• Title/Summary/Keyword: Sliding mode Control

Search Result 1,387, Processing Time 0.03 seconds

Design of Fuzzy Logic Servo Controller Based on Variable Structure Control (가변구조 개념을 이용한 서보용 퍼지제어기의 설계)

  • 박태홍;배상욱;김성호;박기상;박귀태
    • The Transactions of the Korean Institute of Electrical Engineers
    • /
    • v.43 no.5
    • /
    • pp.809-818
    • /
    • 1994
  • In this paper , the author proposed FLVSC (Fuzzy Logic Variable Structure Controller),of which control rules are extracted from the concepts of VSC(Variable Structure Control). FLC(Fuzzy Logic Controller) based on linguistic rules has the advantages of not needing of some exact mathematical model for plant to be controlled. The proposed method has the characteristics which are viewed in conventional VSC, e.g. insensitivity to a class of disturbances, parameter variations and uncertainties in sliding mode. In addition, the method has the properties of FLC-noise rejection capability etc. The computer simulations have been carried out for position control of DC servo motor to show the usefulness of the proposed method and the effects of disturbances and parameter variations are considered.

Anti-Sway Control of the Overhead Crane System using HOSM Observer

  • Kwon, Dongwoo;Eom, Myunghwan;Chwa, Dongkyoung
    • Journal of Electrical Engineering and Technology
    • /
    • v.11 no.4
    • /
    • pp.1027-1034
    • /
    • 2016
  • This paper proposes a sum of squares (SOS) method for anti-swing control of overhead crane system using HOSM (High-Order Sliding-Mode) observer. By representing the dynamic equations of overhead crane as the polynomial dynamic equations via Taylor series expansion, the control input is obtained from the converted polynomial dynamic equations by numerical tool SOSTOOL. Since the actual crane systems include disturbance such as wind and friction, we propose a method to compensate for the disturbance by estimating the disturbance using HOSM observer. Numerical simulations show the effectiveness and the applicability of the proposed method.

Robust Nonlinear Speed Control For Permanent Magnet Synchronous Motor (영구자석 동기전동기의 강인한 비선형 속도제어)

  • Baik, In-Cheol;Kim, Kyung-Hwa;Moon, Gun-Woo;Chung, Se-Kyo;Youn, Myung-Joong
    • Proceedings of the KIEE Conference
    • /
    • 1995.07a
    • /
    • pp.234-236
    • /
    • 1995
  • A robust nonlinear speed control of a permanent magnet synchronous motor(PMSM) is presented. A perturbed dynamic model including the influence of parameter variations and speed measurement error on the nonlinear speed control of a PMSM is derived. Based on this model, a boundary layer integral sliding mode controller to improve the robustness and performance of the nonlinear speed control of a PMSM is proposed and compared with the conventional controller.

  • PDF

Vibration Control of Engine Mount Utilizing Smart Materials (지능재료를 이용한 엔진 마운트의 진동제어)

  • Song, Hyun-Jeong;Choi, Seung-Bok
    • Proceedings of the Korean Society for Noise and Vibration Engineering Conference
    • /
    • 2005.11a
    • /
    • pp.297-300
    • /
    • 2005
  • This paper presents vibration control of an engine mount for a passenger vehicle utilizing ER fluid and piezoelectric actuator. The proposed engine mount can be isolated the vibration of wide frequency range with many types of amplitude. The main function of ER fluid is to attenuate vibration for low frequency with large amplitude, while the piezoelectric actuator is activated in hish frequency range with small amplitude. A mathematical model of the engine mount is derived using Hydraulic model and mechanical model. After formulating the governing equation of motion, then field-dependent dynamic stiffness of the engine mount is evaluated for various engine speed and excitation amplitude conditions. Then robust controller is designed to attenuate vibration of wide range frequency component. Computer simulation is undertaken in order to evaluate the vibration control performance such as transmissibility magnitude in frequency domains.

  • PDF

Observer-Based FL-SMC Active Damping for Back-to-Back PWM Converter with LCL Grid Filter

  • Gwon, Jin-Su;Lee, Hansoo;Kim, Sungshin
    • International Journal of Fuzzy Logic and Intelligent Systems
    • /
    • v.15 no.3
    • /
    • pp.200-207
    • /
    • 2015
  • This paper proposes an active damping control method for a grid-side converter that has an LCL grid filter in the back-to-back converter. To remove the resonant frequency components produced by the LCL filter, it is necessary to measure the grid current. To do this, sensors must be added. However, it is not necessary to add sensors because the grid current is estimated by designing a suboptimal observer. In order to remove the nonlinearity and to gain fast response of control, both feedback linearization and sliding mode control are applied. The proposed method is verified through a simulation.

