• Title/Summary/Keyword: Sliding mode Control

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Sliding mode control for helicopter attitude regulation at hovering (Hovering에서의 헬리콥터 자세제어를 위한 슬라이딩 모드 제어)

  • Im, Kyu-Mann;Ham, Woon-Chul
    • Journal of Institute of Control, Robotics and Systems
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    • v.3 no.6
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    • pp.563-568
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    • 1997
  • 본 논문에서는 약간의 가정하에 리모트 제어용 모형 헬리콥터의 동역학방정식을 유도하였으며, 이를 토대로하여 헬리콥터의 자세안정을 위한 제어 알고리듬을 제안하였다. 제어이론으로서는 파라메타의 변화및 외란에 강인한 가변구조 제어이론을 활용하였다. 본 제어 알고리듬에서는 헬리콥터의 위치이동 제어에 대하여서는 다루지를 못하였으며, 단지 헬리콥터의 hovering 상태에서의 자세 안정화에만 촛점을 두어 제어 알고리듬을 제안하였다. 컴퓨터 모사를 통하여, 제안된 제어 제어 알고리듬의 타당성을 보였으며, 약 2-3초의 시간이 경과된 이후 자세가 안정화 됨을 볼 수 있었다.

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Design of FLC based on the concept of VSC for Home VCR Drum Motor

  • Park, Tae-Hong;Lee, Sang-Lak;Park, Gwi-Tae;Lee, Kee-Samg
    • Journal of the Korean Institute of Intelligent Systems
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    • v.5 no.1
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    • pp.25-32
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    • 1995
  • In this paper, the FLVSC (Fuzzy Logic Variable Structure controller), of which control rules are extracted from the concepts of the VSC(Variable Structure control) is proposed and diesgned for drum motor(BLDC motor) in home VCR. The FLC (Fuzzy Logic Controller) based on linguistic rules has the advantages of not needing of some exact mathermatical 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 distrubances, parameter variations and uncertainites in a sliding mode. In addition, the method has the properties of the FLC-noise rejection capability etc. The computer simulation and experiment using DSP(TMS320C30) have been carried out for the servo control of VCR drum motor to show the usefulness of the proposed method.

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Speed Information based Field Weakening Control for IPMSM (속도 정보를 이용한 매입형 영구자석 동기전동기의 약계자 운전)

  • Lee, J.H.;Jung, Y.S.;Kwon, S.J.;Kim, M.G.;Kim, T.W.;Kim, W.S.
    • Proceedings of the KIPE Conference
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    • 2012.07a
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    • pp.75-76
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    • 2012
  • 본 논문에서는 고속 운전을 위하여 IPMSM(Interior Permanent Magnet Synchronous Motor)의 약계자 운전을 제시한다. IPMSM 운전을 위한 약계자 제어기는 SMO(Sliding Mode Observer)를 통한 추정 속도와 실제 전동기의 속도를 비교하여 나타나는 오차값을 피드백 받아서 이용한다. 기본적으로 속도 오차가 없는 상황에서는 MTPA(Maximum Torque Per Amp.)에서 동작 시키고 속도 오차가 증가하면 이 오차에 대해 d축 전류를 음의 방향으로 증가시켜 약계자 제어를 한다. 본 논문에서는 제시한 약계자 운전으로 IPMSM에 적용시험을 한다. 그리고 시험결과를 분석하여 본 논문의 타당성을 입증한다.

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Vibration suppression of active and semi-active flexible structures using a pseudo-sensor-output-freeback control (PSOF 제어를 이용한 능동과 반능동 유연 구조물의 진동제어)

  • 오동영;김영식
    • Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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    • 1997.10a
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    • pp.432-437
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    • 1997
  • In this paper, a pseudo-sensor-output-feedback(PSOF) control approach is applied to the active and semi-active systems for the vibration suppression of the flexible structures. This approach reduces the modeling error encounted in the output equation formulation and is easy to be implemented in practice. Experimental works are performed for the validation of theoretical predictions with a piezoelectric sensor and actuator bonded on the cantilever beam. The objective of this study is also to compare and analyze between active and semi-active systems. An algorithm based on the sliding mode control theory is developed and analyzed for the robustness to the modeling errors and parameter uncertainties.

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Dynamic Characteristics and Control of HDD Slider Integrated with SMA Actuator (SMA작동기와 연계된 HDD슬라이더의 동특성 및 제어)

  • Lim, S.C.;Park, J.S.;Park, C.J.;Choi, S.B.;Park, Y.P.
    • Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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    • 2000.11a
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    • pp.217-224
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    • 2000
  • This paper proposes a new type of HDD suspension integrated with shape memory alloy(SMA) actuator in order to prevent the friction between the slider and the disk. A finite element analysis is undertaken to investigate modal characteristics of the proposed self loading/unloading slider. The dynamic model is formulated and its validity is proved by comparing the predicted displacement transmissibility with the measured one. A control model is then established by integrating experimentally-obtained SMA actuator dynamics. Subsequently, a sliding mode controller is designed to achieve non-contact start/stop(Non CSS) modes, and control results are presented in time domain.

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Active Vibration Control of UAV EO/IR Sensor Mount Using Piezoelectric Actuator (압전작동기를 이용한 무인항공기 EO/IR 센서 마운트의 능동 진동 제어)

  • Park, Dong-Hyun;Choi, Seung-Bok
    • Transactions of the Korean Society for Noise and Vibration Engineering
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    • v.18 no.12
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    • pp.1278-1285
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    • 2008
  • This paper presents an inertia type of piezostack based active mount fur unmanned aero vehicle (UAV) camera system. After identifying the stiffness and damping properties of the rubber element and piezostack a mechanical model of the active mount system is established. The governing equation of mount is then derived and expressed in a state space form. Subsequently, a sliding mode controller which is robust to uncertain parameters is designed in order to reduce the vibration imposed according to the military specification associated with UAV camera mount system operation. Control performances such as acceleration and transmitted force are evaluated through both computer simulation and experimental implementation.

