• 제어로봇시스템학회논문지
• /
• 제18권4호
• /
• pp.295-301
• /
• 2012

This paper deals with the design of robust DSMC (Discrete-Time Sliding Mode Control) scheme in order to overcome system uncertainty in steering system with mechanically joined structure. The proposed control scheme is one of robust control schemes based on system dynamics. Therefore, system dynamics required is not obtained from physical law but SCM (Signal Compression Method) through experiment in order to avoid complicate mathematical development and save time. However, SCM has a shortcoming that is the limitation of with $2^{nd}$ order linear model which does not include the dynamic of high-frequency band. Thus, considering system uncertainty, DSMC is designed. In addition, to reduce the chattering problem of DSMC, DSMC is derived from the reaching law and the Lyapunov stability condition. It is found that the proposed control scheme has robustness in spite of the perturbation of system uncertainty through computer simulation.

• 한국지진공학회논문집
• /
• 제25권6호
• /
• pp.305-314
• /
• 2021

The Gyeongju and Pohang earthquakes caused damages to many cultural properties; particularly, stone pagoda structures were significantly damaged among masonry cultural properties. To preserve these structures, it is necessary to understand their dynamic behavior characteristics under earthquakes. Analyses on such areas as deformation, frequency, maximum acceleration, permanent displacement, sliding, and rocking have to be performed. Although many analytical studies have already been conducted, dynamic behavior studies based on experiments are insufficient. Therefore, this study analyzed dynamic behavior characteristics by performing a shaking table experiment on a three-story stone pagoda structure at the Cheollongsa temple site damaged by the Gyeongju earthquake. As a result of the experiment, the displacements of stylobates did not occur significantly, but the tower body parts rotated. In particular, the rotation of the 1F main body stone was relatively larger than that of the other chief body stones because the 1F main body stone is relatively more slender than the other parts. In addition, the decorative top was identified as the component most vulnerable to sliding. This study found that the 1F main body stone is vulnerable to rocking, and the parts located on the upper part are more vulnerable to sliding.

• 한국윤활학회:학술대회논문집
• /
• 한국윤활학회 1990년도 제12회 학술강연회초록집
• /
• pp.63-68
• /
• 1990

Friction and wear behavior of a unidirectional high modulus carbon fiber reinforced epoxy composite exposed to high and low humidity was experimentally examined with various sliding speeds. The results show that the moisture at the sliding surface greatly influences friction and wear properties of the composite. It is also discoverd that the difference in friction and wear behavior between samples with different fiber orientations is mainly due to the anisotropic properties caused by the microstructure of oriented graphite crystals in the carbon fibers and the macrostructure of fiber orientation in the matrix.

• 한국정밀공학회지
• /
• 제9권1호
• /
• pp.18-28
• /
• 1992

시스템의 모델링 과정에서 발생될 수 있는 불확실성(uncertainty) 혹은 미지의 가반중량을 비롯한 외란에 의해 발생되는 불확실성 등을 갖고있는 로봇의 강건 추적제어기 설계를 위해 가변구조시스템(variable structure system) 이론을 적용하였다. 시스템 방정식과 연계하여 슬라이딩 모드가 존재하기 위한 조건을 구했으며, 입력 에 대한 불확실성은 매칭조건(matching condition)을 가정하여 다루었다. 기존의 방법에 비해 제어기 설계과정이 간단 명료하며 요구되는 궤적에 대한 추적제어 효과 또한 매우 우수함을 컴퓨터 시뮬레이션을 통해 입증하였다.

• Tribology and Lubricants
• /
• 제6권2호
• /
• pp.88-93
• /
• 1990

Friction and wear behavior of a unidirectional high modulus carbon fiber reinforced epoxy composite exposed to high and low humidity was experimentally examined with various sliding speeds. The results show that the moisture at the sliding surface greatly influences friction and wear properties of the composite. It is also discoverd that the difference in friction and wear behavior between samples with different fiber orientations is mainly due to the anisotropic properties caused by the microstructure of oriented graphite crystals in the carbon fibers and the macrostructure of fiber orientation in the matrix.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 2001년도 ICCAS
• /
• pp.166.6-166
• /
• 2001

An attitude control of an air vehicle based on the variable structure control is proposed. For an air vehicle, minimum weight is required. Thus, it is desired to reduce the input energy. The optimal state portrait curve using time-varying sliding surface is proposed to reduce the control energy. Tracking performance of the closed loop system is guaranteed under the existence of parameter variation and external disturbances.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 1988년도 한국자동제어학술회의논문집(국제학술편); 한국전력공사연수원, 서울; 21-22 Oct. 1988
• /
• pp.843-847
• /
• 1988

A new control method for position control of D.C. servo motor based on the variable structure control is presented. The desired trajectory satisfying the given performance requirement is used as the sliding curve. And the control input forcing the system to follow the desired model system is applied. As a result the method is robust to disturbance. The performance of the proposed controller is compared with that of the conventional state feedback controller through digital computer simulation.

• 한국정밀공학회:학술대회논문집
• /
• 한국정밀공학회 2006년도 추계학술대회 논문집
• /
• pp.327-328
• /
• 2006

• 대한전자공학회:학술대회논문집
• /
• 대한전자공학회 1999년도 추계종합학술대회 논문집
• /
• pp.703-706
• /
• 1999

In this paper, robust vibration control of a one-link flexible robot arm based on variable structure system is discussed. We derive dynamic equations of it using a Lagragian assumed modes method based on Bernoulli-Euler beam theory. The optimal sliding surface is designed and the problem of chattering is also solved by the adoptation of a continuous control law within a small neighborhood of the switching hyperplane.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
• /
• pp.652-655
• /
• 1996

This paper develops an AC motor controller for applications. The AC motor controller is designed based on the variable structure control method and a variable structure disturbance observer is added to reduce the effects of exogenous disturbances. The designed controller is installed on the z-axis of a CNC machining center and milling experiments were performed. The results show improved performance on both position and speed tracking, when compared to the factory-designed servo controller.