• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1997년도 한국자동제어학술회의논문집; 한국전력공사 서울연수원; 17-18 Oct. 1997
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• pp.245-248
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• 1997

The control modes used in teleoperation are position control mode, and rate control mode. This paper presents the problems of the conventional control modes, through simulation, proposes an intelligent mixed control mode that converts the operation mode between the position mode and the rate mode intelligently by judging the operator's intention using the real-time measurement data. The effectiveness of the proposed intelligent mixed control mode is demonstrated and compared to other typical control modes through simulation and actual experiment.

• Journal of Power Electronics
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• 제7권2호
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• pp.159-173
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• 2007

In this paper, an intelligent sliding-mode position controller (ISMC) for achieving favorable decoupling control and high precision position tracking performance of permanent-magnet synchronous motor (PMSM) servo drives is proposed. The intelligent position controller consists of a sliding-mode position controller (SMC) in the position feed-back loop in addition to an on-line trained fuzzy-neural-network model-following controller (FNNMFC) in the feedforward loop. The intelligent position controller combines the merits of the SMC with robust characteristics and the FNNMFC with on-line learning ability for periodic command tracking of a PMSM servo drive. The theoretical analyses of the sliding-mode position controller are described with a second order switching surface (PID) which is insensitive to parameter uncertainties and external load disturbances. To realize high dynamic performance in disturbance rejection and tracking characteristics, an on-line trained FNNMFC is proposed. The connective weights and membership functions of the FNNMFC are trained on-line according to the model-following error between the outputs of the reference model and the PMSM servo drive system. The FNNMFC generates an adaptive control signal which is added to the SMC output to attain robust model-following characteristics under different operating conditions regardless of parameter uncertainties and load disturbances. A computer simulation is developed to demonstrate the effectiveness of the proposed intelligent sliding mode position controller. The results confirm that the proposed ISMC grants robust performance and precise response to the reference model regardless of load disturbances and PMSM parameter uncertainties.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1987년도 전기.전자공학 학술대회 논문집(I)
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• pp.270-274
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• 1987

In this paper, the design method, design techniques and structure of a language for a SCARA type industrial robot, are presented. The proposed new language is modular and expandable using the C programming language and the 8086 assembly language. It is composed of monitor mode, editor mode, execution mode, I/O mode and teach mode. The developed language is implemented on the robot controller to verify its performance.

• 한국지능시스템학회:학술대회논문집
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• 한국퍼지및지능시스템학회 2000년도 춘계학술대회 학술발표 논문집
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• pp.51-54
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• 2000

In variable structure control algorithm, sliding mode makes the closed loop system insensitive to modelling uncertainties and external disturbances. However due to imperfections in switching, the system trajectory chatters, which is very undesirable. And the insensitivity property of a sliding mode controller is present only when the system is in the sliding mode. To overcome these shortcomings, in this paper, new sliding mode control algorithm using time-varying sliding surface and fuzzy PI structrue is proposed.

• 한국지능시스템학회:학술대회논문집
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• 한국퍼지및지능시스템학회 2006년도 추계학술대회 학술발표 논문집 제16권 제2호
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• pp.323-326
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• 2006

Rotational inverted pendulum is a typical under-actuated system. For its highly nonlinear characteristic, a sliding mode controller is chosen for its robustness against the system uncertainties. Tow fuzzy inference mechanisms are applied in this paper to reduce the chattering phenomenon. One is proposed to construct a time-varying sliding surface. Another one is used to obtain the minimum upper bound of the uncertainties. A comparison between the conventional sliding mode and the fuzzy sliding mode is shown by simulations.

• 한국정밀공학회지
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• 제25권10호
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• pp.99-106
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• 2008

5kWh FESS(Flywheel Energy Storage System) using AMB(Active Magnetic Bearing) has been under development and 1st trial system has been finished and run the operating test. Unfortunately, the test result was not satisfactory because FESS could increase the rotational speed up to 9,000 rpm only although the target rotational speed is 18,000rpm. It's because 1st bending mode frequency of flywheel shaft was too low and imbalance response was too big. To achieve the target speed, 1st bending mode and imbalance response must be improved and the whole FESS needed to be designed again. This paper presents the newly designed FESS and what has been changed from the 1st trial FESS to improve 1st bending mode and imbalance response. The experimental results to see how much 1st bending mode frequency was improved are presented, too.

• Smart Structures and Systems
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• 제23권6호
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• pp.579-587
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• 2019

In this paper, pounding tuned mass dampers (PTMDs) were designed to mitigate the multi-mode vortex-induced vibration (VIV) of stay cable utilizing the viscous-elastic material's energy-dissipated ability. The PTMD device consists of a cantilever metal rod beam, a metal mass block and a specially designed damping element covered with viscous-elastic material layer. Wind-tunnel experiment on VIV of stay cable model was set up to validate the effectiveness of the PTMD on multi-mode VIV mitigation of stay cable. By analyzing and comparing testing results of all testing cases, it could be verified that the PTMD with viscous-elastic pounding boundary can obviously mitigate the VIV amplitude of the stay cable. Moreover, the installed location and the design parameters of the PTMD device based on the controlled modes of the primary stay cable, would have a certain extent suppression on the other modal vibration of the stay cable, which means that the designed PTMDs are effective among a large band of frequency for the multi-mode VIV control of the stay cable.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.2319-2324
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• 2005

This paper proposes a intelligent gain and boundary layer based sliding mode control (SMC) method for robotic systems with unknown model uncertainties. For intelligent gain and boundary layer, we employ the self recurrent wavelet neural network (SRWNN) which has the properties such as a simple structure and fast convergence. In our control structure, the SRWNNs are used for estimating the width of boundary layer, uncertainty bound, and nonlinear terms of robotic systems. The adaptation laws for all parameters of SRWNNs and reconstruction error bounds are derived from the Lyapunov stability theorem, which are used for an on-line control of robotic systems with unknown uncertainties. Accordingly, the proposed method can overcome the chattering phenomena in the control effort and has the robustness regardless of unknown uncertainties. Finally, simulation results for the three-link manipulator, one of the robotic systems, are included to illustrate the effectiveness of the proposed method.

• 한국지능시스템학회:학술대회논문집
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• 한국퍼지및지능시스템학회 2001년도 추계학술대회 학술발표 논문집
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• pp.91-94
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• 2001

In the frequency response analysis using a modal method, it is very important to determine the number of modes involved with the formulation of a frequency response function. Most engineers are inclined to determine mode truncation with their experience. But it is difficult for non-experts to decide the mode truncation reasonably in many problems of dynamic analyses. In this study, fuzzy theory is used to standardize the empirical determination of mode truncation so that not only the experts but also non-experts can decide a proper mode truncation easily. Fuzzy rule base is based on the simulation results using finite element method. Numerical simulations show that the developed mode truncation method is a very effective method to choose the number of the considered modes.

• 한국지능시스템학회:학술대회논문집
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• 한국퍼지및지능시스템학회 2000년도 추계학술대회 학술발표 논문집
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• pp.195-198
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• 2000

Sliding mode control method is popularly used for robustness to distrurbance and variance of systems internal parameter. However, one of the serious problem of this method is Chattering which occurs in neighborhood of sliding manifold. Another problem is that we cannot expect robustness before system starts sliding mode. A new tuning method of sliding manifold which changes the parameter of sliding manifold dynamically using Wavelet Neural Network is proposed in this paper. We can expect the better performance in sliding mode control by the wavelet neural networks excellent property of approximating arbitrary function for multi-resolution analysis and decrease chattering drastically.