• 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.

• 전자공학회논문지B
• /
• 제32B권12호
• /
• pp.1670-1679
• /
• 1995

In this paper, an optimal variable structure controller with a multilayer neural inverse identifier is proposed. A multilayer neural network with error back propagation learning algorithm is used for construction the neural inverse identifier which is an observer of the external disturbances and the parameter variations of the system. The variable structure controller with the multilayer neural inverse identifier not only needs a small part of a priori knowledge of the bounds of external disturbances and parameter variations but also alleviates the chattering magnitude of the control input. Also, an optimal sliding line is designed by the optimal linear regulator technique and an integrator is introduced for solving the reaching phase problem. Computer simulation results show that the proposed approach gives the effective control results by reducing the chattering magnitude of control input.

• 한국정밀공학회지
• /
• 제19권7호
• /
• pp.28-35
• /
• 2002

This paper deals with kinematic modeling of a car-like planar mobile robot consisting of four conventional fixed wheels attached on two parallel axles. The kinematic model of such a mobile robot requires the description of skidding and sliding frictional motion. Previous kinematic model proposed by Muir and Newman$^{[1]}$ does not include such frictional motions. Thus, does it result in least square solution in estimating a sensed forward velocity solution. A modified kinematic model is proposed by incorporating transnational friction motion into the original algorithm. It is shown that transnational friction motions should be included into kinematic model of the mobile robot to represent its real physical motion.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 1990년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 26-27 Oct. 1990
• /
• pp.439-445
• /
• 1990

All models of dynamical systems invariably have some measure of uncertainties associated with some of their dynamics. The recent approaches to establish robustness of stabilizing feedback control against the possible uncertainties have a serious limitation, that is their applicability only to the systems that satisfy the matching conditions. Such conditions are rarely met in general applications. If a particular system satisfies the matching conditions, the addition of an actuator will destroy the satisfaction of such conditions. In this paper, we develop robust control algorithm for uncertain multivariable systems in which the matching conditions are not necessarily met. We empoly Lyapunov's second method to derive robust stabilizing controllers which guarantee asymptotic stability against prescribed uncertainties. The derivation consists of transforming the original uncertain system to controllable canonical form and constructing a constant switching surface by designing the closed-loop characteristics as a function of the uncertainties. Numerical examples are discussed as illustrations.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 1990년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 26-27 Oct. 1990
• /
• pp.7-12
• /
• 1990

In this paper, we propose a new manipulator control scheme based on the CMAG neural network. The proposed control consists of two components. The feedforward component is an output of trained CMAC neural network and the feedback component is a modified sliding mode control. The CMAC accepts the position, velocity and acceleration of manipulator as input and outputs two values for the controller : One is the nominal torque used for feedforward compensation(M1 network) and the other is the inertia matrix related information used for the feedback component(M2 network). Since the used control algorithm guarantees the robust trajectory tracking in spite of modeling errors, the CMAC mapping errors due to the memory limitation are little worth consideration.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 1987년도 한국자동제어학술회의논문집; 한국과학기술대학, 충남; 16-17 Oct. 1987
• /
• pp.264-268
• /
• 1987

This paper is concerned on kinematic analysis and simulation of an automatic feeding mechanism subjected by the motion of a curvilinear inverse can. The curvilinear cam is rotated by positioning a translating roller and the automatic feeding mechanism is moved to the sliding position by the motion of a campin fixed on the curvilinear cam. The curvilinear cam consists of two arcs of circles and two straight lines. The modular approach is used for the kinematic analysis of the feeding mechanism. As the first part of the paper for the motion simulation of the cam-feeding system, this paper discusses the algorithm to simulate the motion of the cam-feeding mechanism. The second part of the paper presents the state-of-art for the graphics-oriented CAD technique,

• 대한기계학회논문집
• /
• 제17권7호
• /
• pp.1813-1822
• /
• 1993

An algorithm of fuzzy variable structrue control is proposed to design a closed loop fuel-injection system for the emission control of automotive gasoline engines. Fuzzy control is combined with sliding control at the switching boundary layer to improve the chattering of the stoichiometric air to fuel ratio. Multi-staged fuzzy rules are introduced to improve the adaptiveness of control system for the various operating conditions of engines, and a simplified technique of fuzzy inference is also adopted to improve the computational efficiency based on nonfuzzy micro-processors. The proposed method provides an effective way of engine controller design due to its hybrid structure satisfying the requirements of robustness and stability. The great potential of the fuzzy variable structure control is shown through a hardware-testing with an Intel 80C186 processor for controller and a typical engine-only model on an AD-100 computer.

• 대한기계학회:학술대회논문집
• /
• 대한기계학회 2000년도 춘계학술대회논문집B
• /
• pp.586-592
• /
• 2000

터보머신 태부에 존재하는 정익 - 동익의 상호작용 유동현상을 수치모사 하는 코드를 병렬화 하였다 정익 - 동익의 상호작용을 해석하는 데에 편리하도륵 Multi-Block Grid System을 도입하여 계산영역을 형성하였고, 동익의 움직임으로 인해 발생하는 Sliding Interface부분은 Patched 알고리즘을 적용하여 해석하였다. 정익과 동익의 수를 1대 1로 단순화시켜 수치모사한 결과와 정익과 동익의 수를 실제 조건과 더 비슷하게 설정한 3대 4의 비율로 맞추어 수치모사한 결과를 비교하였다. 또한, 병렬컴퓨팅으로 인해 단축된 계산시간을 다른 연구에서의 계산시간들과 서로 비교하였다. 2차원 비정상 압축성 Navier-Stokes 방정식이 이용되었고, 난류모델링에는 K-w SST 모델링이 적응되었다. Roe의 FDS 기법을 사용하여 플럭스를 계산하였고, MUSCL 기법을 적용하여 3차의 공간정확도를 갖도록 하였다. 시간적분에는 이보성의 DP-SGS를 사용하였다. 해석결과의 분석에는 Time-averaged pressure distribution과 Pressure amplitude distribution 데이터를 사용했다.

• 대한전기학회논문지
• /
• 제34권10호
• /
• pp.407-417
• /
• 1985

This paper describes a new method for the design of adaptive model-following control systems. This design concept is developed using the theory of slide mode. Authors present new results on the sliding control methodology to achieve accurate tracking for a class of multi-input multi-output, time-varying systems in the presence of parameter variations and disturbances. This algorithm can be easily applied to the multivariable control systems and obtained a smoother control signal in comparison to variable structure model following control systems. The design technique is easy and the control structure is simple. The design requires little computational effort. The control system is less sensitive to plant parameter variations and noise disturbances.

• 한국통신학회논문지
• /
• 제22권1호
• /
• pp.104-115
• /
• 1997

This paper investigates PN code acquistion algorithm and demodulation performance of the RAKE receiver in the DS/CDMA(direct sequence code division multiple access) sysytems under a multipath fading channel with multiusers. To speed up the acquisition process, PN matched filter is applied and postdetection integration technique comable withthe dynamic threshold set method is proposed. the Maximum-Likelihood algorithmin serial fashion is able to find PN code delay estimates for the RAKE branches using sliding window in a multipath fading channel. The correct acquistion probability and mean acquistion time are used as a performance measure of the system using the Monte Carlo method. The performance of the RAKEreceiver, afte the code acquisition is achieved is the CDMA systems, is also investigated for three major combining techniques.