• 제목/요약/키워드: Variable Structure Systems

검색결과 517건 처리시간 0.028초

비선형 시스템에 대한 퍼지 도달 법칙을 가지는 가변 구조 제어 (Variable structure control with fuzzy reaching law method for nonlinear systems)

  • 사공성대;이연정;최봉열
    • 제어로봇시스템학회논문지
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    • 제2권4호
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    • pp.279-286
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    • 1996
  • In this paper, variable structure control(VSC) based on reaching law method with fuzzy inference for nonlinear systems is proposed. The reaching law means the reaching condition which forces an initial state of system to reach switching surface in finite time, and specifies the dynamics of a desired switching function. Since the conventional reaching law has fixed coefficients, the chattering can be existed largely in sliding mode. In the design of a proposed fuzzy reaching law, we fuzzify RP(representative point)'s orthogonal distance to switching surface and RP's distance the origin of the 2-dimensional space whose coordinates are the error and the error rate. The coefficients of the reaching law are varied appropriately by the fuzzy inference. Hence the state of system in reaching mode reaches fastly switching surface by the large values of reaching coefficients and the chattering is reduced in sliding mode by the small values of those. And the effectiveness of the proposed fuzzy reaching law method is showen by the simulation results of the control of a two link robot manipulator.

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Constructing Nonlinear Sliding Surface for Spacecraft Attitude Control Problems

  • Cheon, Yee-Jin
    • 제어로봇시스템학회:학술대회논문집
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    • 제어로봇시스템학회 1999년도 제14차 학술회의논문집
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    • pp.41-44
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    • 1999
  • Nonlinear sliding surface design in variable structure systems for spacecraft attitude control problems is studied. A robustness analysis is performed for regular form of system, and calculation of actuator bandwidth is presented by reviewing sliding surface dynamics. To achieve non-singular attitude description and minimal parameterization, spacecraft attitude control problems are considered based on modified Rodrigues parameters(MRP). It is shown that the derived controller ensures the sliding motion in pre-determined region irrespective of unmodeled effects and disturbances.

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고속스핀들의 고무압을 이용한 가변예압장치 실용화를 위한 기초연구 (A Basic Study on the Application of a Variable Preload Device using Rubber Pressure for High Speed Spindle Systems)

  • 최치혁;심민섭;이춘만
    • 한국정밀공학회지
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    • 제31권8호
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    • pp.677-682
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    • 2014
  • One of the most important element technologies for achieving high-precision in machine tool spindle systems is preload technology for the bearing of spindle systems. Fixed position preload, constant pressure preload, conversion preload and variable preload methods have been applied for the spindle systems. In this study, a new variable preload method using centrifugal force and rubber pressure is used for reducing installation costs through simplifying its structure. The main objective of the work is the verification of the operability in a preload device using the rubber pressure by the finite element analysis. It is shown that the variable preload device proposed in this study is applicable to high speed machine tool spindles.

클러터 환경하에서 기동표적의 추적을 위한 가변차원 확률 데이터 연관 필터 (A Variable Dimensional Structure with Probabilistic Data Association Filter for Tracking a Maneuvering Target in Clutter Environment)

  • 안병완;최재원;송택렬
    • 제어로봇시스템학회논문지
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    • 제9권10호
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    • pp.747-754
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    • 2003
  • An enhancement of the probabilistic data association filter is presented for tracking a single maneuvering target in clutter environment. The use of the variable dimensional structure leads the probabilistic data association filter to adjust to real motion of a target. The detection of the maneuver for the model switching is performed by the acceleration estimates taken from a bias estimator of the two stage Kalman filter. The proposed algorithm needs low computational power since it is implemented with a single filtering procedure. A simple Monte Carlo simulation was performed to compare the performance of the proposed algorithm and the IMMPDA filter.

가변 구조 제어를 이용한 AC 서보 모터의 고성능 제어 (Variable structure control of AC servo motors for high performance)

  • 김정호;은용순;조동일
    • 제어로봇시스템학회논문지
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    • 제2권4호
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    • pp.351-361
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    • 1996
  • A variable structure controller is developed for an AC servo motor used in CNC milling machines. The designed controller is implemented as an outer loop controller to a factory designed motor-servopack system. The robustness parameter is tuned for a fast response when the speed tracking error is large, while it is tuned for small oscillations when the speed tracking error is small. The designed controller is installed on a CNC machine using a PC. Cutting experiments show improved performance over the factory-designed controller.

