• 제어로봇시스템학회논문지
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• 제14권10호
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• pp.1014-1021
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• 2008

This paper proposes an intelligent sliding mode control method for robotic systems with the unknown bound of model uncertainties. In our control structure, the unknown bound of model uncertainties is used as the gain of the sliding controller. Then, we employ the function approximation technique to estimate the unknown nonlinear function including the width of boundary layer and the uncertainty bound of robotic systems. The adaptation laws for all parameters of the self-recurrent wavelet neural network and those for the reconstruction error compensator are derived from the Lyapunov stability theorem, which are used for an on-line control of robotic systems with model uncertainties and external disturbances. Accordingly, the proposed method can not only overcome the chattering phenomenon in the control effort but also have the robustness regardless of model uncertainties and external disturbances. Finally, simulation results for the five-link biped robot are included to illustrate the effectiveness of the proposed method.

• 한국정밀공학회지
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• 제22권3호
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• pp.29-37
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• 2005

In this study, the control of the free surface deformation of a magnetic fluid for the change in electromagnetic force is discussed. The free surface of magnetic fluid is formed by the balance of surface force, gravity, pressure difference, magnetic normal pressure and magnetic body force. Magnetic fluid in characteristics of fluid adjusted to the opposite direction of the gravity direction. Thus, the device of a magnetic fluid proposed the complete zero-leakage sealing, oscillator for surface control, boundary layer control, MHD, flow control, flow using magnetic levitation system and surface actuator. This study show the deformation of surface rise due to the intensity of the magnetic field and possibility of two-dimensional control of magnetic fluid through the feedback data of hall sensor.

• 한국유체기계학회 논문집
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• 제14권2호
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• pp.25-28
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• 2011

The control rod assemblies do freely fall into the reactor core by the gravity from the control rod drive mechanism. In order to achieve a rapid shutdown and control the reactor power, it is required to insert control rod assemblies as soon as possible. In this paper, we evaluated the drop time and flow characteristics caused around guide tube for SMART(System-integrated modular advanced reactor) control rod assembly. Numerical analyses are carried out with FLUENT program of computational fluid dynamics. This study results show that the drop time of the control rod assembly in the operating condition of SMART is more 20 percent rapidly than the drop time of the room temperature and ambient atmosphere condition.

• Transactions on Control, Automation and Systems Engineering
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• 제3권1호
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• pp.15-20
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• 2001

In this paper, adaptive algorithms on the sliding model control for robust tracking control of robust manipulators are presented. The presented algorithms use adaption laws for tuning both the sliding mode gain and the thickness of the boundary layer to reject a disconitnuous control input, and to improve the tracking performance. It is shown that the robustness of the developed adaptive algorithms are guaranteed by the sliding mode control law and that the algorithms are globally convergent in the presence of disturbances and modeling uncertainties. Computer simulations are performed for a two-link manipulator, and the results show good properties of the proposed adaptive algorithms under large mainpulator parameter uncertainties and disturbances.

• 대한기계학회논문집A
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• 제26권2호
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• pp.357-364
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• 2002

A new chattering free sliding made control is proposed for robot manipulators. The control input is derived from the reaching law and the Lyapunov stability criteria, which is only composed of continuous terms. It has a chattering free characteristics and a concise farm. In implementing procedures, no change of equations is needed. Thus, it does not degrade the original merits of the sliding mode control. And it is applied to a 2-link SCARA robot manipulator. It is shown that the proposed control has good trajectory tracking performance compared with the PD control and the conventional sliding mode control which uses the boundary layer concept.

• Transactions on Control, Automation and Systems Engineering
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• 제3권4호
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• pp.262-267
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• 2001

Jeha Ryu Department of Mechatronics, Kwangju Institute of Science and Technology This paper presents an application of a robust adaptive control strategy to HexaSlide type six degrees-of-freedom parallel manipulators. The HexaSlide type parallel manipulators are characterized as an architecture with constant link lengths that are attached to moving sliders on the ground and to a mobile platform. The proposed control law is developed based on a simplified second order system dynamic equation in joint space with uncertain mass, damper, spring, and Coulomb friction terms. These uncertain parameters are updated by an adaptation law that is derived by Lyapunov stability theorem. A robust adaptive control law by using the boundary layer is designed for the purpose of compensating for the neglected dynamic effects of the mobile platform and the six moving links that are modeled as a disturbance term. Experimental results show good and fast tracking performance.

