• Journal of Institute of Control, Robotics and Systems
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• v.16 no.3
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• pp.249-255
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• 2010

The paper proposes a new type of robust speed control strategy for permanent magnet synchronous motor by using PD-sliding mode hybrid control. The PD control has a good performance in the transient region while the sliding mode controller provides the robustness against system uncertainties. Taking advantages of the two control strategies, the proposed control method utilizes the PD control in the approaching region to the sliding surface and the sliding mode control near at the sliding surfaces. The chattering problem of the sliding mode controller is eliminated by applying the saturation function for the switching function of the sliding mode control. The stability of the sliding mode control is verified by using Lyapunov function with the proper selection of variable gains. It is shown that with this simple switching algorithm, stability of the overall hybrid control system is ensured. Through the simulations, the PD-sliding mode algorithm is shown to have a good performance in the transient response as well as being robust against disturbances. The robustness of the PD-sliding mode algorithm is further demonstrated against various external disturbances in the real experiments of SPMSM motor control.

• Journal of Institute of Control, Robotics and Systems
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• v.8 no.2
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• pp.89-96
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• 2002

A new chattering free PD-sliding mode hybrid control scheme is proposed for robot manipulators. This hybrid controller is composed of a PD controller and a semi-continuous sliding mode controller. It has a good robust performance in reaching mode which does not possess invariance property of sliding mode, and has chattering free characteristics in sliding mode. Thus, the PD-sliding mode hybrid controller has a good robust performance in the whole region. It is shown that the proposed control has a good transient response and trajectory tracking performance for a 2-link SCARA robot manipulator.

• Journal of Institute of Control, Robotics and Systems
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• v.14 no.12
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• pp.1286-1293
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• 2008

This paper proposes a realization of robust trajectory tracking for an industrial robot by using PD-sliding mode hybrid control. The PD control has a good performance in the transient period while the sliding mode control has robustness against the system uncertainties. The proposed control method is proposed for the control of a multi-joint robot by taking advantages of both the PD and sliding mode controls. The embodiment of distributed controllers that drive 4-DOF axes has evaluated through experiments with the multi-joint robot AT1. The PD-sliding mode algorithm which is proposed in this paper shows a good performance in the transient period and robustness against disturbances and This paper shows accuracy of end-effector.

• Journal of the Korean Institute of Electrical and Electronic Material Engineers
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• v.23 no.5
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• pp.383-387
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• 2010

The response characteristics of AE (acoustic emission) sensors with a coupled vibration mode and a non-coupled vibration mode were investigated according to PD(partial discharge) quantities in XLPE (cross linked polyethylene) sheets and craft papers immersed in insulating oil. The response voltages of a coupled vibration mode AE sensor were linearly proportional to the PD quantities up to 1,000 pC in XLPE sheets, while a non-coupled vibration mode AE sensor did not show the similar linearity. In case of a test of craft papers immersed in insulating oil, a linearity between response voltages and PD quantities was observed up to 550 pC, but after that, similar linearity between response voltage of any types of AE sensor and PD quantities was not shown.

• Journal of radiological science and technology
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• v.40 no.2
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• pp.213-218
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• 2017

Recently, as the number of high-risk pregnancies increases, the use of new techniques such as Doppler, which have higher acoustic power than in the past, has been increasingly used in prenatal diagnosis and guidelines have been set up by various organizations to prevent excessive exposure. Therefore, in this study, we tried to investigate the temperature change of the body surface for each test mode according to the long time ultrasound examination and to examine the exposure time which is not influenced by the thermal effect. B mode, C mode, and PD mode according to time, and the temperature difference between exposed and unexposed sites were compared. As a result, the B mode showed a significant difference in the temperature change from 10 minutes, 50 minutes after exposed, 20 minutes from the C mode, and 30 minutes from the PD mode (p<0.01). In all three modes, the temperature difference was different (p<0.000), and PD mode was the most sensitive to temperature change. Also, it was found that the temperature rise time was shortened with the increase of the ultrasonic exposure time. Therefore, it is recommended that ultrasonography to observe the embryo or fetus should be used only for diagnostic purposes, avoiding excessive test time.

• International Journal of Control, Automation, and Systems
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• v.4 no.5
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• pp.545-558
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• 2006

In this paper, PD-like visual servoing is modified in two ways: a sliding-mode observer is applied to estimate the joint velocities, and a RBF neural network is used to compensate the unknown gravity and friction. Based on Lyapunov method and input--to-state stability theory, we prove that PD-like visual servoing with the sliding mode observer and the neuro compensator is robust stable when the gain of the PD controller is bigger than the upper bounds of the uncertainties. Several simulations are presented to support the theory results.

• Korean Journal of Optics and Photonics
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• v.18 no.6
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• pp.389-394
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• 2007

The characteristics of the single mode fiber hydrogen sensor have been investigated theoretically and experimentally. Palladium is adopted as a material for the transducer and a thin Ni film is used for the adhesion between the fiber end and the Pd film. It is shown that sensitivity and response time strongly depend on the thickness of Pd film. The single mode fiber sensor coated with 5 nm thick Ni adhesion layer and 10 nm thick Pd transducer layer showed 0.6 dB change of reflectivity and $3{\sim}5$ sec of response time as it absorbed 4% hydrogen gas.

• Proceedings of the Korean Institute of IIIuminating and Electrical Installation Engineers Conference
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• 2003.11a
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• pp.103-105
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• 2003

The principle of the ultra-high frequency (UHF) method to detect partial discharge(PD) in GIS is to measure the UHF electromagnetic waves excited by PD pulses. Such electromagnetic waves propagate along the GIS busbar in the TEM-mode, TE-mode, TM-mode. And the coaxial busbar of the GIS acts as a waveguide in which the UHF electromagnetic waves travel. This paper was studied the analysis on damping characteristic of electromagnetic waves excited by PD in GIS and presented the method to yield the cutoff frequency for determine the minimum band of sensor that detect the PD pulse.

• Proceedings of the Korea Committee for Ocean Resources and Engineering Conference
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• 2006.11a
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• pp.351-354
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• 2006

In underwater environment, the control of AUV is difficult, because of the existence of parameter uncertainties and disturbances as well as highly nonlinear and coupled system dynamics. The requirement for the simple and robust controller which works satisfactorily in those dynamical uncertainties, call for a design using the PD or sliding mode controller. The PD controller is very popular controller in the industrial field and the sliding mode controller has been used successfully for the AUV controller design. In this paper, the two controllers arc designed for ISiMI(Integrated Submergible Intelligent Mission Implementation) AUV and the performances are compared by numerical simulation under the modeling uncertainty and disturbances. The design process of PD and sliding mode controller for ISiMI AUV and simulation results are included to compare the performances of the two controllers.

• Journal of the Korean Institute of Telematics and Electronics
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• v.10 no.6
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• pp.56-61
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• 1973

The temperature coefficients and phase velocity dispersions of elastic surface wave layer mode with Ag or Pd layer on piezoelectric LiNbO3 svbstrate rotated 131$^{\circ}$ Y out are calculated as a function of thickness by numerical method. Calculated results are shown that the temperature coefficients are rapidly increased in proportion as the thickness of Ag layer increases. and irregular variation of the temperature coefficients appears in the case of Pd layer. Minimum value, -36$\times$10 /$^{\circ}C$, of the temperature coefficients of elastic surface wave with Pd layer on LiMbO3 substrate rotated 131$^{\circ}$ Y cut is obtained at wh=9000.