• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2001년도 ICCAS
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• pp.22.4-22
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• 2001

In this paper, the discrete optimal control is made to have the robust property of sliding mode controller. A augmented system with a virtual state is constructed for this objective and noble sliding surface is constructed based on this system. The sliding surface is the same as the optimal control trajectory in the original system. The states follow the optimal trajectory even if there exist uncertainties. The reaching phase problem of sliding mode control is desappear in this method.

• 중소기업융합학회논문지
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• 제4권2호
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• pp.25-31
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• 2014

비선형시스템에 대한 슬라이딩 모드제어 기법에 대한 연구를 수행하였다. 비선형 시스템의 파라미터가 제어성능과 간인성에 대한 관계를 구명하였다. 제어성능을 파악하기 위하여 역진자 시스템에적용하여 보았고, 다른 초기값, 슬라이딩 표면 그리고 입력값의 변화를 통하여 비교결과를 얻었다. 제어값은 제한적이었으며 슬라이딩 표면 역시 예외없이 제한폭을 나타냈다. 채터링 현상은 피할수 없이 존재하였으며, 이를 극복하기 위하여 수정된 불연속 제어기를 사용하여 현상을 감소시켰다.

• Journal of Electrical Engineering and Technology
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• 제13권3호
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• pp.1304-1316
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• 2018

An adaptive sliding-mode observer for speed estimation in sensorless vector controlled induction machine drives is proposed in this paper to balance the dilemma between the requirement of fast reaching transient and the chattering phenomenon reduction on the sliding-mode surface. It is well known that the sliding-mode observer (SMO) suffers from the chattering phenomenon. However, the reduction of the chattering phenomenon will lead to a slow transient process. In order to balance this dilemma, an adaptive exponential reaching law is introduced into SMO by optimizing the reaching way to the sliding-mode surface. The adaptive exponential reaching law is based on the options of an exponential term that adapts to the variations of the sliding-mode surface and system states. Moreover, the proposed sliding-mode observer considering adaptive exponential reaching law, which is called adaptive sliding-mode observer (ASMO), is capable for reducing the chattering phenomenon and decreasing the reaching time simultaneously. The stability analysis for ASMO is achieved based on Lyapunov stability theory. Simulation and experimental results both demonstrate the correctness and the effectiveness of the proposed method.

• 대한기계학회논문집
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• 제14권2호
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• pp.358-366
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• 1990

As a basic study to clarify the scoring resistance in lubricated sliding contact, the temperature rise on frictional surface was analyzed by theoretical method and the effects of various factors on the temperature rise were examined. On the basic of the results obtained theoretically, the practical equations to calculate the maximum average temperature of the contact surface were proposed which are applicable to sliding contact. Then, the effects of sliding velocity and oil temperature on the seizure behavior, and the relation between seizure and temperature rise were investigated. The following conclusions are deduced : The maximum average temperature rise and the other bulk temperature. The former is affected by the size of heat supply region and the sliding velocity, the latter is affected by heat transfer coefficient. Without regard to the operating condition such as sliding velocity, oil temperature and operating time at each load-step, the maximum average temperature just before seizure is nearly constant except in the region of lower velocity. Consequently, the maximum average temperature of the contact surface in boundary lubrication is a useful criterion to predict the scoring of sliding contact.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2008년도 제39회 하계학술대회
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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.

• 전기학회논문지
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• 제63권4호
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• pp.519-525
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• 2014

In this paper, an alternative variable structure controller is designed for the point-to-point regulation control of uncertain general linear plants so that the output of plants can be controlled from an arbitrarily given initial point to an arbitrarily given reference point in the state space. By using the error between the steady state value of the output and an arbitrarily given reference point and those integral, a transformed integral sliding surface is defined, in advance, as the surface from an initial state to an arbitrarily given reference point without the reaching phase problems. A corresponding control input is suggested to satisfy the existence condition of the sliding mode on the preselected transformed integral sliding surface against matched uncertainties and disturbances. Therefore, the output controlled by the proposed controller is completely robust and identical to that of the preselected transformed integral sliding surface. Through an example, the effectiveness of the suggested controller is verified.

