable of handling the chattering problem of sliding mode control effectively and the fuzzy control rules are obtained by using the Lyapunov stability theory. The numerical simulations using one-dimension and two-dimension FSMC show effectiveness of the proposed controller for vibration suppression. Further, the well-known skyhook control scheme and an adaptive sliding mode controller are also included in the simulation for comparison with the proposed FSMC.

Keywords: adaptive sliding mode controller, fuzzy sliding modecontroller, magnetorheological mount, skyhook control.

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Authors: T. C. Kuo, Y. J. Huang, B. W. Hong

Abstract:

This paper proposes an adaptive sliding mode controller which combines adaptive control and sliding mode control to control a nonlinear robotic manipulator with uncertain parameters. We use an adaptive algorithm based on the concept of sliding mode control to alleviate the chattering phenomenon of control input. Adaptive laws are developed to obtain the gain of switching input and the boundary layer parameters. The stability and convergence of the robotic manipulator control system are guaranteed by applying the Lyapunov theorem. Simulation results demonstrate that the chattering of control input can be alleviated effectively. The proposed controller scheme can assure robustness against a large class of uncertainties and achieve good trajectory tracking performance.

Keywords: Robotic manipulators, sliding mode control, adaptive law, Lyapunov theorem, robustness.

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Authors: J. Fei

Abstract:

This paper presents the adaptive control scheme with sliding mode compensator for vibration control problem in the presence of disturbance. The dynamic model of the flexible cantilever beam using finite element modeling is derived. The adaptive control with sliding mode compensator using output feedback for output tracking is developed to reject the external disturbance, and to improve the tracking performance. Satisfactory simulation results verify that the effectiveness of adaptive control scheme with sliding mode compensator.

Keywords: finite element model, adaptive control, sliding modecontrol, vibration suppression

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Authors: T. Tchawe Moukam, N. Ngongang François, D. Thomas, K. Bienvenu, T. -Toko Dénis

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Since the expression of the coefficient of friction by Colebrook-White which turns out to be an implicit equation, equations have been developed to facilitate their applicability. In this work, this equation was applied to the penstock of the Three Gorges dam in order to observe the evolution of the turbulent boundary layer and the friction along the walls. Thus, the study is being carried out using a 3D digital approach in FLUENT in order to take into account the wall effects. It appears that according to the position of the portions, we have a variation in the evolutions of the turbulent friction and of the values of the boundary layer. We also observe that the inclination of the pipe has a significant influence on this turbulent friction; similarly, one could not make a fair evaluation of the latter without specifying the choice and location of the wall.

Keywords: Hydroelectric dam, penstock, turbulent friction, boundary layer, CFD.

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Authors: Aziz Sezgin, Yuksel Hacioglu, Nurkan Yagiz

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Sliding mode controller for a vehicle active suspension system is designed in this study. The widely used quarter car model is preferred and it is aimed to improve the ride comfort of the passengers. The effect of the actuator time delay, which may arise due to the information processing, sensors or actuator dynamics, is also taken into account during the design of the controller. A sliding mode controller was designed that has taken into account the actuator time delay by using Smith predictor. The successful performance of the designed controller is confirmed via numerical results.

Keywords: Sliding mode control, active suspension system, actuator time delay.

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Authors: Mostafa.A. Fellani, Dawo.E. Abaid

Abstract:

This paper presents a controller design technique for Synchronous Reluctance Motor to improve its dynamic performance with fast response and high accuracy. The sliding mode control is the most attractive and suitable method to use for this purpose, since it is simple in design and for its insensitivity to parameter variations or external disturbances. When this method implemented it yields fast dynamic response without overshoot and a zero steady-state error. The current loop control with decentralized sliding mode is presented in this paper. The mathematical model for the synchronous machine, the inverter and the controller is developed. The stability of the sliding mode controller is analyzed. Simulation of synchronous reluctance motor and the controller with PWM-inverter has been curried out, using the SIMULINK software package of MATLAB. Simulation results are presented to show the effectiveness of the approach.

Keywords: Dynamic Simulation, MATLAB, PWM-inverter, Reluctance Machine, Sliding-mode.

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Authors: S. D. El Wakil

Abstract:

The research work reported here was aimed at investigating the feasibility of joining high-porosity stainless steel discs and wrought iron bars by friction welding. The sound friction-welded joints were then subjected to a metallurgical investigation and an analysis of failure resulting from tensile loading. Discs having 50 mm diameter and 10 mm thickness were produced by loose sintering of stainless steel powder at a temperature of 1350 ^oC in an argon atmosphere for one hour. Minor machining was then carried out to control the dimensions of the discs, and the density of each disc could then be determined. The level of porosity was calculated and was found to be about 40% in all of those discs. Solid wrought iron bars were also machined to facilitate tensile testing of the joints produced by friction welding. Using our previously gained experience, the porous stainless steel disc and the wrought iron tube were successfully friction welded. SEM was employed to examine the fracture surface after a tensile test of the joint in order to determine the type of failure. It revealed that the failure did not occur in the joint, but rather in the in the porous metal in the area adjacent to the joint. The load carrying capacity was actually determined by the strength of the porous metal and not by that of the welded joint. Macroscopic and microscopic metallographic examinations were also performed and showed that the welded joint involved a dense heat-affected zone where the porous metal underwent densification at elevated temperature, explaining and supporting the findings of the SEM study.

Keywords: Fracture of friction-welded joints, metallurgy of friction welding, solid-porous structures, strength of joint.

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Authors: Mohammad Jafarifar

Abstract:

This paper presents a speed estimation scheme based on second-order sliding-mode Super Twisting Algorithm (STA) and Model Reference Adaptive System (MRAS) estimation theory for Sensorless control of multiphase induction machine. A stator current observer is designed based on the STA, which is utilized to take the place of the reference voltage model of the standard MRAS algorithm. The observer is insensitive to the variation of rotor resistance and magnetizing inductance when the states arrive at the sliding mode. Derivatives of rotor flux are obtained and designed as the state of MRAS, thus eliminating the integration. Compared with the first-order sliding-mode speed estimator, the proposed scheme makes full use of the auxiliary sliding-mode surface, thus alleviating the chattering behavior without increasing the complexity. Simulation results show the robustness and effectiveness of the proposed scheme.

Keywords: Multiphase induction machine, field oriented control, sliding mode, super twisting algorithm, MRAS algorithm.

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Authors: Manish Jain, Dinesh Gopalani

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Growing dependency of mankind on software technology increases the need for thorough testing of the software applications and automated testing techniques that support testing activities. We have outlined our testing strategy for performing various types of automated testing of Java applications using AspectJ which has become the de-facto standard for Aspect Oriented Programming (AOP). Likewise JUnit, a unit testing framework is the most popular Java testing tool. In this paper, we have evaluated our proposed AOP approach for automated testing and JUnit on various parameters. First we have provided the similarity between the two approaches and then we have done a detailed comparison of the two testing techniques on factors like lines of testing code, learning curve, testing of private members etc. We established that our AOP testing approach using AspectJ has got several advantages and is thus particularly more effective than JUnit.

Keywords: Aspect oriented programming, AspectJ, Aspects, JUnit, software testing.

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