• Journal of Power Electronics
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• 제15권5호
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• pp.1358-1366
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• 2015

This study focuses on an advanced second-order sliding mode control strategy for a variable speed wind turbine based on a permanent magnet synchronous generator to maximize wind power extraction while simultaneously reducing the mechanical stress effect. The control design based on a modified version of the super-twisting algorithm with variable gains can be applied to the cascaded system scheme comprising the current control loop and speed control loop. The proposed control inheriting the well-known robustness of the sliding technique successfully deals with the problems of essential nonlinearity of wind turbine systems, the effects of disturbance regarding variation on the parameters, and the random nature of wind speed. In addition, the advantages of the adaptive gains and the smoothness of the control action strongly reduce the chatter signals of wind turbine systems. Finally, with comparison with the traditional super-twisting algorithm, the performance of the system is verified through simulation results under wind speed turbulence and parameter variations.

• 한국항공우주학회지
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• 제49권3호
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• pp.213-219
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• 2021

본 논문은 헬리콥터 제어 성능 향상을 위한 증분 트위스팅 보상기법을 제안하고 자체 개발한 헬리콥터 시뮬레이터를 통해 그 성능을 검증한다. 본 보상기법은 헬리콥터의 기본 비행제어입력에 2차 슬라이딩 모드 보상입력(일명 트위스팅 보상입력)을 간단하게 추가하는 증분 방식으로, 기존 비행제어법칙의 구조를 그대로 유지하면서 헬리콥터 제어 성능을 향상한다는 데 장점이 있다. 제안된 보상기법은 자체 개발한 헬리콥터 시뮬레이터를 통해 기존비행제어법칙 대비 과도응답 및 정상상태 응답 특성을 개선하는 것으로 확인되었다.

• 한국항공우주학회지
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• 제48권5호
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• pp.373-381
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• 2020

쿼드로터는 대칭적인 구조로 모델링이 간단하지만 외란과 시스템의 불확실성에 민감하다는 단점이 있다. 쿼드로터의 제어를 위해 비교적 간단하게 적용이 가능한 PID 제어가 많이 연구되고 있지만, 비선형 시스템에서는 정밀한 제어가 힘들다는 단점이 있다. 본 논문에서는 이를 해결하기 위하여 외란과 시스템의 불확실성에 강인한 특징을 가지는 슈퍼 트위스팅 알고리즘(Super twisting algorithm)을 이용한 쿼드로터 제어를 제안한다. 이 제어기법을 이용하여 쿼드로터의 자세제어기를 구성하였다. 구성한 제어기의 성능을 검증하기 위해 시뮬레이션 및 실제 비행시험을 진행하였다. 제어기의 보다 객관적인 성능 검증을 위해 PID 제어와 성능 비교를 진행하였다.

• Journal of Power Electronics
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• 제13권6호
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• pp.955-963
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• 2013

To acquire a performed and practical solution that is free from chattering, this study proposes the use of an adaptive super-twisting algorithm to drive a single-phase induction motor. Partial feedback linearization is applied before using a super-twisting algorithm to control the speed and stator currents. The load torque is considered an unknown but bounded disturbance. Therefore, a time-varying switching gain that does not require prior knowledge of the disturbance boundary is proposed. A simple sliding surface is formulated as the difference between the real and desired trajectories obtained from the indirect rotor flux oriented control strategy. To illustrate the effectiveness of the proposed control structure, an experimental setup around a digital signal processor (dS1104) is developed and several tests are performed.

• Maxillofacial Plastic and Reconstructive Surgery
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• 제33권5호
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• pp.375-384
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• 2011

Purpose: The advent of microsurgical technique and instruments, particularly in the field of perforator flap and supermicrosurgery, which have expanded the scope of microsurgery. However, supermicroanastomosis without any compression, tension, or distortions must be achieved to reach successful outcomes. Small-caliber vessels, such as those with an internal diameter less than 0.2 mm, are susceptible to inadvertent twisting of the anastomosis. In this study, using the superficial inferior epigastric artery (SIEA)-based flap model in Sprague-Dawley (SD) rats, we evaluated the acceptable limits of twisting effects on supermicroanastomotic sites. Methods: A total of 20 supermicroanastomoses were performed using the SIEA-based flap model in 10 male SD rats, 10-weeks-of-age, weighing 300~350 g. Rats were divided into five groups of two with four flaps as follows: 1) sham, 2) control group with end to end SIEA arterial supermicroanastomosis, 3) experimental I (EA1) with $90^{\circ}$ twisting, 4) experimental II (EA2) with $180^{\circ}$ twisting, and 5) experimental III (EA3) with $270^{\circ}$ twisting of the supermicroanastomosis. Each SIEA was anastomosed using six 11-0 $Ethilon^{(R)}$ (Ethicon Inc. Co., NJ, USA) stitches except in the sham group where the SIEA was only clamped with Supermicro vascular $clamps^{(R)}$ (S&T, Neuhausen, Switzerland) for 20 minutes. Results: The anastomosed arterial patency showed no remarkable changes according to doppler waveforms measured with a Smardop 45 Doppler System (Hadeco Inc., Kawasaki, Japan). The pulsatility index (PI) was increased at postoperative day 10 in the EA2 and EA3 groups, and the resistance index (RI) showed no statistically significant difference between preoperative and postoperative values at 10 days. Histologic specimens from the EA3 group showed increased tunica media necrosis, convolution of the internal elastic lamina, densely packed platelets, fibrin, and erythrocytes. Flap viability and anastomosed vessel patency were not significantly affected by the degree of arterial twisting in this study, other than in the EA3 group where minor effects on arterial patency of the microanastomoses were encountered. Conclusion: It appears that minor twisting on small caliber arteries, used in supermicroanastomoses, can be tolerated. However, twisting should be avoided as much as possible, and more than $180^{\circ}$ twisting must be prevented in clinical practice.

