• Journal of Electrical Engineering and Technology
• /
• 제11권4호
• /
• pp.1027-1034
• /
• 2016

This paper proposes a sum of squares (SOS) method for anti-swing control of overhead crane system using HOSM (High-Order Sliding-Mode) observer. By representing the dynamic equations of overhead crane as the polynomial dynamic equations via Taylor series expansion, the control input is obtained from the converted polynomial dynamic equations by numerical tool SOSTOOL. Since the actual crane systems include disturbance such as wind and friction, we propose a method to compensate for the disturbance by estimating the disturbance using HOSM observer. Numerical simulations show the effectiveness and the applicability of the proposed method.

• Journal of Power System Engineering
• /
• 제18권6호
• /
• pp.174-179
• /
• 2014

The wear behavior of epoxy matrix composites filled with nano sized silica particles is discussed in this paper. Especially, the variation of the coefficient of friction and the specific wear rate under the various applied load and sliding velocity were investigated for these materials. Wear tests of pin-on-disc mode were carried out and followed by scanning electron microscope observations. The presence of silica filler in epoxy composites was demonstrated significant influence on the friction and wear behavior of epoxy nanocomposites. With the incorporation of silica filler into the epoxy matrix, reduction of the coefficient of friction and specific wear rate were identified. Wear mechanism was discussed by analyzing the worn surface by scanning electron microscope as well.

• Nuclear Engineering and Technology
• /
• 제53권11호
• /
• pp.3685-3693
• /
• 2021

This paper presents a disturbance observer-based robust backstepping load-following control (DO-RBLFC) scheme for modular high-temperature gas-cooled reactors (MHTGRs) in the presence of actuator saturation and disturbances. Based on reactor kinetics and temperature reactivity feedback, the mathematical model of the MHTGR is first established. After that, a DO is constructed to estimate the unknown compound disturbances including model uncertainties, external disturbances, and unmeasured states. Besides, the actuator saturation is compensated by employing an auxiliary function in this paper. With the help of the DO, a robust load-following controller is developed via the backstepping technique to improve the load-following performance of the MHTGR subject to disturbances. At last, simulation and comparison results verify that the proposed DO-RBLFC scheme offers higher load-following accuracy, better disturbances rejection capability, and lower control rod speed than a PID controller, a conventional backstepping controller, and a disturbance observer-based adaptive sliding mode controller.

• The Journal of Korea Robotics Society
• /
• 제18권2호
• /
• pp.155-163
• /
• 2023

Auto Guided Vehicle (AGV) equipped with mecanum wheels can move in all directions, unlike ordinary wheeled AGVs. In this paper, we propose a robust trejectory tracking control method for the mecanum wheeled AGVs in the presence of disturbances. It is constructed by combining impedance control with Integral Sliding Mode Control (ISMC), which shows robust performance against disturbances, and adding a disturbance observer (DOB) that estimates and removes disturbances. Simulation result using MATLAB/SIMULINK shows that the proposed control method has robust performance in tracking the reference trajectory under the circumstance with disturbance. The control performance is further improved when the disturbance observer is additionally used. In addition, the performance of the proposed control method was verified through experiment. It shows the result of tracking the set trajectory well.

• Tribology and Lubricants
• /
• 제23권6호
• /
• pp.255-260
• /
• 2007

This paper presents the contact pressure distribution of pin bushing bearings for various lubrication friction modes such as oil film and elastohydrodynamic lubrication contacts, a mixed lubrication contact, a boundary contact, and a dry contact. During a sliding contact of a plain bearing, the boundary and dry rubbing contacts are dominated between a piston pin and a pin bushing bearing. This may come from a micro-scale clearance, an explosive impact pressures from the piston head, and an oscillatory motion of a pin bearing. The computed results show that as the oil film parameter $h/{\sigma}$ is increased from the dry rubbing contact to the oil film lubrication friction, the maximum oil film pressure is radically increased due to an increased viscous friction with a thin oil film thickness and the maximum asperity contact pressure is reduced due to a decreased asperity contact of the rubbing surfaces.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
• /
• 한국공작기계학회 2002년도 춘계학술대회 논문집
• /
• pp.543-550
• /
• 2002

This work is concerned with the estimation of output derivatives and their use for the design of robust controller for linear systems with systems uncertainties due to modeling errors and disturbance. It is assumed that a nominal transfer function model and Quantitative bounds for system uncertainties are known. The developed control schemes are shown to achieve regulation of the system output and ensures boundedness of the system states without imposing any structural conditions on system uncertainties and disturbances. Output derivative estimation is first conducted trough restructuring of the plant in a specific parameterization. They are utilized for constructing robust nonlinear high-gain feedback controller of a SMC(Sliding Mode Controller) Type. The performances of the developed controller are evaluated and shown to be effective and useful through simulation study.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
• /
• 한국소음진동공학회 2006년도 추계학술대회논문집
• /
• pp.919-924
• /
• 2006

This paper presents active vibration control using a hybrid mount which consists of rubber element and the piezostack actuator. After identifying stiffness and damping properties of the rubber element and piezoelectric elements, a mechanical model of the hybrid mount is established. The mount model is then incorporated with the vibration system, and the governing equation of motion is obtained in a state space. A sliding mode controller and LQG controller are designed in order to actively attenuate the vibration of the system subjected to high frequency and small magnitude excitations. Control responses such as acceleration and force transmission through the hybrid mount are evaluated by computer simulation.

• Transactions of the Korean Society for Noise and Vibration Engineering
• /
• 제17권5호
• /
• pp.391-397
• /
• 2007

This paper presents active vibration control using a hybrid mount which consists of rubber element and the piezostack actuator. After identifying stiffness and damping properties of the rubber element and piezoelectric elements, a mechanical model of the hybrid mount is established. The mount model is then incorporated with the vibration system, and the governing equation of motion is obtained in a state space. A sliding mode controller and LQG controller are designed in order to actively attenuate the vibration of the system subjected to various frequencies and small magnitude excitations. Control responses such as acceleration and force transmission through the hybrid mount are evaluated by computer simulation.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 1992년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 19-21 Oct. 1992
• /
• pp.382-386
• /
• 1992

In this paper, the author proposed FLVSC(Fuzzy Logic Variable Structure Controller), of which control rules are extracted from the concepts of VSC(Variable Structure Control). FLC(Fuzzy Logic Controller) based on linguistic rules has the advantages of not needing of some exact mathematical model for plant to be controlled. The proposed method has the characteristics which are viewed in conventional VSC, e.g. insensitivity to a class of disturbances, parameter variations and uncertainties in sliding mode. In addition, the method has the properties of FLC - noise rejection capability etc. The computer simulations have been carried out for a DC servo motor to show the usefulness of the proposed method and the effects of disturbances and parameter variations are considered.

• Journal of Drive and Control
• /
• 제10권3호
• /
• pp.1-6
• /
• 2013

Traction control suppresses the spinning of the driven wheel during drive away or acceleration on slippery road condition. In this study, the estimation method of brake pressure hardly measured is proposed. The estimation method of brake pressure and the brake pressure control with pulse width modulation(PWM) are verified a good performance through experiment. Also, the vehicle simulation on slippery road conditions is validated the applicability of brake pressure control for traction control. The simulation results have showed that the brake pressure can be used the control variable for traction control.