• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.1983-1989
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• 2005

Industrial robots are powerful, extremely accurate multi-jointed systems, but they are heavy and highly rigid because of their mechanical structure and motorization. Therefore, sharing the robot working space with its environment is problematic. A novel pneumatic artificial muscle actuator (PAM actuator) has been regarded during the recent decades as an interesting alternative to hydraulic and electric actuators. Its main advantages are high strength and high power/weight ratio, low cost, compactness, ease of maintenance, cleanliness, readily available and cheap power source, inherent safety and mobility assistance to humans performing tasks. The PAM is undoubtedly the most promising artificial muscle for the actuation of new types of industrial robots such as Rubber Actuator and PAM manipulators. However, some limitations still exist, such as the air compressibility and the lack of damping ability of the actuator bring the dynamic delay of the pressure response and cause the oscillatory motion. In addition, the nonlinearities in the PAM manipulator still limit the controllability. Therefore, it is not easy to realize motion with high accuracy and high speed and with respect to various external inertia loads in order to realize a human-friendly therapy robot To overcome these problems a novel controller, which harmonizes a phase plane switching control method with conventional PID controller and the adaptabilities of neural network, is newly proposed. In order to realize satisfactory control performance a variable damper - Magneto-Rheological Brake (MRB) is equipped to the joint of the manipulator. Superb mixture of conventional PID controller and a phase plane switching control using neural network brings us a novel controller. This proposed controller is appropriate for a kind of plants with nonlinearity uncertainties and disturbances. The experiments were carried out in practical PAM manipulator and the effectiveness of the proposed control algorithm was demonstrated through experiments, which had proved that the stability of the manipulator can be improved greatly in a high gain control by using MRB with phase plane switching control using neural network and without regard for the changes of external inertia loads.

• The Transactions of the Korean Institute of Electrical Engineers
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• v.43 no.7
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• pp.1075-1083
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• 1994

In this paper, a study on the improvement of the IM speed response against load torque variation is presented. A VSCS(Variable Structure Control System) is proposed which gives the desired robustness against load torque variation using a new kind of time-varing switching plane. In order to eliminate the reaching phase of the states from one switching plane to another during variation, the switching plane is varied continuously. To verify the high dynamic performance of the proposed VSCS, simulation and experimental results are presented.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2005.05a
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• pp.572-575
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• 2005

A novel pneumatic artificial muscle actuator (PAM actuator), which has achieved increased popularity to provide the advantages such as high strength and high power/weight ratio, low cost, compactness, ease of maintenance, cleanliness, readily available and cheap power source, inherent safety and mobility assistance to humans performing tasks, has been regarded during the recent decades as an interesting alternative to hydraulic and electric actuators. In order to realize satisfactory control performance, a variable damper Magneto Rheological Brake (MRB), Is equipped to the Joint of the manipulator. Superb mixture of conventional PID controller and a phase plane switching control method brings us a novel controller. This proposed controller is appropriate for a kind of plants with nonlinearity, uncertainties and disturbances. The experiments were carried out in practical PAM manipulator and the effectiveness of the proposed control algorithm was demonstrated through experiments, which had proved that the stability of the manipulator can be improved greatly in a high gain control by using MRB with phase plane switching control method and without regard for the changes of external inertia loads.

• Transactions of The Korea Fluid Power Systems Society
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• v.1 no.1
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• pp.17-22
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• 2004

The goal of this paper is to improve the position control performance of pneumatic rotary actuator with variable brake using Magneto-Rheological Fluid. The air compressibility and the lack of damping of the pneumatic actuator bring the dynamic delay of the pressure response and cause the oscillatory motion. In this study, a variable rotary brake comprising Magneto-Rheological Fluid is equipped to the joint of a pneumatic manipulator. Experiments of step response have proved that the transient response of the manipulator could be improved compared with that of the conventional control algorithm by using a phase plane switching control algorithm.

• Proceedings of the KIEE Conference
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• 1989.11a
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• pp.337-341
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• 1989

This theory has fast response and low overshoot by transforming its structure and this system may have new character which did not appear in this system. The VSS system transform its structure by switching logic. Then, the state trajectory is to sliding along the switching line to the phase-plane orgin. The phase trajectory is known as the sliding mode of this controller. This paper performed position control in the theory and analysised the change in variable loads.