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부정합조건 불확실성과 외란을 갖는 시스템을 위한 비선형 적분 슬라이딩 면을 갖는 새로운 강인한 적분 가변구조제어기 (A New Robust Variable Structure Controller with Nonlinear Integral-Type Sliding Surface for Uncertain Systems with Mismatched Uncertainties and Disturbance)

  • 이정훈
    • 전기학회논문지
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    • 제59권3호
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    • pp.623-629
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    • 2010
  • In this paper, a new robust variable structure controller based on a nonlinear integral type sliding surface is presented for the control of uncertain systems with mismatched uncertainties and disturbance. A nonlinear integral type sliding surface is suggested for removing the reaching phase. After its ideal sliding dynamics is obtained, the two design methods are presented. A corresponding control input is proposed to satisfy the closed loop stability in the sense of Lyapunov and the existence condition of the sliding mode on the nonlinear integral type sliding surface, which will be investigated in Theorem 1. Through a design example and simulation study, the usefulness of the proposed controller is verified.

불확실 이산 시스템을 위한 외란관측기를 갖는 새로운 둔감한 이산 정적 출력 궤환 가변구조제어기 (A New Robust Discrete Static Output Feedback Variable Structure Controller with Disturbance Observer for Uncertain Discrete Systems)

  • 이정훈
    • 전기학회논문지
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    • 제59권3호
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    • pp.630-635
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    • 2010
  • In this paper, a new discrete static output feedback variable structure controller based on a new dynamic-type sliding surface and output feedback discrete version of the disturbance observer is suggested for the control of uncertain linear systems. The reaching phase is completely removed by introducing a new proposed dynamic-type sliding surface. The output feedback discrete version of disturbance observer is derived for effective compensation of uncertainties and disturbance. A corresponding control with disturbance compensation is selected to guarantee the quasi sliding mode on the predetermined dynamic-type sliding surface for guaranteeing the designed output in the dynamic-type sliding surface from any initial condition for all the parameter variations and disturbances. Using Lyapunov function, the closed loop stability and the existence condition of the quasi sliding mode is proved. Finally, an illustrative example is presented to show the effectiveness of the algorithm.

불확실 이산 시스템을 위한 외란관측기를 갖는 새로운 둔감한 이산 적분형 가변구조제어기 (A New Robust Discrete Integral Variable Structure Controller with Disturbance Observer for Uncertain Discrete Systems)

  • 이정훈
    • 전기학회논문지
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    • 제59권6호
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    • pp.1167-1172
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    • 2010
  • In this paper, a new discrete integral variable structure controller based on the a new sliding surface and discrete version of the disturbance observer is suggested for the control of uncertain linear systems. The reaching phase is completely removed by introducing a new proposed integral sliding surface. The discrete version of disturbance observer is derived for effective compensation of uncertainties and disturbance. A corresponding control with disturbance compensation is selected to guarantee the quasi sliding mode on the predetermined integral sliding surface for guaranteeing the designed output in the integral sliding surface from any initial condition for all the parameter variations and disturbances. Using Lyapunov function, the closed loop stability and the existence condition of the quasi sliding mode is proved. Finally, an illustrative example is presented to show the effectiveness of the algorithm.

다변수 슬라이딩 모드 제어에 의한 부정합조건 불확실성을 갖는 다입출력 비선형 시스템의 강인그로벌 지수 안정화 (A Robust Global Exponential Stabilization of Uncertain Affine MIMO Nonlinear Systems with Mismatched Uncertainties by Multivariable Sliding Mode Control)

  • 이정훈
    • 전기학회논문지
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    • 제60권9호
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    • pp.1754-1760
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    • 2011
  • In this paper, a systematic design of a robust nonlinear multivariable variable structure controller based on state dependent nonlinear form is presented for the control of MIMO uncertain affine nonlinear systems with mismatched uncertainties and matched disturbance. After a MIMO uncertain affine nonlinear system is represented in the form of state dependent nonlinear system, a systematic design of a robust nonlinear variable structure controller is presented. To be linear in the closed loop resultant dynamics, the linear sliding surface is applied. A corresponding diagonalized control input is proposed to satisfy the closed loop global exponential stability and the existence condition of the sliding mode on the linear sliding surface, which will be investigated in Theorem 1. Through a design example and simulation study, the usefulness of the proposed controller is verified.

최적 가변구조제어기를 갖는 차량 능동 현가시스템의 성능특성에 관한 연구 (Performance characteristics of a vehicle active suspension system with an optimal variable structure controller)

  • 김주용;장효환
    • 제어로봇시스템학회:학술대회논문집
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    • 제어로봇시스템학회 1993년도 한국자동제어학술회의논문집(국내학술편); Seoul National University, Seoul; 20-22 Oct. 1993
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    • pp.1161-1166
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    • 1993
  • The performances of a vehicle active suspension system with an optimal variable structure controller are compared to those of passive suspension system and active suspension systems with sky-hook and optimal controllers. The quater car model has a 2 DOF which accounts for vertical motions of a sprung and a unsprung masses. The transient responses are analyzed when a vehicle passing through a bump with a constant speed and the frequency responses are analyzed for white noise input at wheel. Particulary, RMS responses are also analyzed. It is shown that the optimal variable structure controller gives better performance of the vehicle active suspensio system than an optimal and a sky-hook controller.

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