• The Transactions of the Korean Institute of Electrical Engineers D
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• v.49 no.9
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• pp.526-537
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• 2000

This paper deals with a sliding mode controller with integral compensation in a magnetic suspension system The control scheme comprises an integral controller which is designed for achieving zero steady-steate error under step disturbance input and a sliding mode controller which is designed for enhancing robustness under plant parametric variations. A procedure is developed for determining the coefficients of the switching plane and integral control gain such that the overall closed-loop system has stable eigenvalues. A proper continuous design signal is introduced to overcome the chattering problem. The performance of a magnetically suspended balance beam using the proposed integral sliding mode controller is illustrated. Simulation and experimental results also show that the proposed method is effective under the external step disturbance and input channel parametric variations.

• Journal of the Korean Crystal Growth and Crystal Technology
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• v.17 no.1
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• pp.6-10
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• 2007

The a-plane GaN layer on r-plane $Al_2O_3$ substrate is grown by mixed-source hydride vapor phase epitaxy (HVPE). The GaN/InGaN heterostructure is performed by selective area growth (SAG) method. The heterostructure consists of a flown over mixed-sourec are used as gallium (or indium) and nitrogen sources. The gas flow rates of HCl and $NH_3$ are maintained at 10 sccm and 500 sccm, respectively. The temperatures of GaN source zone is $650^{\circ}C$. In case of InGaN, the temperature of source zone is $900^{\circ}C$. The grown temperatures of GaN and InGaN layer are $820^{\circ}C\;and\;850^{\circ}C$, respectively. The EL (electroluminescence) peak of GaN/InGaN heterostructure is at nearly 460 nm and the FWHM (full width at half maximum) is 0.67 eV. These results are demonstrated that the heterostructure of III-nitrides on r-plane sapphire can be successfully grown by mixed-source HVPE with multi-sliding boat system.

• Structural Engineering and Mechanics
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• v.26 no.5
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• pp.517-544
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• 2007

This study shows a fuzzy tuning scheme to fuzzy sliding mode controller (FSMC) for seismic isolation of earthquake-excited structures. The sliding surface can rotate in the phase plane in such a direction that the seismic isolation can be improved. Since ideal sliding mode control requires very fast switch on the input, which can not be provided by real actuators, some modifications to the conventional sliding-mode controller have been proposed based on fuzzy logic. A superior control performance has been obtained with FSMC to deal with problems of uncertainty, imprecision and time delay. Furthermore, using the fuzzy moving sliding surface, the excellent system response is obtained if comparing with the conventional sliding mode controller (SMC), as well as reducing chattering effect. For simulation validation of the proposed seismic response control, 16-floor tall building has been considered. Simulations for six different seismic events, Elcentro (1940), Hyogoken (1995), Northridge (1994), Takochi-oki (1968), the east-west acceleration component of D$\ddot{u}$zce and Bolu records of 1999 D$\ddot{u}$zce-Bolu earthquake in Turkey, have been performed for assessing the effectiveness of the proposed control approach. Then, the simulations have been presented with figures and tables. As a result, the performance of the proposed controller has been quite remarkable, compared with that of conventional SMC.

• Smart Structures and Systems
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• v.5 no.3
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• pp.209-221
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• 2009

A control algorithm for seismic protection of building structures based on the theory of variable structural control or sliding mode control is presented. The paper focus in the design of sliding surface. A method for determining the sliding surface by pole assignment algorithm where the poles of the system in the sliding surface are obtained on-line, based on the frequency content of the incoming earthquake signal applied to the structure, is proposed. The proposed algorithm consists of the following steps: (i) On-line FFT process is applied to the incoming part of the signal and its frequency content is recognized. (ii) A transformation of the frequency content to the complex plane is performed and the desired location of poles of the controlled structure on the sliding surface is estimated. (iii) Based on the estimated poles the sliding surface is obtained. (iv) Then, the control force which will drive the response trajectory into the estimated sliding surface and force it to stay there all the subsequent time is obtained using Lyapunov stability theory. The above steps are repeated continuously for the entire duration of the incoming earthquake. The potential applications and the effectiveness of the improved control algorithm are demonstrated by numerical examples. The simulation results indicate that the response of a structure is reduced significantly compared to the response of the uncontrolled structure, while the required control demand is achievable.

