• Title/Summary/Keyword: Sliding mode Control

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Position Control for the XY Drive System with Lu-Gre Friction Model (Lu-Gre 마찰 모델을 갖는 XY구동계의 위치제어)

  • 한성익;방두열
    • Proceedings of the Korean Society of Precision Engineering Conference
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    • 2001.04a
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    • pp.186-189
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    • 2001
  • In a precise control system, the Lu-Gre friction model has often been used to describe the nonlinear friction. For the XY table system with this friction model, we identified the friction parameters and designed nonlinear observer. The nonlinear friction effects could be removed within appropriate position tracking errors and control inputs through experiments. Also, we designed the nonmodel-based SMC system to compensate the nonlinear friction. Through experiments, it is shown that this method has the similar performance compared with the nonlinear observer system and is useful when friction parameters are hard to identify except the problem of input chattering.

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Control of Z-Source MSVPWM Inverter for DGS (DGS용 Z-원 MSVPWM 인버터 제어)

  • Park, Young-San;Bae, Cherl-O;Nam, Taek-Kun
    • Proceedings of the Korean Society of Marine Engineers Conference
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    • 2006.06a
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    • pp.277-278
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    • 2006
  • This paper presents circuit models and control algorithms of distributed generation system(DGS) which consists of Z-type converter and PWM inverter Z-type converter which employs both the L and C passive components and shoot-through zero vectors instead of the conventional DC/DC converter in order to step up DC-link voltage. Discrete time sliding mode control with the asymptotic observer is used for current control.

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Vibration Control of a Beam Structure Using Hybrid Mounts (하이브리드 마운트를 이용한 빔구조물의 진동제어)

  • Kim, Seung-Hwan;Hong, Sung-Ryong;Park, Seung-Bok
    • Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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    • 2002.11a
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    • pp.347.1-347
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    • 2002
  • A hybrid mount featuring elastic rubber and piezoelectric material is devised and applied to the vibration control of a beam structure. The governing equation of the beam structure associated with the hybrid mount is derived. Subsequently, a robust sliding mode controller is designed to attenuate the vibration of the beam structure due to external excitation. The controller is then simulated and control responses such as displatement and transmitted force are evaluated in time and frequency domains.

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Active Vibration Control of a Beam Structure Using Hybrid Mount (하이브리드마운트를 이용한 빔 구조물의 능동진동제어)

  • 김승환;홍성룡;최승복
    • Transactions of the Korean Society for Noise and Vibration Engineering
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    • v.13 no.7
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    • pp.524-531
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    • 2003
  • This paper presents an active vibration control of a flexible beam structure using a hybrid mount which consists of elastic rubber and Piezoelectric material. After identifying stiffness and damping properties of the rubber and piezoelectric elements, a mechanical model of the hybrid mount is established. The mount model is then Incorporated into the beam structure, and the governing equation of motion is obtained in a state space. A sliding mode controller is designed in order to actively attenuate the vibration of the beam structure subjected to high frequency and small magnitude excitations. The controller is experimentally realized and control responses such as acceleration of the beam structure and force transmission through the hybrid mount are evaluated. In addition. a comparative work is done between the passive and hybrid mount systems.

Nonlinear Adaptive Control for A Linear-Motor-Driven Two Axes through A Enhanced Cross-Coupling Algorithm (개선된 교차축 연동제어기를 통한 리니어 모터의 비선형 적응제어)

  • Han, Sang-Oh;Hwang, Woo-Hyun;Lee, Sang-Min;Huh, Kun-Soo
    • Proceedings of the KSME Conference
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    • 2008.11a
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    • pp.902-906
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    • 2008
  • The linear motors are easily affected by load disturbance, force ripple, friction, and parameter variations because there is no mechanical transmission to reduce the effects of model uncertainties and external disturbance. For highspeed/high-accuracy position control of a linear-motor-driven two axes, a nonlinear adaptive controller including a cross-coupling algorithm is designed in this paper. The nonlinear effects such as friction and force ripple are estimated and compensated. An enhanced approach for cross-coupling algorithm is proposed to effectively improve the biaxial contour accuracy with the closed-loop stability. The proposed controller is evaluated through the computer simulations.

