통합 검색 | Korea Science

장승엽;황성호
- 한국철도학회:학술대회논문집
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- 한국철도학회 2007년도 추계학술대회 논문집
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- pp.1324-1329
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- 2007
For the commercialization of the urban maglev, an articulated turnout which consists of several segments of turnout girders and where switching is done by rotating those segments is under development. In this paper, to determine the alignment of this articulated turnout, the requirements for the alignement are analyzed. Requirements include: those for the levitation control and for the ride comfort. For the levitation control, rail joint width should be limited to a certain value, and for the ride comfort, the lateral acceleration and the time derivative of the lateral acceleration satisfy a guideline. According to these requirements, the alignment criteria are discussed.
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Go, Seok-Jo;Lee, Min-Cheol
- Journal of Mechanical Science and Technology
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- 제15권3호
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- pp.339-350
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- 2001
To overcome problems in tracking error related to the unmodeled dynamics in the high speed operation of industrial robots, many researchers have used sliding mode control, which is robust against parameter variations and payload changes. However, these algorithms cannot reduce the inherent chattering which is caused by excessive switching inputs around the sliding surface. This study proposes a fuzzy-sliding mode control algorithm to reduce the chattering of the sliding mode control by fuzzy rules within a pre-determined dead zone. Trajectory tracking simulations and experiments show that chattering can be reduced prominently by the fuzzy-sliding mode control algorithm compared to a sliding mode control with two dead zones, and the proposed control algorithm is robust to changes in payload. The proposed control algorithm is implemented to the SCARA (selected compliance articulated robot assembly) robot using a DSP (digital signal processor) for high speed calculations.
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