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

• Journal of Mechanical Science and Technology
• /
• 제15권5호
• /
• pp.569-579
• /
• 2001

This study investigates the effects of operating conditions on the chattering of an automotive disk brake by experimental and computational methods. Design factors, which cause chattering in automobiles, have attracted great attentions for long time; but they are not well understood yet. For this study, we construct a brake dynamometer for measuring the disk surface temperature during chattering, and propose an efficient hybrid algorithm (combining FFT-FEA and traditional FEA program) for analyzing the thermo-elastic behavior of three-dimensional brake system. We successfully measure the judder in a brake system via the dynamometer and efficiently simulate the contact pressure variation by the hybrid algorithm. The three-dimensional simulation of thermo-mechanical interactions on the automotive brake, showing the transient thermo-elastic instability phenomenon, is presented for the first time in this academic community. We also find from the experimental study that the disk bulk temperature strongly influences the brake chattering in the automotive disk brakes.

• 한국정밀공학회:학술대회논문집
• /
• 한국정밀공학회 1995년도 춘계학술대회 논문집
• /
• pp.241-245
• /
• 1995

This paper shows that the proposed fuzzy-sliding mode for SCARA robot control could reduce chattering problemed in sliding mode control and is robust against parameter uncertainties. It was very small quantities of chattering in the fuzzy-sliding mode control conpared with that in sliding mode control with two dead-band. In here, the sliding mode control with two dead-band is the method to reduce some chattering by changing into a continuous variable lower control input gain when a state value in pahase palne converged sithin two dead-band. But, the fuzzy-sliding mode control for more reducing chattering is the method to change control input by slicing mode into that by fuzzy rule within two dead-band. Simulations show that the effect of reducing chattering by the fuzzy-sliding mode is superior to sliding mode control with two dead-band.

• 대한전기학회:학술대회논문집
• /
• 대한전기학회 2007년도 심포지엄 논문집 정보 및 제어부문
• /
• pp.377-379
• /
• 2007

To reduce the chattering errors of reed switch sensors used for automatic remote measurement of water supply system, a reed switch sensor was analyzed and improved. The operation of reed switch sensors can be described as a mechanical contact by approximation of permanent magnet piece to generate an electrical pulse. The reed switch sensors are used in measurement application by detecting the rotational or translational displacement. To apply for flow measurement devices, the reed switch sensors should keep high reliability. They are applied for the electronic digital type of water flow meters. The reed switch sensor is just installed simply on the mechanical type flow meter. A small magnet is attached on a pointer of the water meter counter rotor. Inside the reed sensor, two steel leaf springs make mechanical contact and apart as rotation of flow meter counter. The counting electrical contact pulses can be converted as the water flow amount. The MCU sends the digital flow rate data to the server using the wireless communication network. But it occurs data difference or errors by chattering noise. The reed switch sensor contains chattering error by it self at the force equivalent position. The vibrations such as passing car near to the switch sensor installed location. In order to reduce chattering error, most system uses just software methods for example using filter and also statistical calibration methods. The chattering errors were reduced by changing leaf spring structure using mechanical hysteresis characteristics.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 2003년도 ICCAS
• /
• pp.312-315
• /
• 2003

This paper deals with robust control problems of linear systems with matched nonlinear uncertainties. In order to handle the uncertainties, a Lyapunov min-max control approach can usually be adopted. By the way, the min-max control input is required to be switched and provokes chattering phenomena which limit the practical implementation. The magnitude of switching control input which cause chattering is dependent on the size of uncertainties. In this paper, it is shown that the magnitude of the min-max control input can be made small using a well-known disturbance observer technique and only considers the disturbance observing errors. The chattering phenomena can be reduced as small as possible by selecting a high diturbance observer gain. The simulations show that the min-max control with a disturbance observer can reduce chattering phenomena much smaller and guarantee much better robust performance rather than the one without a disturbance observer.

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

• 대한전자공학회:학술대회논문집
• /
• 대한전자공학회 1999년도 하계종합학술대회 논문집
• /
• pp.805-808
• /
• 1999

In this paper, a chattering alleviation ISM speed controller for the sinusoidal type BIDC motor is designed. Dead Zone function is proposed to change the chattering occurring in the transient state form high frequency to low frequency and time-varying gains are applied for the control input to eliminate the steady state excessive chattering in the conventional ISM. The proposed Dead Zone function represents the sliding layer composed of two switching surfaces and if a state vector exists in this layer, the chattering don’t occur. Simulation and experimental results confirm the useful effects of the above algorithm.

• Journal of Mechanical Science and Technology
• /
• 제15권3호
• /
• pp.339-350
• /
• 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.

• 한국정밀공학회지
• /
• 제22권2호
• /
• pp.98-104
• /
• 2005

A glass transfer robot is used for handling LCDs in the production line of flat panel displays under clean environments. During glass transfer operations of the robot, chattering phenomenon occurs at the robot hand. This deteriorates the accuracy and repeatability of the end-effector of the robot. In this paper, we present the kinematic solution of the robot and then analyze the cause of this chattering phenomenon in view of the mechanism and servo control and propose a practical solution that can reduce the chattering significantly at the robot hand of the glass transfer robot.

• Structural Engineering and Mechanics
• /
• 제69권3호
• /
• pp.307-315
• /
• 2019

This paper proposes a chattering-free sliding mode control (CFSMC) method for seismically excited structures. The method is based on a fuzzy logic (FL) model applied to smooth the control force and eliminate chattering, where the switching part of the control law is replaced by an FL output. The CFSMC is robust and keeps the advantages of the conventional sliding mode control (SMC), whilst removing the chattering and avoiding the time-consuming process of generating fuzzy rule basis. The proposed method is tested on an 8-story shear frame equipped with an active tendon system. Results indicate that the new method not only can effectively enhance the seismic performance of the structural system compared to the SMC, but also ensure system stability and high accuracy with less computational cost. The CFSMC also requires less amount of energy from the active tendon system to produce the desired structural dynamic response.