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The Improved Binary Disturbance Observer for the Position Control of Induction Motors (유도전동기의 위치제어를 위한 개선된 바이너리 외란관측기)

  • 한윤석;김영석;김상욱
    • Proceedings of the KIPE Conference
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    • 1998.07a
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    • pp.249-254
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    • 1998
  • A control approach for the robust position control of induction motors based on the improved binary disturbance observer is described. The conventional binary disturbance observer is used to remove the chattering problem of a sliding mode disturbance observer. However, the steady state error may be existed in the conventional binary disturbance observer because it estimates external disturbance with a constant boundary layer. In order to overcome this problem, a new binary disturbance observer with an integral augmented switching hyperplane is improved. The robustness is achieved, and the continuous control is realised by employing the improved observer without the chattering problem and the steady state error. The effectiveness of the improved observer is confirmed by the comparative experimental results.

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수중운동의 표적추적성능 해석과 제어기 설계

  • 윤강섭;이만형
    • Proceedings of the Korean Society of Precision Engineering Conference
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    • 1995.04b
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    • pp.330-335
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    • 1995
  • The actuator's response delay, disturbance and measurement noise can often cause a significant error in the target tracking of an underwater vehicle. The first purpose of this paper is error analysis about motion of an underwater vehicle when the closed loop system has actuator and disturbance and noise. The underwater vehicle is simulated for cases of various disturbances. The second purpose is robust controller design for the underwater vehicle with parameter uncertainty. So, two robust control methods are applied for the underwater vehicle. One is standard $H_{\infty}$ control, and the other is time-varying sliding mode control with modified saturation function. Suboptimal design parameters for $H_{\infty}$ control, and design parameters for time-varying switching surfaces are provided Simulations for the two controllers are carried out and their performances are analyzed.lyzed.

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Design and Application of Gradient-descent-based Self-organizing Fuzzy Logic Controller (그래디언트 감소를 기반으로하는 자기구성 퍼지 제어기의 설계 및 응용)

  • 소상호;박동조
    • Proceedings of the Korean Institute of Intelligent Systems Conference
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    • 1998.10a
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    • pp.191-196
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    • 1998
  • A new Fuzzy Logic Controller(FLC) called a Gradient-Descent Based Self-Organizing Controller is presented. The Self-Organizing Controller(SOC) has two inputs such as error and change of error, and updates control rules with monitoring a performance measure. There are many works in the SOC which concentrate on the self-organizing ability in control rule base, but have a few research on the performance measure which is akin to sliding mode control. With this procedure, we can get a robust performance measure on the SOC. To verify the perfomance of proposed controller, we have performed for the cart-pole system which is one of the well-known benchmark problem in the control literature.

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Robust output feedback control of LTI system using estimated output derivatives (출력 미분값의 추정에 의한 선형 시불변 시스템의 로버스트 출력 궤환 제어)

  • Lee, Gun-Bok
    • The Transactions of the Korean Institute of Electrical Engineers
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    • v.45 no.2
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    • pp.273-282
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    • 1996
  • This work is conceded with the estimation of output derivatives and their use for the design of robust controller for linear systems with system uncertainties due to modeling errors and disturbances. It is assumed that a nominal transfer function model and quantitative bounds for system uncertainties and known. The developed control schemes are shown to achieve regulation of the system output and ensures boundedness of the system states without imposing any structural conditions on system uncertainties and disturbances. Output derivative estimation is first conducted through restructuring of the plant in a specific parameterization. They are utilized for constructing robust nonlinear high-gain feedback controller of a SMC(Sliding Mode Control)type. The performances of the developed controller are evaluated and shown to be effective and useful through simulation study.

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The Design of Variable Structure Controller for the System in Phase Canonical Form with Incomplete State Measurements (비 측정 상태변수를 갖는 위상 표준형계통에 대한 가변구조 제어기의 설계)

  • 박귀태;최중경
    • The Transactions of the Korean Institute of Electrical Engineers
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    • v.41 no.8
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    • pp.902-913
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    • 1992
  • There have been several control schemes for the single input systems with unmeasurable state variables using variable structure control(VSC) theory. In the previous VSC, the systems must be represented in phase canonical form and the complete measurements for each state variable must be assumed. In order to eliminate these restrictions several VSC methods were proposed. And especially for the systems in phase canonical form with unmeasurable state variables, the reduced order switching function algorithm was proposed. But this method has many drawbacks and can not be used in the case of general form (not phase canonical form) dynamic system. Therefore this paper propose new construction method of switching fuction for the systems in phase canonical form, which reduce the restriction of reduced order switching function algorithm. And this algorithm can be realized for any state representation and adopted in the systems where not all states are available for switching function synthesis or control.

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