• Proceedings of the Korean Geotechical Society Conference
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• 1998.06a
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• pp.99-110
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• 1998

• The Journal of Korean Institute of Communications and Information Sciences
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• v.19 no.10
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• pp.2043-2052
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• 1994

This paper proposes a new parallel ASIC architecture for real-time image processing to reduce inter-processing element (inter-PE) communication overhead, called a Sliding Memory Plane (SliM) Image Processor. The Slim Image Processor consists of $3\times3$ processing elements (PEs) connected by a mesh topology. With easy scalability due to the topology. a set of SliM Image Processors can form a mesh-connected SIMD parallel architecture. called the SliM Array Processor. The idea of sliding means that all pixels are slided into all neighboring PEs without interrupting PEs and without a coprocessor or a DMA controller. Since the inter-PE communication and computation occur simultaneously. the inter-PE communication overhead, significant disadvantage of existing machines greatly diminishes. Two I/O planes provide a buffering capability and reduce the date I/O overhead. In addition, using the by-passing path provides eight-way connectivity even with four links. with these salient features. SliM shows a significant performance improvement. This paper presents architectures of a PE and the SliM Image Processor, and describes the design of an instruction set.

• 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.

• Transactions of the Korean Society of Mechanical Engineers
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• v.18 no.4
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• pp.866-875
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• 1994

The problem of a rigid rod sliding on a rough horizontal surface in the plane is analyzed, which is commonly cited as an example of the inconsistency of rigid body frictional mechanics. The inconsistency is demonstrated by analyzing the normal reaction force at the contact point with the surface, and the concept of tangential collision is derived to resolve the inconsistency. Using the Poisson's hypothesis for the coefficient of restitution and Coulomb's law for the friction, the general methodology for solving the tangential collision is presented. The problem of the inconsistency generated in the sliding rod is completely resolved, building the concept of the tangential collision and adopting the theory of frictional impact. The result presented in this paper will obviate a generic obstacle to the development of simulation packages for planar rigid body mechanical systems with temporary contacts, and planning efficient motion strategies for robot manipulators.

• 제어로봇시스템학회:학술대회논문집
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• 1995.10a
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• pp.215-218
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• 1995

In this paper, a sliding mode controller (SMC) which can be characterized by high accuracy, fast response and robustness is applied to speed control of AC-SERVO motor. The control input is changed to continuous one in the boundary layer to reduce the chattering phenomenon, and the boundary layer converges to zero when the state variables of system reach to steady state values. The integral compensator is added to reduce steady state error and to provide the continuous torque reference. The acceleration which is necessary to get the sliding plane is estimated by an observer. Sliding surface is included in control input to enhance the robustness and transient response without increasing sliding mode controller gain. The proposed controller is implemented by DSP(digital signal processor). The effectiveness of the proposed control scheme for speed controller is shown by the real-time experimental results in the paper.

• The Journal of Engineering Geology
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• v.10 no.3
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• pp.205-216
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• 2000

An unstable natural slope located at Icheon-Ri, Dasa-Eup, Dalseong-Kun which has been severely cracked during heavy rain fall in September, 1998, was investigated and analysed for remedial measures. Various geological data were obtained by performing a surface geological survey, a ground penetrating radar(GPR) exploration, four geotechnical borings with field and laboratory tests, and the precipitation records were also reviewed. Based on the these data, the probable sliding plane was determined as a bedding plane with dip angle of 20 to 25 degrees between sandstone and shale layers at depth of 6 to 8 meters. By performing back analyses with the limit equilibrium method, the friction angle and cohesion of the sliding plane were determined as 18$^{\circ}$ and 0, respectively. Based on these results, a series of stability analyses such as stereo-graphic projection method, limiting equilibrium method and numerical method were carried out. The remedial measures for the unstable slope were selected based on the results of the limit equilibrium analyses by considering various conditions expected at the site. Ground grouting or anchoring method with proper surface drainage systems could be employed for the long term safety of the slope.