• Journal of Power Electronics
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• v.15 no.3
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• pp.753-762
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• 2015

This paper presents a nonlinear sliding mode control (SMC) scheme with a variable damping ratio for interior permanent magnet synchronous motors (IPMSMs). First, a nonlinear sliding surface whose parameters change continuously with time is designed. Actually, the proposed SMC has the ability to reduce the settling time without an overshoot by giving a low damping ratio at the initial time and a high damping ratio as the output reaches the desired setpoint. At the same time, it enables a fast convergence in finite time and eliminates the singularity problem with the upper bound of an uncertain term, which cannot be measured in practice, by using a simple adaptation law. To improve the efficiency of a system in the constant torque region, the control system incorporates the maximum torque per ampere (MTPA) algorithm. The stability of the nonlinear sliding surface is guaranteed by Lyapunov stability theory. Moreover, a simple sliding mode observer is used to estimate the load torque and system uncertainties. The effectiveness of the proposed nonlinear SMC scheme is verified using comparative experimental results of the linear SMC scheme when the speed reference and load torque change under system uncertainties. From these experimental results, the proposed nonlinear SMC method reveals a faster transient response, smaller steady-state speed error, and less sensitivity to system uncertainties than the linear SMC method.

• Tribology and Lubricants
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• v.26 no.2
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• pp.105-110
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• 2010

In order to investigate the wear behavior of aluminum alloy depended on different hardness of the mating tool steel, sliding wear tests were conducted. It was found that the wear characteristics pattern of aluminum alloy for sliding speed was not affected by the hardness of the mating tool steel. However, the effects of the hardness of the mating tool steel exhibited only in relatively low sliding speed ranges. At these ranges, the wear rate of aluminum alloy decreased when increasing the hardness of the mating tool steel. This was attributed by the fact that $Al_2O_3$ particles released from the aluminum worn surface were crushed and embedded on the mating worn surface with high hardness level. At the high sliding speed ranges, wear of aluminum alloy was hardly occurred by the formation of thick $Al_2O_3$ film on the worn surface, regardless of the hardness of the mating tool steel.

• Transactions of the Korean Society of Mechanical Engineers
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• v.18 no.10
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• pp.2597-2605
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• 1994

The wear behavior of two types of $Si_3N_4$ exposed to high and low humidity was examined at various sliding speeds, using bearing steel as disk material under pin-on-disk type sliding conditions. Higher wear rates were obtained at a high humidity than at a low humidity. As the sliding speed was increased, the wear rates were decreased and the effect of humidity on the wear rates of $Si_3N_4$ was reduced. The result that the $Si_3N_4$ pin showed higher wear rate under the high humidity condition was explained by the decrease in microhardness of $Si_3N_4$ due to the chemisorbed moisture on the pin and plowing action by the hard particles of $Fe_2O_3$ from the disk. An increase in the sliding speed is supposed to reduce the effect of humidity on the wear rate of $Si_3N_4$ by raising the average temperature of the disk surface and the local temperature at pin-disk contact point.

• Journal of Power Electronics
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• v.14 no.5
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• pp.980-988
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• 2014

This paper proposes an online gain tuning algorithm for a robust sliding mode speed controller of surface-mounted permanent magnet synchronous motor (SPMSM) drives. The proposed controller is constructed by a fuzzy neural network control (FNNC) term and a sliding mode control (SMC) term. Based on a fuzzy neural network, the first term is designed to approximate the nonlinear factors while the second term is used to stabilize the system dynamics by employing an online tuning rule. Therefore, unlike conventional speed controllers, the proposed control scheme does not require any knowledge of the system parameters. As a result, it is very robust to system parameter variations. The stability evaluation of the proposed control system is fully described based on the Lyapunov theory and related lemmas. For comparison purposes, a conventional sliding mode control (SMC) scheme is also tested under the same conditions as the proposed control method. It can be seen from the experimental results that the proposed SMC scheme exhibits better control performance (i.e., faster and more robust dynamic behavior, and a smaller steady-state error) than the conventional SMC method.

• Journal of Institute of Control, Robotics and Systems
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• v.16 no.12
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• pp.1197-1200
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• 2010

The problem of designing a nonlinear sliding surface for an uncertain system is considered. The proposed sliding surface comprises a linear time invariant term and an additional time varying nonlinear term. It is assumed that a linear sliding surface parameter matrix guaranteeing the asymptotic stability of the sliding mode dynamics is given. The linear sliding surface parameter matrix is used for the linear term of the proposed sliding surface. The additional nonlinear term is designed so that a Lyapunov function decreases more rapidly. By including the additional nonlinear term to the linear sliding surface parameter matrix we obtain a nonlinear sliding surface such that the speed of responses is improved. We also give a switching feedback control law inducing a stable sliding motion in finite time. Finally, we give an LMI-based design algorithm, together with a design example.

