A nonlinear dynamic friction control is dealt with using dynamic friction observer and intelligent cantrol. The adaptive dynamic friction obsrver based on the LuGre friction is proposed to estimate the friction parame...A nonlinear dynamic friction control is dealt with using dynamic friction observer and intelligent cantrol. The adaptive dynamic friction obsrver based on the LuGre friction is proposed to estimate the friction parameters and a directly friction state variable The dynamic structured Fuzzy Neural Network （RFNN） is designed to give additional robustness to the cantrol system under the presence of the friction model uncertainty. A proposed composite cantrol scheme is applied to the position tracking control of the servo systen. The performances of the proposed friction observer and the friction controller are demonstrated by simulation.展开更多
This paper proposes an empirical formula to estimate the shear strength of hydraulic expansion rockbolts.The field experimental results were obtained from eleven pullout tests to evaluate the results computed by the p...This paper proposes an empirical formula to estimate the shear strength of hydraulic expansion rockbolts.The field experimental results were obtained from eleven pullout tests to evaluate the results computed by the proposed formula.It was found that shear resistance of hydraulic expansion rockbolts significantly depends on the uniaxial compressive strength and elastic modulus of rock,with high correlation coefficients of 0.7651 and0.8587,respectively.The developed formula enables estimation of the maximum pullout load in an analytical process without pullout tests in the field.Conversely,due to the poor interlocking at the initial pullout load,the measured displacements were higher than the estimated ones.To reduce the interlocking effects between bolt and rock,we recommend preloading of 29.4 kN.Preload allows reducing the distance between the measured and estimated displacement and making two load-displacement curves practically identical with marginal differences of 1.1 to 1.5 mm at the maximum pullout load.展开更多
基金supported by Ministry of Knowledge and Economy,Koreathe ITRC(Information Technology Research Center)support program(ⅡTA-2009-C1090-0902-0004)
文摘A nonlinear dynamic friction control is dealt with using dynamic friction observer and intelligent cantrol. The adaptive dynamic friction obsrver based on the LuGre friction is proposed to estimate the friction parameters and a directly friction state variable The dynamic structured Fuzzy Neural Network （RFNN） is designed to give additional robustness to the cantrol system under the presence of the friction model uncertainty. A proposed composite cantrol scheme is applied to the position tracking control of the servo systen. The performances of the proposed friction observer and the friction controller are demonstrated by simulation.
基金supported by 2016 Hongik University Research Fund and the Convergence R&D program of MSIP/NST[Convergence Research-14-2-ETRI,Development of Internet of Things(IoT)-based Urban Underground Utility Monitoring and Management System]
文摘This paper proposes an empirical formula to estimate the shear strength of hydraulic expansion rockbolts.The field experimental results were obtained from eleven pullout tests to evaluate the results computed by the proposed formula.It was found that shear resistance of hydraulic expansion rockbolts significantly depends on the uniaxial compressive strength and elastic modulus of rock,with high correlation coefficients of 0.7651 and0.8587,respectively.The developed formula enables estimation of the maximum pullout load in an analytical process without pullout tests in the field.Conversely,due to the poor interlocking at the initial pullout load,the measured displacements were higher than the estimated ones.To reduce the interlocking effects between bolt and rock,we recommend preloading of 29.4 kN.Preload allows reducing the distance between the measured and estimated displacement and making two load-displacement curves practically identical with marginal differences of 1.1 to 1.5 mm at the maximum pullout load.
