• 전력전자학회논문지
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• 제3권3호
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• pp.240-245
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• 1998

본 논문에서는 전동기의 슬라이딩 모드 제어기가 설계되었다. 슬라이딩 모드 제어기의 단점인 채터링 현상을 제거하기 위해 연속치 제어입력이 제안되었으며 제안된 기법으로 고속 마이크로 프로세서인 DSP를 이용한 유도전동기의 속도제어를 보였다. 슬라이딩 모드하에서의 유도 전동기의 각속도가 지정된 궤적을 추종하도록 동작한다. 실험 결과를 통해 제안된 방법의 유용성을 보였다.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2006년도 제37회 하계학술대회 논문집 D
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• pp.1850-1851
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• 2006

The sliding mode control is acceptable for Autonomous Underwater Vehicle(AUV), since the dynamics of AUV are highly nonlinear and have several parameter uncertainty such as the added mass terms, the hydrodynamic coefficients. The sliding mode control can deal well with nonlinearity of the system and offers a robustness to controller with parameter uncertainty. Since sliding mode control has the defect of chattering problem, only in ideal case the actuator can respond by control law. Therefore we propose the sliding mode control with non-chattering. And computer simulations illustrate the performance of the proposed controller.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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• pp.387-390
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• 1996

In this paper, A new PI-type reaching law for variable structure control is proposed to alleviate the chattering and improve the robustness properties in the presence of matched uncertainty. The proposed reaching law consists of a proportional term and an integral term. And the dynamics of switching function can easily be specified by using the second-order system analysis method. And also the proposed scheme has the advantages of alleviating the chattering than Gao's one and reducing the influence of uncertainties by band pass filter characteristic. The efficiency of the proposed method has been demonstrated by simulations for Dutch Roll damping in a light aircraft.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.1621-1623
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• 2005

The input chattering in the sliding mode control (SMC) is alleviated through a low pass filter. When the low pass filter is added to the original system, the overall system including the low pass filter dynamics can not satisfy the matching condition. So the integral SMC is applied for a main controller. A sliding surfaces are designed carefully to make the overall dynamics same with the nominal control system.

• Journal of Electrical Engineering and information Science
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• 제3권1호
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• pp.58-66
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• 1998

A continuous, accurate, and robust variable structure tracking controller(CVSTC) is designed for brushless direct drive servo motors(BLDDSM). Although conventional variable structure controls can give the desired tracking performances, there exists an inevitable chattering problems in control input which is undesirable for direct drive systems. With the presented algorithm, not only the chattering problems are removed by using the efficient compensation of the disturbance observer, but also the prescribed tracking trajectory can be obtained using the sliding dynamics when an initial of the desired trajcetory is different from that of a BLDDSM. The design of the sliding mode tracking controller for the prescribed, accurate, and robust tracking performance without the chattering problem is given based on the results of the detailed stability analysis. The usefulness of the suggested algorithm is demonstrated through the computer simulation for a BLDDSM under load variations.

• KIEE International Transaction on Electrical Machinery and Energy Conversion Systems
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• 제3B권1호
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• pp.52-58
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• 2003

The application of a sliding mode control for improving the dynamic response of an induction motor based speed control system is presented in this paper and provides attractive features, such as fast response, good transient performance, and insensitivity to variations in plant parameters and external disturbance. However, chattering is a difficult problem for which the sliding mode control is a popular solution. This paper presents a new fuzzy-sliding mode controller for a sensorless vector-controlled induction motor servo system to practically eliminate the chattering problem for traction applications. A DSP based implementation of the speed control system is employed. Experimental results are presented using a propulsion system simulator. The performance of the drive is shown to be practically free from chattering.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2001년도 ICCAS
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• pp.151.4-151
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• 2001

Chattering-free sliding mode control is derived from the reaching law method and Lyapunov stability theorem. Its control input Is composed of continuous term and discontinuous term. By the combination of these terms, the robustness and tracking performance can be improved and the chattering can be avoided. But in the reaching mode, the sliding mode control is sensitive to the modeling uncertainties, parameter variations and disturbances, also it needs a large control input. These result in poor transient responses. In this paper, to overcome these problems in the reaching mode, a time-varying sliding surface is proposed. And it is applied to a 2-link SCARA robot manipulator, experimental results show that the transient response is improved and its ...

• 한국공작기계학회:학술대회논문집
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• 한국공작기계학회 2003년도 춘계학술대회 논문집
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• pp.516-522
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• 2003

Monitoring chattering is also important for realizing an unmanned machining system While many researches were done on this area, it is still a difficult job to detect very small amplitude amount of chattering. A monitoring system using a capacitive spindle displacement sensor was developed to monitor cutting vibration in turning in this research. The variance of the measured spindle displacement signals using the developed sensor was calculated and utilized to quantity the small vibration in machining. The results were compared with variance obtained using a tool dynamometer. The result showed that the developed system could be utilized in monitoring the subtle changes of cutting vibrations with high sensitivity confidence.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2000년도 춘계학술대회논문집
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• pp.1848-1853
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• 2000

Cause and the elimination method for the chattering phenomena were investigated the check valve attached exit of the auxiliary cooling water pump at a korean nuclear powerplant. From the site experiment and numerical calculation the incident angle of the disk was so small that it was not able to produce the lifting force to overcome the component of disk weight. Moreover, it turned out that the installed position was not symmetric for the secondary vortical flow generated inside the elbow, so that the flow structure had strongly unstable flow characteristics. From this technical support, the tapping noise and the chattering phenomena were eliminated exactly by changing the incidence angle of the valve disk and installed position of the check valve.

• 전자공학회논문지SC
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• 제40권6호
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• pp.1-7
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• 2003

본 논문은 비선형 시스템에서 시스템의 출력이 주기적인 특징을 가지는 궤적을 따라가도록 하는 슬라이딩 모드 반복 제어기를 소개한다. 본 논문에서 제안하는 제어기는 전체 시스템을 안정화시키며 출력오차를 어떤 범위 안으로 지수적으로 수렴시키는 슬라이딩 모드 제어기와 추적 오차의 수렴을 위해서 사용되는 반복 제어기로 구성되어 있다. 본 논문에서는 제안하는 슬라이딩 모드 제어기는 기존의 방법과는 다르게 제어입력의 크기가 추적오차의 크기에 비례하게 되어 있어서 시스템의 차수를 올리지 않고 정상상태에서의 채터링(chattering) 문제를 크게 개선하는 특징을 가지고 있다.