• 제목/요약/키워드: the sliding mode

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The Study of Sliding Mode Variable Structure-Fuzzy Induction Motor Control using Simulink (Simulink를 이용한 슬라이딩모드 가변구조-퍼지 유도전동기 속도제어에 관한 연구)

  • Kim, Sang-Woo;Kim, Byung-Jin;Jung, Eul-Gi;Jeon, Hee-Jong
    • Proceedings of the KIPE Conference
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    • 1998.07a
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    • pp.361-365
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    • 1998
  • In this paper, the sliding mode variable structure-fuzzy(SMVS-F) control algorithm is applied to speed controller for field oriented induction motor drive system. According to the principle of sliding mode variable structure-fuzzy adjustable speed control scheme, the proposed algorithm shows good performances which are reducing chattering, robustness against parameter variation in induction motor drive. The validity of the proposed control scheme is verified by computer simulation using SIMULINK.

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Depth Control of Underwater Flight Vehicle Using Fuzzy Sliding Mode Controller and Neural Network Interpolator (퍼지 슬라이딩 모드 제어기 및 신경망 보간기를 이용한 Underwater Flight Vehicle의 심도 제어)

  • Kim, Hyun-Sik;Park, Jin-Hyun;Choi, Young-Kiu
    • The Transactions of the Korean Institute of Electrical Engineers D
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    • v.50 no.8
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    • pp.367-375
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    • 2001
  • In Underwater Flight Vehicle depth control system, the followings must be required. First, it needs robust performance which can get over modeling error, parameter variation and disturbance. Second, it needs accurate performance which have small overshoot phenomenon and steady state error to avoid colliding with ground surface or obstacles. Third, it needs continuous control input to reduce the acoustic noise and propulsion energy consumption. Finally, it needs interpolation method which can sole the speed dependency problem of controller parameters. To solve these problems, we propose a depth control method using Fuzzy Sliding Mode Controller with feedforward control-plane bias term and Neural Network Interpolator. Simulation results show the proposed method has robust and accurate control performance by the continuous control input and has no speed dependency problem.

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Constrained Structured Sliding Mode Control for Position Tracking-Force Reflection Control of Master-Slave Manipulator (마스터-슬레이브 조작기의 위치추종-힘반영을 위한 제한 구조 슬라이딩모드 제어)

  • Kang, Min-Sig
    • Journal of the Korean Society for Precision Engineering
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    • v.27 no.12
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    • pp.48-58
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    • 2010
  • In this study, position tracking and force reflection control of a master-slave manipulator which will be used for handling objects contaminated by radioactivity has been addressed. Since available measurements concerning on dynamic motion of the master-slave manipulator are restricted, a simple constrained control structure was suggested. In the consideration of the uncertain dynamic behaviors of the slave manipulator which is dependent upon mass and shape of work pieces grasped and dynamic properties of the environment contacted, a simple structured sliding mode control was suggested to guarantee robustness with respect to parameter uncertainties and external disturbances. The proposed control was applied to a 1-DOF master-slave link system. The control performances were verified along with some computer simulation results.

A New Adaptive Sliding Mode Observer-Based Control of Induction Motors with Uncertainties (새로운 적응 슬라이딩 모드 관측기에 기초한 불확실성을 갖는 유도전동기 제어)

  • Hwang, Young-Ho;Kim, Hong-Pil;Yang, Hai-Won
    • Proceedings of the KIEE Conference
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    • 2005.07b
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    • pp.1276-1278
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    • 2005
  • In this paper, we propose an adaptive sliding mode observer-based control of induction motors with uncertainties. The proposed adaptive sliding mode flux observer generates estimates both for the unknown parameters(load torque and rotor resistance) and for the unmeasured state variable (rotor fluxes); they converge to the corresponding true value under persistency of excitation which actually holds in typical operating conditions. The proposed controller guarantees speed tracking and bounded signals for every initial condition of the motor. Simulations show that all estimation errors tend quickly to zero so that high tracking performances are achieved both for speed and rotor flux.

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Vibration and Position Tracking Control of a Smart Structure Using SMA Actuators (형상기억합금 작동기를 이용한 스마트 구조물의 진동 및 위치 추적제어)

  • Park, N.J.;Choi, S.B.;Cheong, C.C.
    • Journal of the Korean Society for Precision Engineering
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    • v.13 no.8
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    • pp.155-163
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    • 1996
  • This paper presents vibration and position tracking control of a smart structure using shape memory alloy(SMA) actuators. A governing equation of motion of the proposed structure is obtained via Hamilton's princeple. The dynamic characteristics of the SMA actuator are experimentally identified and incorporated with the governing equation to furnish a control system model. Subsequently, a sliding mode controller which has inherent robustness to external disturbances is formulated on the basis of the sliding mode conplacement, and also for the position tracking control of desired trajectories with low-frequency sine and square waves.

