• Journal of Ocean Engineering and Technology
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• v.11 no.4
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• pp.169-179
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• 1997

This paper presents a discrete-time sliding mode control of an autonomous underwater vehicle with parameter uncertainties and long sample interval based on discrete variable structure system. Although conventional sliding mode montrol techniques are robust to system uncertainties, in the case of the system with long sample interval, the sliding control system reveals chattering phenomenon and even makes the system unstable. This paper considers the AUV which acquires position informations from a surface ship through an acoustic telemetry system with a certain discrete interval. The control system is designed on the basis of a Lyapunov function and a sufficient condition of the switching gain to make the system stable is give. Each component of the switching gain can be determined separately one another. The controller is robust to the uncertainties, and reaching condition of the control system is satisfied for any initial condition. This control law is a generalized form of the discrete sliding mode control and reduce the chattering problem considerably. Motion control of the AUV in the vertical plane shows the effectiveness of the proposed technique.

• Journal of IKEEE
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• v.9 no.1 s.16
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• pp.47-56
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• 2005

A new improved robust variable structure tracking controller is presented to provide an accurately prescribed tracking performance for brushless direct drive(BLDD) servo motors(SM) under uncertainties and load variations. A special integral sliding surface suggested for removing the reaching phase problems can define its ideal sliding mode and virtual ideal sliding trajectory from an initial position of SM. The tracking error caused by the nonzero value of the sliding surface is derived. A corresponding continuous control input with the disturbance observer is suggested to track a predetermined virtual ideal sliding trajectory within a prescribed value under all the uncertainties and load variations. The usefulness of the proposed algorithm is demonstrated through the comparative simulations for a BLDD SM under load variations.

• Proceedings of the Korean Vacuum Society Conference
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• 2014.02a
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• pp.349-349
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• 2014

ITO는 결정질 실리콘 태양전지의 anti-reflection coating (ARC) 층으로써 적합한 물질이다. ARC layer로써 구조적, 전기적 그리고 광학적 최적 조건의 특성을 얻기 위해는 높은 figure of merit(FOM)를 가져야 하고 결정방향 제어를 해야 한다. 본 연구에서는 결정질 실리콘 태양전지에 가장 적합한 ITO ARC layer의 특성 찾기 위해 Radio frequency magnetron sputter를 이용하여 공정 조건가변 실험을 진행 하였으며 높은 FOM을 갖는 ITO 반사방지막을 shallow emitter형 결정질 실리콘 태양전지에 적용하였으며 ITO 박막은 shallow emitter층과 완벽한 ohmic 접합을 이루었다. ITO ARC layer를 적용한 Shallow emitter형 태양전지는 81.59%의 fill factor와 $35.52mA/cm^2$의 단락전류를 보이며 17.27%의 광변환 효율을 보였다.

• The Transactions of the Korean Institute of Electrical Engineers
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• v.43 no.7
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• pp.1158-1168
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• 1994

A variable structure control scheme(VSCS) with sliding mode that can be applied to the process with input/output(I/O) delay is proposed and its control performances is evaluated. The proposed VSCS with and output feedback scheme comprises a variable structure controller, a servo dynamic for tracking the set-poing, and a Smith predictor for compensating the effects of time delay. The robustness against the parameter variations and external disturbances can be achieved by the proposed VSCS even when the controlled process includes I/O delay. And the desired transient response is obtained by simple adjustment of the coefficients of the switching surface equation.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.1504-1508
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• 1996

In this paper, we derive dynamic equation of helicopter and design controller based on variable structure system. It is difficult to control helicopter because it has non-linear coupling between input and output of system and is MIMO system. The design of control law is considered here using variable structure methodology giving the robustness to parameter variations and invariance to some subsets of external disturbance. However we derive dynamic equations of helicopter and design stabilizing variable structure controller. Also, simulation results are given in this paper.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.852-855
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• 1996

A variable structure controller is developed for an AC servo motor used in CNC milling machines. The designed controller is implemented as an outer loop controller to a factory designed motor-servopack system. The robustness parameter is tuned for a fast response when the speed tracking error is large, while it is tuned for small oscillations when the speed tracking error is small. The designed controller is installed on a CNC machine using a PC. Cutting experiments show improved performance over the factory-designed controller.

• Proceedings of the IEEK Conference
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• 1999.06a
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• pp.813-816
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• 1999

In this paper is Proposed a VSC(variable structure controller) for a high-speed and high-precision position control of a XY Table, which is based on the PI type reaching mode. Also the comparative study between the proposed method and the conventional PID controller is presented as well. Designed and tuned under repeated experiments, the proposed method showed a better reasonable performance than PID controller in the aspect of tracking error.

• Proceedings of the KIEE Conference
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• 1997.07b
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• pp.449-451
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• 1997

In this paper, A continuous control reaching law for variable structure control is proposed to reduce the chattering and improve the robustness properties in the presence of matched uncertainly.

• ICROS
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• v.20 no.1
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• pp.33-37
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• 2014

멕스웰 방정식이 발견된 이래로 수많은 전자기 소자가 개발되었다. 이들은 회로와 같은 2차원 구조에서의 전자기 신호 흐름을 통제하는 역할을 수행하여 왔으나, 헤르츠와 테슬라와 같은 과학자들에 의해 선보인 무선전송기술로 인해 공간상의, 즉 3차원상에서의 전자기 신호 통제를 할 수 있는 장치의 개발 또한 부각되고 있다. 이 일환으로 주파수 선택 표면이 활발히 연구되어졌다. 본 고에서는 최근 이슈화 되고 있는 주파수 선택 표면의 소형화 기술과 동작 주파수 가변 기술에 대해서 알아보고자 한다.

• Proceedings of the KIPE Conference
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• 2014.07a
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• pp.263-264
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• 2014

양방향 QZSI(Quasi Z-Source Inverter)를 이용한 유도전동기 제어 시스템은 암단락 상태를 제어에 이용할 수 있어서 추가 컨버터 없이도 단일 구조로 가변 배터리 전압을 일정하게 승압할 수 있다. 암단락을 이용한 승압은 직류단 전압제어가 보장되어야 하며 전압 제어기 성능이 인버터 출력 전류 제어에 상당한 영향을 미친다. 전압제어는 임피던스 네트워크의 커패시터 전압을 일정하게 제어하거나 직류단 전압을 직접적으로 또는 간접적으로 일정하도록 제어하여 구현할 수 있다. 본 논문에서 양방향 전력 전달이 가능한 QZSI를 통해 유도 전동기를 제어하며 시뮬레이션을 통해 이를 검증한다.