Disturbance observer-based robust backstepping load-following control for MHTGRs with actuator saturation and disturbances

  • Hui, Jiuwu;Yuan, Jingqi
    • Nuclear Engineering and Technology
    • /
    • v.53 no.11
    • /
    • pp.3685-3693
    • /
    • 2021
  • This paper presents a disturbance observer-based robust backstepping load-following control (DO-RBLFC) scheme for modular high-temperature gas-cooled reactors (MHTGRs) in the presence of actuator saturation and disturbances. Based on reactor kinetics and temperature reactivity feedback, the mathematical model of the MHTGR is first established. After that, a DO is constructed to estimate the unknown compound disturbances including model uncertainties, external disturbances, and unmeasured states. Besides, the actuator saturation is compensated by employing an auxiliary function in this paper. With the help of the DO, a robust load-following controller is developed via the backstepping technique to improve the load-following performance of the MHTGR subject to disturbances. At last, simulation and comparison results verify that the proposed DO-RBLFC scheme offers higher load-following accuracy, better disturbances rejection capability, and lower control rod speed than a PID controller, a conventional backstepping controller, and a disturbance observer-based adaptive sliding mode controller.

Position Tracking Control of a Moving Table Using ER Brake/Clutch (ER 브레이크 및 클러치를 이용한 이송 테이블의 위치추적제어)

  • Choi, S.B.;Lee, H.G.;Kim, S.L.;Cheong, C.C.;Han, M.S.
    • Journal of the Korean Society for Precision Engineering
    • /
    • v.15 no.11
    • /
    • pp.208-217
    • /
    • 1998
  • 본 연구에서는 ER 브레이크와 ER클러치를 피드백작동기로 사용하여 이송테이블의 위치 추적제어를 수행하였다. 이를 위해 먼저 아라빅 검(arabic gum)계통의 ER유체를 자체조성한 후 전기장에 대한 빙햄(Bingham)모델을 실험적으로 도출하였다. 빙햄모델에 근거하여 평판형의 ER브레이크와 실린더형의 ER클러치를 설계 제작하였으며, 계단입력(step input)전기장에 따른 출력토오크특성을 통하여 이들 작동기의 동적모델을 얻었다. 이들 작동기와 연계된 이송테이블시스템의 운동지배방정식을 유도한 후 위치추적제어를 위한 슬라이딩모드제어기를 설계하였다. 제어기 설계시 이송해이블의 부하질량 변화에 대한 시스템 불확실성과 마찰력을 고려하여 제어성능의 강건성을 보장하도록 하였다. 제안된 제어시스템의 제어영역(control bandwidth)을 주파수 영역에서 고찰한 후 여러 레적에 대한 위치추적제어 실험을 수행하였다.

  • PDF

High-Order system control using cacade observer (축차관측기를 이용한 고차 시스템 제어)

  • Cho, Jun-Seok;Yun, Kwang-Ho;Kim, Sang-Hoon;Kim, Eung-Seok;Kim, Lark-Kyo;Nam, Moon-Hyun
    • Proceedings of the KIEE Conference
    • /
    • 2003.07d
    • /
    • pp.2212-2214
    • /
    • 2003
  • We design a sliding mode cascade observer to estimate state of the output. In the 1st step of the observer, the output will be estimated, and the 1st order state of the output will be estimated via the 2nd step of the observer. Also, nth order state of the output will be estimated in the n+1th step of the observer. Therefore, this paper will be presented to design the slide mode observer of cascade based cascading convergence concept of state observer error.

  • PDF

Optimal torque control of noncontact type eddy current brake system (비접촉식 와전류형 제동 장치의 최적 토오크 제어)

  • 이갑진;박기환;류제하
    • 제어로봇시스템학회:학술대회논문집
    • /
    • 1997.10a
    • /
    • pp.261-264
    • /
    • 1997
  • A contactless eddy current type braking system is developed to take advantages of the recent brake system which uses hydraulic force can show high efficiency in a certain velocity region, but not in a high velocity region, and has initial response delay time and pressure build-up time which make stopping distance longer. These are the limits of mechanical brake system of a contact type, which makes a concept brake system required. So, in this paper, the contactless brake system .of a inductive current type is chosen instead of hydraulic brake system. This brake system can be used almost forever for being no wear and contributed to lightening weight of a vehicle. Besides, the contactless brake system can be used as that of electric or solar car with anti-lock brake system. The analysis of induced electromotive force and braking torque obtained with theoretical approximate model, the design of a braking system and a nonlinear controller, and the results of simulation of the ABS, experiment are included.

  • PDF

Nanoparticle Manipulation Using Atomic Force Microscope and X-Y Stage

  • Liu, T.S.;Wen, B.J.
    • 제어로봇시스템학회:학술대회논문집
    • /
    • 2003.10a
    • /
    • pp.1542-1546
    • /
    • 2003
  • Nanotechnology is an important challenge, for which nanoparticle manipulation plays an important role in the assembly of nano elements. In this study, the dynamic equation of system plant is established by van der Waals force, friction, capillary forces etc. To push nanoparticles, strain gauges are used as sensors to actuate an X-Y stage in an atomic force microscopy system. A strategy of pushing nanoparticles is developed based on sliding mode control. Moreover, afuzzy controller is responsible for compensating tip-particle contact loss according to feedback signals of a laser-detector system. According to position control result, experimental results of gold nanoparticle manipulation are presented.

  • PDF