• Journal of Electrical Engineering and information Science
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• 제3권2호
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• pp.251-260
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• 1998

A DSP-based robust nonlinear speed control of a permanent magnet synchronous motor(PMSM) which is robust to unknown parameter variations and speed measurement error is presented. The model reference adaptive system(MRAS) based adaptation mechanisms for the estimation of slowly varying parameters are derived using the Lyapunov stability theory. For the disturbances or quickly varying parameters. a quasi-linearized and decoupled model including the influence of parameter variations and speed measurement error on the nonlinear speed control of a PMSM is derived. Based on this model, a boundary layer integral sliding mode controller to improve the robustness and performance of the nonlinear speed control of a PMSM is designed and compared with the conventional controller. To show the validity of the proposed control scheme, simulations and experimental works are carried out and compared with the conventional control scheme.

• 해양환경안전학회지
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• 제24권1호
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• pp.92-100
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• 2018

난류경계층이 유지되기 위한 에너지 공급은 경계층 내 구조물인 와류들의 상호작용으로 끊임없이 이루어진다. 이러한 난류 유동은 수송분야의 마찰저항 및 해양구조물의 침식 및 진동을 유발하기 때문에 유동 제어를 위한 연구가 활발히 진행되고 있다. 이러한 제어의 극대화를 위해서는 난류 에너지 전달이 어떻게 이루어지는지에 대한 메카니즘 규명이 필수적이고, 이를 위해서는 층류경계층 내 유동현상으로 파악하는 것이 명확하고 용이하다는 장점이 있다. 따라서, 본 연구에서는 층류경계층 내 평판에 반구를 설치하여 역압력구배을 발생시킴으로써 교란된 유동현상의 상호작용을 분석하였다. 즉, 반구를 둘러싼 목걸이 와류와 반구 표면의 유동 박리에 의한 후류영역에서 머리핀 와류가 생성되어 상호 유기적으로 영향을 주고받는다. 이 과정에서 목걸이 와류는 후류영역으로 높은 운동량의 유체를 유입시켜 머리핀 와류의 발생 주파수를 증가시킨다. 반구 전방에 구멍을 뚫어 국부적인 흡입제어로 목걸이 와류의 와도를 감소시킴으로써 그 영향이 완화되는 과정을 유동 가시화 및 열선유속계로 측정하여 정성 및 정량적으로 분석하였다.

• 한국군사과학기술학회지
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• 제6권4호
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• pp.124-131
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• 2003

When a secondary gaseous flow is injected vertically into a supersonic flow through circular nozzle, a complicated structure of flow field is produced around the injection area. The interaction between the two streams produces a strong bow shock wane on the upstream side of the side-jet. The results show that bow shock wave and turbulent boundary layer interaction induces the boundary layer separation in front of the side-jet. This study is to analyze the structure of flow fields and distribution of surface pressure on the flat plate according to total pressure ratio using a supersonic cold-flow system and also to study the control force of affected side-jet. The nozzle of main flow was designed to have Mach 2.88 at the exit. The injector has a sonic nozzle with 4mm diameter at the exit of the side-jet. In experiments, The oil flow visualization using a silicone oil and ink was conducted in order to analyze the structure of flow fields around the side-jet. The flow fields are visualized using the schlieren method. In this study, a computational fluid dynamic solution is also compared with experimental results.

• 한국추진공학회지
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• 제7권3호
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• pp.45-52
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• 2003

원추형 초음속 노즐 확산부에 이차유동이 음속으로 분출될 때 나타나는 노즐 내부 유동장에 대한 수치적 연구가 이루어졌다. 대수-난류모델과 $\kappa$-$\varepsilon$ 모델을 사용한 레이놀즈-평균 Navier-Stokes 방정식을 계산함으로서 노즐 내부에서 나타나는 충격파와 경계층의 간섭에 의한 3 차원 유동장을 해석하였다. 얻어진 수치해석의 결과는 동일한 조건에서 수행된 실험결과와 잘 일치하고 있음이 판명되었다. 이차유동의 분출압력 변화가 충격파와 경계층의 간섭과 함께 노즐내부 유동장 구조에 미치는 영향을 평가하였다. 아울러 충격파 간섭 후방에서 나타나는 와류유동 구조와 벽면 압력분포에 관한 정보를 얻었다.