• 제목/요약/키워드: Adaptive Sliding Mode

검색결과 256건 처리시간 0.035초

A Design Method of Sliding Model Control System Using Parallel Ladder Network of Dynamic Compensators

  • Ohtsuka, Hirofumi;Iwai, Zenta;Mizumoto, Ikuro
    • 제어로봇시스템학회:학술대회논문집
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    • 제어로봇시스템학회 2003년도 ICCAS
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    • pp.1424-1429
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    • 2003
  • In this paper, the design method of sliding mode control (SMC) system for SISO linear system is discussed. First, we consider the similarity between the design method of sliding mode hyper plane using the strict positive realness and the characteristics of zeros of feedback system and the design method of simple adaptive control. Based on such a consideration, we propose the new design method of SMC system using parallel dynamic compensator. As a result, SMC system can be constructed only with the derivative of output signal for controlled plant. The performance of SMC system designed by proposed method is confirmed through the numerical example.

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Super-Twisting Sliding Mode Control Design for Cascaded Control System of PMSG Wind Turbine

  • Phan, Dinh Hieu;Huang, ShouDao
    • Journal of Power Electronics
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    • 제15권5호
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    • pp.1358-1366
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    • 2015
  • This study focuses on an advanced second-order sliding mode control strategy for a variable speed wind turbine based on a permanent magnet synchronous generator to maximize wind power extraction while simultaneously reducing the mechanical stress effect. The control design based on a modified version of the super-twisting algorithm with variable gains can be applied to the cascaded system scheme comprising the current control loop and speed control loop. The proposed control inheriting the well-known robustness of the sliding technique successfully deals with the problems of essential nonlinearity of wind turbine systems, the effects of disturbance regarding variation on the parameters, and the random nature of wind speed. In addition, the advantages of the adaptive gains and the smoothness of the control action strongly reduce the chatter signals of wind turbine systems. Finally, with comparison with the traditional super-twisting algorithm, the performance of the system is verified through simulation results under wind speed turbulence and parameter variations.

경계 추정치를 가진 로봇 슬라이딩 모드 제어 (Sliding Mode Control with Bound Estimation for Robot Manipulators)

  • 유동상
    • 조명전기설비학회논문지
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    • 제20권8호
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    • pp.42-47
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    • 2006
  • 본 논문에서는 로봇의 동력학에 대한 정확한 지식을 요구하지 않는 로봇 머니퓰레이터를 위한 경계 추정기법을 가진 슬라이딩 모드 제어기를 제안한다. 경계 추정을 위해 로봇 동력학의 불확실한 비선형 요소들의 경계치를 제 1종의 Fredholm 적분식을 이용하여 표현하고, 슬라이딩 평면 함수값만을 이용한 적응 기법을 제안한다. 또한 로봇 동력학의 중요한 두가지 특성인 왜대칭성과 양정치성을 이용하여 로봇 시스템의 점근적 안정성을 증명한다.

기준 슬립 발생기 및 적응 슬라이딩 모드 기법을 이용한 철도차량 제동력 제어 (Adhesive Force Control of Railway Rolling Stock Using Reference Slip Generator and Adaptive Sliding-mode Technique)

  • 임태형;김승수;최정주;이병룡;양순용
    • 한국정밀공학회지
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    • 제24권5호
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    • pp.56-61
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    • 2007
  • In the braking of railway rolling stock, the slip that is the relative velocity between train body and its wheel affects the adhesive force which is connected to the braking force. The coefficient of the adhesive force changes in accordance with the slip and the condition of a rail road. Namely, its value increases upon the maximum on a rail condition, and there it declines conversely while the magnitude of slip keeps rising on. First, this paper introduced a reference slip generator so that can utilize maximum adhesive forces with a disturbance observer for estimating unmeasurable current adhesive forces which is as an input of the generator. And, an adaptive sliding-mode control system has been synthesized for minimizing the error between reference and current slip. Finally the effectiveness of the proposed control system is evaluated by computer simulation.

종방향 자율주행의 미지 고장 재건을 위한 순환 최소 자승 기반 적응형 슬라이딩 모드 관측기 개발 (Development of a RLS based Adaptive Sliding Mode Observer for Unknown Fault Reconstruction of Longitudinal Autonomous Driving)

  • 오세찬;송태준;이종민;오광석;이경수
    • 자동차안전학회지
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    • 제13권1호
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    • pp.14-25
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    • 2021
  • This paper presents a RLS based adaptive sliding mode observer (A-SMO) for unknown fault reconstruction in longitudinal autonomous driving. Securing the functional safety of autonomous vehicles from unexpected faults of sensors is essential for avoidance of fatal accidents. Because the magnitude and type of the faults cannot be known exactly, the RLS based A-SMO for unknown acceleration fault reconstruction has been designed with relationship function in this study. It is assumed that longitudinal acceleration of preceding vehicle can be obtained by using the V2V (Vehicle to Vehicle) communication. The kinematic model that represents relative relation between subject and preceding vehicles has been used for fault reconstruction. In order to reconstruct fault signal in acceleration, the magnitude of the injection term has been adjusted by adaptation rule designed based on MIT rule. The proposed A-SMO in this study was developed in Matlab/Simulink environment. Performance evaluation has been conducted using the commercial software (CarMaker) with car-following scenario and evaluation results show that maximum reconstruction error ratios exist within range of ±10%.

