• Transactions of the Korean Society of Machine Tool Engineers
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• v.11 no.3
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• pp.93-101
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• 2002

The effect of nonlinear friction in the low velocity is dominant in precise controlled mechanisms and it is difficult to identify the friction effect. The friction model which Canudas suggested so called, LuGre model is well expressed the friction effect as Streibeck in the law velocity. But it\`s model parameters were estimated continuously in operation for precise control. This paper suggests the sliding mode controller and observer for compensating the friction effect. Experimental results for a ball-screw system show that the proposed method has a good performance especially in the low velocity.

• Journal of the Korean Society of Visualization
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• v.22 no.1
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• pp.61-67
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• 2024

In this study, the behavior of water droplets on a solid-infused surface was evaluated by quantifying a water droplet's contact angle, sliding angle, and terminal velocity. The contact angle hysteresis and sliding angle of water on the solid-infused surface were measured to be lower than those of the hydrophobic PTFE surface. It led to the enhancement of the initiation of the water droplet's movement. When the capillary number was lower than Ca < 0.004, the terminal velocity of the water droplet on the solid-infused surface was higher than the PTFE surface due to the low contact line resistance. However, the transition of the droplet morphology from a hemispherical shape to a streamlined teardrop shape beyond Ca > 0.004 lost the effect of reducing frictional resistance on the solid-infused surface.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.58 no.1
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• pp.168-172
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• 2009

We compare an integral sliding mode control with a typical sliding mode control for robot manipulators through two primitive tasks: set-point regulation and trajectory tracking control. To prove the asymptotic stability of two methods for robot manipulators, we introduce three important properties in the robot dynamics: skew-symmetry, positive-definiteness, and boundedness of robot parameter matrices and we present one unified control structure using a parametric velocity vector. From illustrative examples, we show that two methods effectively control for robot manipulators.

• Journal of Institute of Control, Robotics and Systems
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• v.21 no.9
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• pp.801-806
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• 2015

In this paper, we propose cascade-form velocity controller for a permanent magnet synchronous motor (PMSM). The proposed controller consists of a sliding-mode controller (SMC) for the inner current control loop and a model-predictive controller (MPC) for the outer velocity control loop. With SMC, we can ensure that the current tracking error always converges to zero in finite time. The SMC is designed to track the desired currents. Additionally, with MPC, we can obtain the optimal velocity control input which minimizes the cost function. Constraint conditions for input and input variation are included in the MPC design. The simulation results are included to validate the performance of the proposed controller.

• Composites Research
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• v.13 no.6
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• pp.1-8
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• 2000

The fabrication Process of $Al_2O_{3p}$/AC8A composites by pressureless infiltration technique and the effects of additive Mg content and volume fraction of particulate reinforcement on mechanical and wear properties were investigated. It was found that the bending strength decreased with increasing volume fraction of $Al_2O_{3p}$ particles. Whereas hardness increased with volume fraction of $Al_2O_{3p}$ particles. The decrement of strength in case of high volume fraction of $Al_2O_{3p}$ particles was attributed to high porosity level. In terms of additive Mg content, $Al_2O_{3p}$/AC8A composites containing around 5~7wt% of additive Mg indicated the highest strength, and hardness values increased with additive Mg contents. Wear resistance of AC8A alloy were improved by reinforcement of $Al_2O_{3p}$ particles especially at high sliding velocity. Wear property of $Al_2O_{3p}$/AC8A composites and AC8A alloy exhibited different aspects. $Al_2O_{3p}$/AC8A composites indicated more wear loss than AC8A alloy at slow velocity region. However a transition point of wear loss was found at middle velocity region which shows the minimum wear loss and wear loss at high velocity region exhibited almost same value as at slow velocity region, whereas wear loss of AC8A alloy almost linearly increased with sliding velocity. It was found that $Al_2O_{3p}$/AC8A composites containing $Al_2O_{3p}$ volume fraction of 20% exhibited abrasive wear surface regardless of sliding velocity and $Al_2O_{3p}$/AC8A composites containing $Al_2O_{3p}$ volume fraction of 40% showed slightly adhesive wear surface at low sliding velocity, and it progressed to severe wear as increasing the sliding velocity.