• 전기전자학회논문지
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• 제9권2호
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• pp.87-100
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• 2005

본 연구는 불확실성이 존재하는 다이나믹 시스템을 고 강인성 및 성능 사전 결정 제어를 하기 위하여 적분 최적 가변구조 시스템을 설계한다. 제안된 제어기에서는 적분 슬라이딩 면을 이용 리칭 문제를 완전히 제거하여 시스템이 초기 값에서부터 바로 슬라이딩하여 외란과 불확실성에 무관하게 사전에 결정된 슬라이딩 면을 슬라이딩 모드 상태로 추종하므로 고 강인성 제어가 이루어진다. 적분 슬라이딩 면이 정의하는 이상 슬라이딩 동특성을 상태방정식 형으로 얻고, 고급 최적 제어 이론을 통하여 최적 의미로 설계한다. 이는 바로 슬라이딩 면과 등가 제어입력의 설계가 된다. 사전에 선정된 슬라이딩 면 위에 슬라이딩 모드를 발생할 제어입력을 설계하였다. 그 결과 외란과 불확정성에도 불구하고 주어진 초기 값에서부터 원점까지 전체 슬라이딩 출력이 완전하게 보장받는다. 더구나 기존의 최적 VSS에서는 설계 성능의 강인성을 보장받기 어려운데 반하여, 제안된 IOVSS에서는 실제 출력의 예측과 사전 결정이 가능하다. 예제를 들어 제안된 알고리듬의 성능을 검진한다.

• Tribology and Lubricants
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• 제18권6호
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• pp.389-395
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• 2002

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. The calculation of the surface temperature at a sliding contact interface has been an interesting and important subject for tribologist. Temperature analyses were usually performed under the consideration contacted two bodies as semi-infinite. But the analysis was difficulty in being applied to finite body and considering the boundary condition. In this study, contact temperature rise of two finite bodies and surfaces due to frictional heating under the rectangular and the circular sliding contact is calculated. Heat partition factor is calculated using semi-infinite solid analysis and the temperature of the finite bodies is calculated using FVM. It will be shown that Most frictional heat in the fore part of contact region for sliding direction is conducted into body that has a moving heat source and the site of the maximum temperature rise moves to the opposite direction of sliding during sliding.

• Tribology and Lubricants
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• 제7권1호
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• pp.16-27
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• 1991

The mechanism of failure of lubricated surfaces at high sliding speeds was investigated. Experiments were performed with the ball-on-flat and cylinder-on-flat geometries, using lubricants of four different chemical reactivities. Surface failure was found to not be predictable using the ratio, $\lambda$, of fluid film thickness to composite surface roughness except when chemically inert lubricants are used. Even then the influence of temperature rise on fluid film thickness does not adequately explain the low load carrying capacity of lubricants at high sliding speeds, which causes surface failure. The protective layers on sliding surfaces that form by chemical reaction with the lubricant were found to reduce the surface roughening and increase the load carrying capacity of surfaces to values of $\lambda$ as low as 0.03. Neither the surface roughening nor the formation of the protective layers have been incorporated into failure models for lubricated systems.

• Tribology and Lubricants
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• 제17권5호
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• pp.399-405
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• 2001

In this paper the ball-on-disk type sliding tests with boundary lubricated steels were carried out to verify the relation between surface profiles and wear as well as scuffing. Three kinds of surface roughness and asperity radius were produced on AISI 1045 steels using the different processes of grinding and polishing. Frictional forces and time to scuffing were measured. Also, the shape and amount of wear particles were analyzed to compare with original profiles. From the tests, it was confirmed that the size of wear particles are very related to original surface profile. The time to failures and wear amounts were sensitive to the surface spacing. The large surface spacing shows much longer sliding life and smaller wear amount than the others. Time to scuffing was increased with increasing surface profile spacing. The sire of wear particles was increased and the amount was decreased with increasing surface profile spacing. Wear volume and wear rate K were decreased with increasing surface profile spacing. And after sliding tests, surface cracks of inner parts of the wear track occurred scuffing were observed and compared the differences about each specimen having the different surface profile spacing.