로봇 매니퓰레이터에서 바운드 예측을 갖는 슬라이딩 모드 제어기 설계 (A Sliding Mode Controller with Bound Estimation for Robot Manipulator)

  • 이창민;윤원식;박성준;김철우
    • 대한전기학회:학술대회논문집
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    • 대한전기학회 2000년도 하계학술대회 논문집 D
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    • pp.2898-2900
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    • 2000
  • A sliding mode control algorithm combined with an adaptive scheme, which is used to estimate the unknown parameter bounds. is developed for the trajectory control of robot manipulators. Simulated results show the validity to accurate tracking capability and robust performance.

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소형 선박용 전기추진시스템을 위한 PMSM의 센서리스 제어 (Sensorless Control of a Permanent Magnet Synchronous Motor for Electric Propulsion System of Small Ships)

  • 정태영;와유쿤토위보오;정석권
    • 수산해양교육연구
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    • 제29권3호
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    • pp.778-784
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    • 2017
  • This paper proposes a sensorless speed control of a permanent magnet synchronous motor (PMSM) based on an adaptive sliding mode observer (SMO) for electric propulsion system of small ships. An adaptive observer gain is proposed based on the Lyapunov's stability criterion to reduce the chattering problem at any speed operation instead of the constant gain observer. Furthermore, a cascade low-pass filter with variable cut-off frequency is suggested to strengthen the filtering capability of the observer. The experimental results from a 1.5 kW PMSM drive are provided to verify the effectiveness of the proposed adaptive SMO. The result shows that the proposed method gives good speed control performances even when the PMSM operates at 0.5% from its rated speed value.

A Nonlinear Sliding Mode Controller for IPMSM Drives with an Adaptive Gain Tuning Rule

  • Jung, Jin-Woo;Dang, Dong Quang;Vu, Nga Thi-Thuy;Justo, Jackson John;Do, Ton Duc;Choi, Han Ho;Kim, Tae Heoung
    • Journal of Power Electronics
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    • 제15권3호
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    • pp.753-762
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    • 2015
  • This paper presents a nonlinear sliding mode control (SMC) scheme with a variable damping ratio for interior permanent magnet synchronous motors (IPMSMs). First, a nonlinear sliding surface whose parameters change continuously with time is designed. Actually, the proposed SMC has the ability to reduce the settling time without an overshoot by giving a low damping ratio at the initial time and a high damping ratio as the output reaches the desired setpoint. At the same time, it enables a fast convergence in finite time and eliminates the singularity problem with the upper bound of an uncertain term, which cannot be measured in practice, by using a simple adaptation law. To improve the efficiency of a system in the constant torque region, the control system incorporates the maximum torque per ampere (MTPA) algorithm. The stability of the nonlinear sliding surface is guaranteed by Lyapunov stability theory. Moreover, a simple sliding mode observer is used to estimate the load torque and system uncertainties. The effectiveness of the proposed nonlinear SMC scheme is verified using comparative experimental results of the linear SMC scheme when the speed reference and load torque change under system uncertainties. From these experimental results, the proposed nonlinear SMC method reveals a faster transient response, smaller steady-state speed error, and less sensitivity to system uncertainties than the linear SMC method.

Robust Sensorless Sliding Mode Flux Observer for DTC-SVM-based Drive with Inverter Nonlinearity Compensation

  • Aimad, Ahriche;Madjid, Kidouche;Mekhilef, Saad
    • Journal of Power Electronics
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    • 제14권1호
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    • pp.125-134
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    • 2014
  • This paper presents a robust and speed-sensorless stator flux estimation for induction motor direct torque control. The proposed observer is based on sliding mode approach. Stator electrical equations are used in the rotor orientation reference frame to eliminate the observer dependence on rotor speed. Lyapunov's concept for systems stability is adopted to confine the observer gain. Furthermore, the sensitivity of the observer to parameter mismatch is recovered with an adaptation technique. The nonlinearities of the pulse width modulation voltage source inverter are estimated and compensated to enhance stability at low speeds. Therefore, a new method based on the model reference adaptive system is proposed. Simulation and experimental results are shown to verify the feasibility and effectiveness of the proposed algorithms.

RVEGA SMC를 이용한 이중 탱크의 수위 제어 (Control of Coupled Tank Level using RVEGA SMC)

  • 김태우;이준탁
    • Journal of Advanced Marine Engineering and Technology
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    • 제24권1호
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    • pp.104-111
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    • 2000
  • It is very difficult to maintain the desired tank level without any overflow or any shortage in a dangerous shemical plant and in a cooling one. Futhermore, because its dynamics are very complicate and nonlinear, it is impossible to realize the precise control using the accurate mathematical model which can be applied to the various peration modes. Nonetheless, the sliding mode controller(SMC) is known as having the robust variable structures for the nonlinear control system with the parametric perturbations and with the rapid disturbances. But the adaptive tuning algorithms for their parameters are not satisfactory. Therefore, in this paper, a Real Variable Elitist Genetic Algorithm based Sliding Mode Controller (RVEGA SMC) for the precise control of the coupled tank level was tried. The SMC's switching parameters were optimized easily and rapidly by RVEGA. The simulation results showed that the tank level could be satisfactorily controlled without and overshoot and any steady-state error by the proposed RVEGA SMC.

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