• 대한기계학회논문집
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• 제13권6호
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• pp.1147-1155
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• 1989

본 연구에서는 정상모우드 운전조건에서 $O_{2}$ 센서의 단점을 극복할 수 있고 모델링 오차나 외란에 대하여 강인한 슬라이딩 모우드 제어방법을 적용하여 새로운 열료분사 제어기를 설계하고자 한다.

• 한국지능시스템학회논문지
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• 제6권2호
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• pp.3-12
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• 1996

탁월한 비선형 제어 특성을 가지고 있는 슬라이딩 모우드 제어기는 제어 대상 플랜트의 모델링 과정에서 발생하는 부정확성과 각종 외란등으로 인하여 제어 입력 신호가 매우 높은 주파수의 비연속적인 특성을 가진다. 이를 방지하기 위하여 슬라이딩 평면에 얇은 경계층을 도입하는 방법을 많이 사용하고 있지만 이 경우에는 원하지 않는 정상 상태 오류가 유발될 수도 있다. 이때의 정상 상태 오차는 경계층의 폭에 비례해서 증가하는 특성이 있다. 본 논문에서는 정상 상태 오차와 제어 입력 신호의 불연속성 사이에는 구해지는 경계층의 폭을 정상 상태에 접근할수록 퍼지 규칙베이스에 의해 자동으로 감소시키는 자기동조형 경계층을 가지는 슬라이딩 모우드 제어기를 제안하였다. 그리고 제안된 알고리즘의 성능을 역진자 계통의 추적 제어 시뮬레이션을 통하여 입증하였다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1991년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 22-24 Oct. 1991
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• pp.951-956
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• 1991

굴삭기 엔진 펌프시스템을 실험결과에 근거해서 모델링하여 수치적으로 시뮬레이션을 행하였다. 엔진.펌프시스템은 그 구성이 복잡할 뿐만 아니라 시스템자체의 비선형성,작업에 따라 시스템에 가해지는 불확실한 외란, 파라미터의 변동으로 인하여 정확한 모델링을 행하기는 다소 어려움이 있었다. 비례제어만을 사용시는 정상상태오차의 발생,초기의 회전수저하등으로 인하여 적합하지 않았다. 이를 개선하기 위하여 PID제어를 사용하였을 경우 정상상태오차는 제거할 수 있으나 정착시간이 길어지는 것을 볼 수 있었다. 슬라이딩모우드에 의한 제어법을 적용하였을 경우 정상상태오차,정착시간,최대회전수저하량을 모두 만족하였으나 과도상태에서 오실레이션이 발생하는 현상을 볼 수 있었다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1986년도 한국자동제어학술회의논문집; 한국과학기술대학, 충남; 17-18 Oct. 1986
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• pp.580-585
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• 1986

This paper deals with "chattering" problem in variable structure control system. For digital computer control, chattering reduction algorithm in Analog-VSC is extended to Discrete-VSC. The proposed algorithm is applied to position control of D.C Servo Motor by using 6502 .mu.-processor. The improved transient response, as well as a considerable reduction of chattering, is illustrated experimentally.imentally.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1992년도 하계학술대회 논문집 B
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• pp.1221-1224
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• 1992

To obtain a robustness which is one of important characteristics needed in servo drive, the sliding mode control method is used as a control strategy. However, the undesired phenomenon of chattering is a serious problem. In this paper, an adaptive chattering alleviation algorithm for variable structure system control is proposed to solve this serious problem. Digital controller using the theory of chattering alleviation control is applied to the position control problem of an induction motor system. Comparisons of this algorithm with other variable structure system control algorithms indicate that the chattering can be alleviated. This controller is implemented using IBM-PC(8088 CPU) which controls current controlled PWM inverter consisted of IGBT as a switching device to drive motor.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1988년도 추계학술대회 논문집 학회본부
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• pp.53-55
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• 1988

The application of Sliding Mode Control for inproving the dynamic response of a Multi-Phase-Bipolar (MPB) Brushless DC motor based position Brushless DC motor system is presented. Sliding Mode Control gives fast dynamic response with no overshoot and zero steady state error. It has the important feature of bins highly robust. A design procedure is outlined for the Sliding Mode Controller for a MPB Brushless DC motor. Digital computer simulation of the overall position control system is carried out using a time domain model in the d-q reference frame.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2000년도 춘계학술대회논문집A
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• pp.511-516
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• 2000

In order to not only perform as a extreme model under the severe operating condition but also acquire more diverse and advanced control capability utilizing high compliance, active vibration control of a flexible 2-link robot manipulator are investigated. Multi variable-structured frequency shaped optimal sliding mode is proposed for the flexible robot manipulator like control system, whose control variables, an angular motion of joint and vibration of flexible link, have to be controlled simultaneously by one control torque at a driving joint. The control system is divided into two subsystems, a control input related subsystem and an added subsystem. The proposed sliding mode, composed of multi control variables, makes optimized relation between subsystems and a individual control input, thus, the sliding mode controller can compensate whole dynamics of each subsystems simultaneously. And the possibility and effectiveness are verified by vibration control of a manipulator having two flexible links. Simulation and experiment results show that the proposed control scheme achieves the purpose effectively.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1993년도 정기총회 및 추계학술대회 논문집 학회본부
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• pp.50-52
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• 1993

In this paper the speed control of Interior Permanent Magnet Synchronous Motor (IPMSM) is presented using sliding mode control. Recently in the control of the motor, various modern control theories are used. Sliding mode control is one of these, which has been spotlighted in the area of the motor drive. By using sliding mode control as the speed controller of IPMSM, the superior performances, which are the fast dynamic responce without overshoot the robustness to the external load disturbance and the alleviation of the chattering, are attained.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1992년도 춘계학술대회 논문집
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• pp.157-161
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• 1992

Up to now, there has been a lot of researches on the sliding mode control which has the insensitive characteristics to the variations of plant parameters, nonlinearities and external disturbances. One dificulty in applying the sliding mode control is the need for the knowledge of the full-state vector. The use of state observer is a natural step towards the relaxation of this condition. However, the exact plant-modeling is assumed to be known. Recently, there has been a remarkable advance in the microprocessor and one can construct the controller which could not realize due to hardware restriction in the past. Therefore in this paper, the PID sliding mode controller which has only one output feedback signal is suggested by means of microprocessor and the performance of electro-hydraulic servosystem compersated with this controller is proved.

• 한국정밀공학회지
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• 제9권4호
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• pp.126-135
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• 1992

Up to now, there has been a lot of researches on the sliding mode control which has the insensitive characteristics to the variations of plant parameters, nonlinearities and external disturbances. One difficulty in applying the sliding mode control is the need for the knowledge of the full-state vector. The use of state observer is a natural step towards the relaxation of this condition. However, the exact plant-modeling is assumed to be known. Recently, there has been a remarkable advance in the microprocessor and one can construct the controller which could not realize due to hardware restriction in the past. Therefore in this paper, the PID sliding mode controller which has only one output feedback signal is suggested by means of microprocessor and the performance of electro-hydraulic servosystem compensated with this controller is proved.