Stability of Saturation Controllers for the Active Vibration Control of Linear Structures (선형 구조물의 능동 진동 제어를 위한 포화 제어기의 안정성)

  • Moon, Seok-Jun;Lim, Chae-Wook;Huh, Young-Chul
    • Journal of the Earthquake Engineering Society of Korea
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    • v.10 no.6 s.52
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    • pp.93-102
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    • 2006
  • Control input's saturation of active control devices for large structures under large external disturbances are often occurred. It is more difficult to obtain the exact values of mass and stiffness as structures are higher. The modelling errors between mathematical models and real structures must be also included as parameter uncertainties. Therefore, in active vibration control of civil engineering structures like buildings and bridges, the robust saturation controller design method considering both control input's saturation and parameter uncertainties of system is needed. In this paper, stabilities of linear optimal controller LQR, modified bang-bang controller, saturated sliding mode controller, and robust saturation controller among various controllers which have been studied and applied to active vibration control of buildings are investigated. Especially, unstable phenomena of the LQR, the modified bang-bang controller and the saturated sliding mode controller when the control input is saturated or parameter uncertainties exist are presented to show the necessity of the robust saturation controller. The robust stability of the robust saturation controller are shown through a numerical example of a 2DOF linear vibrating system and an experimental test of the two-story structure with an active mass damper (AMD).

System Identification and Pitch Control of a Planing Hull Ship with a Controllable Stern Intercepter (능동제어가 가능한 선미 인터셉터가 부착된 활주선형 선박의 시스템 식별과 자세 제어에 관한 연구)

  • Choi, Hujae;Park, Jongyong;Kim, Dongjin;Kim, Sunyoung;Lee, Jooho;Ahn, Jinhyeong;Kim, Nakwan
    • Journal of the Society of Naval Architects of Korea
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    • v.55 no.5
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    • pp.401-414
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    • 2018
  • Planing hull type ships are often equipped with interceptor or trim tab to improve the excessive trim angle which leads to poor resistance and sea keeping performances. The purpose of this study is to design a controller to control the attitude of the ship by controllable stern interceptor and validate the effectiveness of the attitude control by the towing tank test. Embedded controller, servo motor and controllable stern interceptor system were equipped with planing hull type model ship. Prior to designing the control algorithm, a model test was performed to identify the system dynamic model of the planing hull type ship including the stern interceptor. The matrix components of model were optimized by Genetic Algorithm. Using the identified model, PID controller which is a classical controller and sliding mode controller which is a nonlinear robust controller were designed. Gain tuning of the controllers and running simulation was conducted before the towing tank test. Inserting the designed control algorithm into the embedded controller of the model ship, the effectiveness of the active control of the stern interceptor was validated by towing tank test. In still water test with small disturbance, the sliding mode controller showed better performance of canceling the disturbance and the steady-state control performance than the PID controller.

Survey of Nonlinear Control Methods to Permanent Magnet Stepping Motors (스테퍼 모터를 위한 비선형 제어기법의 개관)

  • Kim, Wonhee;Shin, Donghoon;Lee, Youngwoo;Chung, Chung Choo
    • Journal of Institute of Control, Robotics and Systems
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    • v.20 no.3
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    • pp.323-332
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    • 2014
  • Stepper motor is widely used in positioning applications due to its durability and high torque to inertia ratio as well as low cost and ability to be easily controlled with open-loop. Due to increased resolution of position control and improved stability of motion control, microstepping has drawn attention in industry since it was introduced in 1970s. With the increase in computational power and decrease in cost of embedded processors in recent years, drives and control systems for stepper motors have become more sophisticate than ever. Thus, closed-loop control methods have been developed to improve the performance of the stepper motors. In this paper, we review not only basic principles of conventional control methods used for stepper motors but also that of microstepping control. In addition, we surveyed recent development in nonlinear control methods applied to stepper motors. The nonlinear control methods are presented in the view of Lyapunov stability. Nonlinear torque disturbance observer, sliding mode control, and nonlinear phase compensation are also presented.

Control Performance Comparison of Model-referenced and Map-based Control Method for Vehicle Lateral Stability Enhancement (차량 횡방향 안정성 향상을 위한 모델 참조 제어와 맵기반 제어 방법의 제어 성능 비교)

  • Yoon, Moonyoon;Baek, Seunghwan;Choi, Jungkwang;Boo, Kwangsuck;Kim, Heungseob
    • Journal of the Korean Society for Precision Engineering
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    • v.31 no.3
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    • pp.253-259
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    • 2014
  • This study proposes a map-based control method to improve a vehicle's lateral stability, and the performance of the proposed method is compared with that of the conventional model-referenced control method. Model-referenced control uses the sliding mode method to determine the compensated yaw moment; in contrast, the proposed map-based control uses the compensated yaw moment map acquired by vehicle stability analysis. The vehicle stability region is calculated by a topological method based on the trajectory reversal method. The performances of model-referenced control and map-based control are compared under various road conditions and driving inputs. Model-referenced control uses a control input to satisfy the linear reference model, and it generates unnecessary tire lateral forces that may lead to worse performance than an uncontrolled vehicle with step steering input on a road with low friction coefficient. The simulation results show that map-based control provides better stability than model-referenced control.