• Journal of Mechanical Science and Technology
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• v.19 no.3
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• pp.778-791
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• 2005

A novel pneumatic artificial muscle actuator (PAM actuator), which has achieved increased popularity to provide the advantages such as high strength and high power/weight ratio, low cost, compactness, ease of maintenance, cleanliness, readily available and cheap power source, inherent safety and mobility assistance to humans performing tasks, has been regarded during the recent decades as an interesting alternative to hydraulic and electric actuators. However, some limitations still exist, such as the air compressibility and the lack of damping ability of the actuator bring the dynamic delay of the pressure response and cause the oscillatory motion. Then it is not easy to realize the performance of transient response of pneumatic artificial muscle manipulator (PAM manipulator) due to the changes in the external inertia load with high speed. In order to realize satisfactory control performance, a variable damper-Magneto­Rheological Brake (MRB), is equipped to the joint of the manipulator. Superb mixture of conventional PID controller and a phase plane switching control method brings us a novel controller. This proposed controller is appropriate for a kind of plants with nonlinearity, uncertainties and disturbances. The experiments were carried out in practical PAM manipulator and the effectiveness of the proposed control algorithm was demonstrated through experiments, which had proved that the stability of the manipulator can be improved greatly in a high gain control by using MRB with phase plane switching control method and without regard for the changes of external inertia loads.

• KIEE International Transaction on Electrical Machinery and Energy Conversion Systems
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• v.2B no.3
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• pp.133-139
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• 2002

In this paper, a prototype of an active auxiliary quasi-resonant DC link (QRDCL) snubber assisted voltage source bidirectional power converter (AC to DC and DC to AC) operating at zero voltage soft-switching (BVS) PWM nlode is presented for a Battery Energy Storage System (BESS). The operating principle of this QRDCL circuit and multifunctional control-based converter system, including PWM inverter mode in which energy flows from the battery bank to the three-phase utility-grid in addition to an active PWM converter mode in which energy flows from the utility-grid to the battery banks are described respectively by the control implementation on the basis of d-q coordinate plane transformation. The multifunctional operation characteristics of this three-phase ZVS PWM bi-directional converter with QRDCL is demonstrated fer a BESS under the power conditioning and processing schemes of energy supply mode and energy storage mode, and compared with a conventional three-phase hard switching PWM bi-directional converter for a BESS. The effectiveness of the three-phase ZVS PWM hi-directional converter with QRDCL is proven via the simulation analysis.

• Journal of Institute of Control, Robotics and Systems
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• v.6 no.7
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• pp.523-528
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• 2000

In this short note the characteristics of a nonlinear system of which the state trajectories are oscillating in the phase plane are overviewed. The physical concept of stuck and sliding patch phenomena are also introduced by adding some switching functions and their stability on the sliding patches are analyzed by using the Lyapunov stability theory and Frobenius theorem.

• Proceedings of the KIEE Conference
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• 1994.07a
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• pp.482-484
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• 1994

In this paper, to realize high speed position control of LDM (Linear DC Motor), the minimum time control method is applied. But, In this control method, calculation of non-linear function is required Therefore, in order to avoid this complex calculation, optimum switching of the Bang-Bang control is done on parabola type switching function established in the plane of phase. But, the sliding mode is occurred due to the modeling error of LDM and the variation of parameters. Thereby, the optimum 'control is not realized. In order to realize optimum control, the algorithm to modify switching function is proposed

• Transactions of the Korean Society of Mechanical Engineers
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• v.19 no.1
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• pp.99-110
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• 1995

An industrial robot needs a simple and robust control algorithm obtaining high precision control performance in spite of disturbance and parameter's change. In this paper, for solving this problem, a new sliding mode control algorithm is proposed and applied to the trajectory control of a SCARA type robot. The proposed algorithm has diminished the chattering occurring in sliding mode by setting a dead band along the switching line on the phase plane. It shows that we can easily obtain a simple switching control input satisfying sliding mode in spite of regarding nonlinear terms of a manipulator and servo system as disturbance. A guideline for selection of dead-band width is determined by optimal value of cost function presenting magnitudes of chattering and error. By this algorithm, we can expect the high performance of the trajectory tracking of an industrial robot which needs a robust and simple algorithm.