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Position Control for Induction Servo Motors Using a Theory of Variable Structure Control (가변구조제어 이론을 이용한 유도 서보 전동기의 위치제어)

  • Hong Soon-Ill;Hong Jeng-Pyo
    • Journal of Advanced Marine Engineering and Technology
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    • v.29 no.1
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    • pp.132-139
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    • 2005
  • This paper describes the application of sliding mode control based on the variable structure control(VSC) concept for high-performance position control of an induction servo motor A design method based on external load parameters has been developed for the robust control of AC induction servo drive. Also, a slip frequency vector control with software current control technique has been adopted to achieve fast response of an induction motor drive The position control scheme is comprised of a variable structure controller and slip frequency vector control for inverter fed induction servo motor. Simulated results are given to verify the proposed design method by adoption of sliding mode and show robust control for a change of shaft inertia, viscous friction and torque disturbance.

Model-Based Control System Design and Sliding Mode Control of Stewart Platform Manipulator (운동방정식을 기저로 한 스튜워트 플랫폼 운동장치의 제어시스템 설계 및 슬라이딩 모드제어)

  • Lee, Chong-Won;Kim, Nag-In
    • Transactions of the Korean Society of Mechanical Engineers A
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    • v.23 no.6 s.165
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    • pp.903-911
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    • 1999
  • A high speed tracking control system for 6-6 Stewart platform manipulator is designed for performing the model based joint-axis sliding mode control. Because of the complex dynamics and kinematics of the Stewart platform manipulator, two computer systems, consisting of a PC and a DSP, are adopted, so that real time tasks are run in synchronous and asynchronous modes. It is experimentally proven that the proposed control system makes the convenience in implementation of model based tracking control, so that it can achieve effective tracking control under relatively high speed and additional payload conditions.

Sliding Mode Control of 5-link Biped Robot Using Wavelet Neural Network

  • Kim, Chul-Ha;Yu, Sung-Jin;Park, Jin-Bae;Choi, Yoon-Ho
    • 제어로봇시스템학회:학술대회논문집
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    • 2005.06a
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    • pp.2279-2284
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    • 2005
  • Generally, biped walking is difficult to control because it is a nonlinear system with various uncertainties. In this paper, we design a robust control system based on sliding-mode control (SMC) of 5-link biped robot using the wavelet neural network(WNN), in order to improve the efficiency of position tracking performance of biped locomotion. In our control system, the WNN is utilized to estimate uncertain and nonlinear system parameters, where the weights of WNN are trained by adaptive laws that are induced from the Lyapunov stability theorem. Finally, the effectiveness of the proposed control system is verified by computer simulations.

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Speed Sensorless Control of PMSM by Improved Sliding Mode Observer (개선된 슬라이딩 모드 관측기에 의한 영구자석 동기전동기의 센서리스 속도제어)

  • Kim, Y.S.;Ryoo, S.R.;Kim, K.T.;Kim, H.I.;Park, S.J.;Kwon, Y.A.
    • Proceedings of the KIEE Conference
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    • 2004.04a
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    • pp.126-128
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    • 2004
  • This paper investigates an improved sliding mode observer for the speed sensorless control of a permanent magnet synchronous motor. The proposed control strategy is the sliding mode observer with a variable boundary layer for a low-chattering and fast-response control. The proposed algorithm is verified through the simulation and experimentation.

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A Development of Stroke Sensing Cylinder for Position Control Using Magnetic Sensor (I) (자기센서를 이용한 위치제어용 스트로크 측정 실린더 개발(I))

  • Lee, M.C.;Choi, Y.J.;Lee, M.H.
    • Journal of the Korean Society for Precision Engineering
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    • v.13 no.6
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    • pp.136-144
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    • 1996
  • We developed a part of stroke sensing cylinder for position control of automatic excavator and its measurement system. In this paper, for development of stroke sensing cylinder, we consist of 2-axis control instrument system with Hall sensor. A performance of piston rod with magnetic scales is evaluated by the developed measurement system. Furthermore, the position control for good performance of instrument system is achieved by a sliding mode control which is a new method diminishing the chattering in that control by setting 2-dead band along the swtching line. The unknown parameters for sliding mode control are estimated by the signal compression method.

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