• Journal of Electrical Engineering and Technology
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• v.7 no.4
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• pp.513-523
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• 2012

For precisely regulating the speed of a permanent magnet synchronous motor system with unknown load torque disturbance and disturbance inputs, an LMI-based sliding mode control scheme is proposed in this paper. After a brief review of the PMSM mathematical model, the sliding mode control law is designed in terms of linear matrix inequalities (LMIs). By adding an extended observer which estimates the unknown load torque, the proposed speed tracking controller can guarantee a good control performance. The stability of the proposed control system is proven through the reachability condition and an approximate method to implement the chattering reduction is also presented. The proposed control algorithm is implemented by using a digital signal processor (DSP) TMS320F28335. The simulation and experimental results verify that the proposed methodology achieves a more robust performance and a faster dynamic response than the conventional linear PI control method in the presence of PMSM parameter uncertainties and unknown external noises.

• Tribology and Lubricants
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• v.39 no.3
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• pp.111-117
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• 2023

This paper presents an experimental investigation of the tribological characteristics of PTFE composites filled with nano CuO particles under low sliding speed and load. All the specimens were prepared by sintering. Before sintering, the mixture of PTFE powder and CuO particles were mixed by a high-speed mixer using CuO volume fractions of 0.2 vol. % and 5 vol. %. Each mixture was sintered at 350 ℃ for 30 min on the steel disk. We conducted ball-on-disk sliding test an hour using a steel ball against PTFE composites, including pure PTFE. The load and sliding speed used was 2 N and 0.01 m/s, respectively. Adding nano CuO particles increases the friction coefficient because of the abrasiveness of hard nano CuO particles. The highest coefficient of frictions was obtained from 5 vol. % CuO. Conversely, the lowest wear of the composites was obtained from the 5 vol. % CuO nanocomposite. This study reveals that the addition of nano CuO particles can lower the wear of PTFE, despite an increase in the coefficient of friction. However, the coefficient friction is still moderate compared to other engineering polymers. In addition, the amount of CuO nano particles has to be optimized to reduce friction and wear at the same time.

• Journal of the Korean Society for Heat Treatment
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• v.12 no.2
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• pp.136-144
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• 1999

The study on the wear characteristics of compound layers formed during gaseous nitrocarburising in the medium carbon boron steels and the plain carbon steel has been carried out by using a pin-on-disc type wear test machine under the oil lubricating condition at room temperature and by varying applied loads, sliding speeds and wear distances. Values of friction coefficient measured at the sliding speed of 0.4m/sec under the oil lubricating condition have been shown to decrease considerably with increasing applied load and become gradually a constant value as load is increased to a higher value, showing that the transition load for friction coefficient appears at an applied load of 247.2N. The length and volume wear rates of compound layer have been revealed to relatively constantly increase, also showing that the wear life per unit thickness of compound layer turns out to be superior as porous layer has a denser and thinner appearance. As the sliding speed increases during wear test performed by varying sliding speed at a load of 63.2N under the oil lubricating condition for medium carbon boron steel nitrocarburised in gas atmosphere, the wear rate has been found to increase, the friction coefficient to decrease and the wear life per unit thickness of compound layer to decrease considerably.

• Tribology and Lubricants
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• v.22 no.3
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• pp.137-143
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• 2006

The sliding contact interface of machine components such as bearings, gears frequently operates in lubrication at the inception of sliding failure under high loads, speed and slip. The surface temperature at the interface of bodies in a sliding contact is one of the most important factors influencing the behavior of machine components. Most surface failure in sliding contact region result from frictional heat generation. However, it is difficult to measure temperature rise experimentally. So the calculation of the surface temperature at a sliding contact interface has long been an interesting and important subject for tribologist. The surface temperature rise is related in contact pressure, sliding speed, material properties and lubrication thickness. Though roughness, load, ect all of the condition, are same, film thickness varies with velocity. In this study, surface temperature rise due to frictional heating in lubrication is calculated with various velocities. Surface film shearing and dry solid asperity contact are used to simulate the change of frictional heat in lubricated contact

• Proceedings of the KIEE Conference
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• 2008.07a
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• pp.1679-1680
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• 2008

DC motor has been widely used in industrial applications, because the performance is excellent on the speed and position system. However, when a system has parameter uncertainty, it is very difficult to guarantee its performance. Sliding mode control is robust for parameter uncertainty. However conventional sliding mode control can not have the properties of PID controller because its sliding surface has lower order dynamics than the original system. In this paper the sliding surface design method is proposed by using virtual state for DC motor speed control. Its design is based on the augmented system whose dynamics have one higher order than that of the original system. As a result, in spite of the parameter uncertainty, the proposed sliding surface can have the same dynamic of nominal system controlled by PID controller. And the reaching phase is removed by setting an initial state which makes the initial sliding surface equal to zero.