• Journal of Advanced Marine Engineering and Technology
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• v.29 no.8
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• pp.842-848
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• 2005

The decoupling control using state feedback was once intensively studied during 1960's by many researchers. However, this control scheme was sensitive to the disturbance and Parameter variations. SMC(sliding mode control) is known as a robust control methodology to overcome such a disturbance. In this paper. the decoupling control by means of SM(sliding mode) for a trajectory control of a two-degrees-of- freedom manipulator was discussed. The position and velocity of manipulator tip were adopted to compose a nonlinear error functions. The reference inputs of the controller can be decided by switching function combined with the desired position and velocity. Simulation result is provided to verify the effectiveness of the proposed control scheme.

• Transactions of the Korean Society of Automotive Engineers
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• v.2 no.2
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• pp.1-11
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• 1994

The most commonplace of collisions that directly affect people is that of vehicles. Safety studies have noted a correlation between vehicle occupant injury severity and velocity changes. Methods for estimating collision velocity changes are discussed here. This topic is part of what is referred to as accident reconstruction. Only planar collisions are considered. When a vehicle collides with another, impact dynamics with friction should be considered. This paper presents a general analysis methodology of impact. must dynamics incorporating friction. The presence of friction between sliding contacts during the impact makes the problem difficult since the events such as reverse sliding or sticking, which may occur at different times throughout the impact, must be determined. This paper uses the results of RICSAC experiments for verifying the developed methodology. The analysis and experimental results agree well.

• The Transactions of the Korean Institute of Power Electronics
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• v.3 no.3
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• pp.240-245
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• 1998

This paper presents an improved sliding mode controller design for induction motor. In place of the discontinuous control inputs, continuous inputs are proposed in order to remove the undesirable chattering phenomena, which represent major drawbacks of the sliding mode controller. The design strategy is illustrated with a microprocessor based implementation for the velocity control of an induction motor. An induction motor is operated under sling mode control such that the motor angular velocity follows a predetermined trajectory. The experimental results confirm the validity of the proposed method.

• Journal of the Korean Institute of Illuminating and Electrical Installation Engineers
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• v.21 no.8
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• pp.44-53
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• 2007

In this paper, the Sliding Mode Controller is applied to reduce the starting current of the single phase induction motor. The input voltage to the single phase induction motor is controlled so that the starting current of the motor may be maintained within the rating value and the velocity is also controlled, by adjusting the switching function of the Sliding Mode Controller. The switching of sliding control made appropriately with regard to velocity error signal and acceleration signal. It is shown that the starting characteristics of the single phase induction motor(SPIM) can be greatly enhanced through the sliding control of single phase induction motor.

• Journal of Institute of Control, Robotics and Systems
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• v.16 no.3
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• pp.256-263
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• 2010

The paper proposes a sensorless speed control strategy for a PMSM (Permanent Magnet Synchronous Motor) based on a new SMO (Sliding Mode Observer), which substitutes a signum function with a sigmoid function. To apply robust sensorless control of PMSM against parameter fluctuations and disturbance, the high speed SMO is proposed, which estimates the rotor position and angular velocity from the back EMF. The low-pass filter and additional position compensation of the rotor are used to reduce the chattering problem commonly found in sliding mode observer with signum function, which becomes possible by applying the sigmoid function with the control of a switching function. Also the proposed sliding mode observer with the sigmoid function has better efficiency than the conventional sliding mode observer since it adjusts the observer gain by variable boundary layer and estimates the stator resistance. The stability of the proposed sliding mode observer is verified by the Lyapunov second method in determining the observer gain. The validity of the proposed high speed PMSM sensorless velocity control has been demonstrated by real experiments.