• Nuclear Engineering and Technology
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• 제52권3호
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• pp.552-559
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• 2020

This paper presents an observer-based chattering free robust optimal control scheme to regulate the total power of a nuclear reactor. The non-linear model of nuclear reactor is linearized around a steady state operating point to obtain a linear model for which an optimal second order integral sliding mode controller is designed. A second order integral sliding mode observer is also designed to estimate the unmeasurable states. In order to avoid the chattering effect, the discontinuous input of both observer and controller are designed using the super-twisting algorithm. The proposed controller is realized by combining an optimal linear tracking controller with a second order integral sliding mode controller to ensure minimum control effort and robustness of the closed-loop system in the presence of uncertainties. The condition for the selection of gains of discontinuous control based on the super-twisting algorithm is derived using a strict Lyapunov function. Performance of the proposed observer based control scheme is demonstrated through non-linear simulation studies.

• 한국복합재료학회:학술대회논문집
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• 한국복합재료학회 2001년도 춘계학술발표대회 논문집
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• pp.151-154
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• 2001

Shape memory alloy (SMA) has demonstrated its potentials for various smart structure applications. SMA wires undergo a reversible phase transformation from martensite to austenite as temperature increases. This transformation leads to shape recovery and associated recovery strains. If SMA actuators are embedded off the neutral surface and are oriented in arbitrary angles with respect to a beam axis, then the beam bends and twists due to the coupling effects of recovery strains activated. In this study, the bending and twisting of a SMA/Composite beam were controlled by both electric resistive heating and passive elastic tailoring. 3-dimensional finite element formulations were derived and validated to analyze the responses of the SMA/Composite beam. Numerical results show that the shape of the SMA/Composite beam can be controlled by judicious choices of control temperatures, SMA angles, and elastic tailoring.

• 제어로봇시스템학회논문지
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• 제21권6호
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• pp.524-530
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• 2015

Early wearable robotic devices were big, powerful and manipulator-like. Recently, various applications of wearable robotics have shown a greater demand for lower weight and compliancy. One approach to achieve these objectives is the use of novel actuators such as twisted string actuators. These actuator are very light, quiet, mechanically simple and compliant. Therefore, they can drastically decrease the weight and size of robotic systems such as exoskeletons. However, one drawback of this actuator is its nonlinear transmission ratio, which is established as a ratio between the angle of twisting of the strings and their resulting contraction. In this paper, we propose a transmission mechanism with rotational motion as the output incorporating a twisted string actuator (TSA). The designed mechanism allows the linearization of the relationships between the input and output displacements and forces of a TSA. The proposed design has been validated theoretically and through a set of computer simulations. A detailed analysis of the performance of the proposed mechanism is presented in this paper along with a design guideline.

• International Journal of Aeronautical and Space Sciences
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• 제15권3호
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• pp.281-292
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• 2014

We propose a novel cooperative guidance law design method based on the finite time disturbance observer (FTDO) for multiple near space interceptors (NSIs) with impact time control. Initially, we construct a cooperative guidance model with head pursuit, and employ the FTDO to estimate the system disturbance caused by target maneuvering. We subsequently separate the cooperative guidance process into two stages, and develop the normal acceleration command based on the super-twisting algorithm (STA) and disturbance estimated value, to ensure the convergence of the relative distance. Then, we also design the acceleration command along the line-of-sight (LOS), based on the nonsingular fast terminal sliding mode (NFTSM) control, to ensure that all the NSIs simultaneously hit the target. Furthermore, we prove the stability of the closed-loop guidance system, based on the Lyapunov theory. Finally, our simulation results of a three-to-one interception scenario show that the proposed cooperative guidance scheme makes all the NSIs hit the target at the same time.

• 동력기계공학회지
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• 제21권4호
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• pp.77-83
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• 2017

The aim of this paper is to solve the chattering and delayed response problems caused by gear backlash. In the gear mechanism based systems, for example, in robot systems, the actuators provide the reduction gear with motors to transfer effectively electric power to mechanical power. Therefore, the gear backlash exists and is an unavoidable fact which makes many undesirable problems. In this paper, the authors try to make a solution for this issue and, introduce several control methods which are PID only, PID with Smith predictor and super-twisting algorithm based SMC(sliding mode control). Each control method is applied to the real plant in which strong backlash is included. By comparison results, it is clear that SMC gives the best control performance with little backlash effects. Also, the usefulness and effectiveness of proposed control method is verified by experiment.