• 제어로봇시스템학회:학술대회논문집
• /
• 1987.10b
• /
• pp.41-46
• /
• 1987

A new control scheme is developed to achieve fast and accurate decoupled tracking for an n-Joint robotic manipulator In the Presence of disturbances and unknown Parameter variations. The control system is designed so that a new type of state trajectories called sliding mode may exist in a phase plane. In order to remove the reaching Phase and high frequency chattering phenomenon which ate the common shortcomings of variable structure control(VSC) scheme, this paper presents the new switching line which is composed of three segments and the continuous control law which is derived from the existence condition of a sliding mode. The Proposed methods in this Paper are applied to a 3-Joint robotic manipulator as a numerical example-The digital simulation results which are compared with those of typical VSC scheme show the validity of accurate tracking capability and robust Performance of the system.

• The Transactions of The Korean Institute of Electrical Engineers
• /
• v.58 no.1
• /
• pp.69-76
• /
• 2009

This paper describes sensorless high-speed control for 45,000rpm/22kw type PMSM by using iterative adaptive sliding mode observer. The proposed algorithm is based on sensorless vector control by on-line estimating the speed of rotor in the wide speed operating range between the starting operation. In addition, it shows the enhanced performance of the iterative adaptive observer by lessening its chattering and getting stable response in limited PWM period. The simulation and experiment results show the reliable performance of the proposed algorithm through starting to high speed operating range.

• Journal of the Korean Society for Precision Engineering
• /
• v.13 no.6
• /
• pp.136-144
• /
• 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.

• Journal of Electrical Engineering and information Science
• /
• v.3 no.2
• /
• pp.184-192
• /
• 1998

In this paper, we present a nonlinear feedback linearization-full order observer/sliding mode controller (NFL-FOO/SMC), to obtain smmoth control as a linearized controller in a linear system (or to cancel the nonlinearity in a nonlinear system), and to solve the problem of the unmeasurable state variables as in the conventional SMC. The proposed controller is obtained by combining the nonlinear feedback linearization-sliding mode control (NFL-SMC) with the full order observer (FOO)and eliminates the need to measure all the state variables in the traditional SMC. The proposed controller is applied to the nonlinear power system stabilizer (PSS) for damping oscillations in a power system. The effectiveness of the proposed controller is verified by the nonlinear time-domain simulations in case of a 3-cycle line-to-ground fault and in case of the parameter variation for the AVR gain K\ulcorner and for the inertia moment M.

• Journal of the Korean Institute of Telematics and Electronics B
• /
• v.33B no.8
• /
• pp.124-133
• /
• 1996

This paper presents the implementation of variable structure control system for a linear or nonlinear system using neural networks. The overall control system consists of neural network controller and a reaching mode controller. While the former approximates the equivalent control input on the sliding surface, the latter is used to bring the entire system trajectories toward the sliding surface. No supervised learning procedures are needed and the weights of the neural network are tuned on-line automatically. The neural netowrk-based variable structure control system is applied to a nonlinare unstable inverted pendulum system through computer simulations, and implemented using a microcomputer (80486-50MHz) and applied to the DC servomotor position control system. Simulation and experimental results show the expected approximation sliding property is occurred. The proposed controller is compared with a PID controller and shows better performance than the PID controller in abrupt plant parameter change.

• Proceedings of the KIEE Conference
• /
• 1998.07c
• /
• pp.875-879
• /
• 1998

A fault on the transmission line results in the variation of reactance and parametric uncertainties in the power system dynamics. In this case, we need a robust control to cope with these uncertainties. A sliding mode control, a sort of robust control, is known to be robust to parametric or state-dependent uncertainties if the bounding function of uncertain terms is determined a priori. However, in general, we can not readily determine the bounding function for the complex systems. Hence, in this paper we introduce a fuzzy system which can estimate the bounding function in relatively simple way. By the use of the proposed fuzzy system, determination of bounding function is made easier. We applied the proposed scheme to the stabilization of power system under the sudden fault on the transmission lines. The simulation result verifies the effectiveness of the scheme.

• Journal of Korea Society of Digital Industry and Information Management
• /
• v.17 no.4
• /
• pp.85-94
• /
• 2021

The LPR system's trigger sensor makes problem occasionally due to the heave weight of vehicle or the obsolescence equipment. If we replace the hardware sensor to the deep-learning based software sensor in order to generate the trigger signal, LPR system maintenance would be a lot easier. In this paper we proposed the deep-learning sliding window based object detection and tracking algorithm for the LPR system's trigger signal generation. The gate passing vehicle's license plate recognition results are combined into the normal tracking algorithm to catch the position of the vehicle on the trigger line. The experimental results show that the deep learning sliding window based trigger signal generating performance was 100% for the gate passing vehicles including the 5.5% trigger signal position errors due to the minimum bounding box location errors in the vehicle detection process.

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

• Tribology and Lubricants
• /
• v.21 no.5
• /
• pp.216-220
• /
• 2005

The sliding wear behaviors of three different compositions of novel low temperature degradation-free zirconia/alumina (LTD-free Z/A) composites were examined in a ceramic-ceramic contact pair. The wear tests were performed by using a pin-on-disk type wear tester in a linear reciprocal sliding motion with a line contact in both dry and bovine serum lubricated conditions at room temperature. From the results of dry sliding wear tests, Z/A#1((5.3Y, 4.6Nb)-TZP/80 $vol\%Al_2O_3$) showed the best wear resistance among three kinds of LTD-free Z/A composites. For the bovine serum lubricated sliding wear tests, wear was too little to be measured for all kinds of Z/A composites. These novel LTD-free Z/A composites having excellent wear resistance demonstrated a potential as the alternative materials for the ceramic-ceramic contact pairs of femoral head and acetabular liner in total hip replacement.

• Proceedings of the Korean Operations and Management Science Society Conference
• /
• 1996.04a
• /
• pp.662-666
• /
• 1996

The variations of the surface topographical parameters for the analysis of the pedestrian slip and fall accidents during the sliding friction between the specially prepared floor specimens and three working shoes were investigated. The profile ordinate data for each flooring specimen were obtained at 1.1 .mu.m intervals using a laser scanning confocal microscope system along to the direction of sliding. A number of surface roughness parameters, that is, the centre line average (c.l.a.) and root mean square (r.m.s.) roughness, maximum height (Rtm), maximum mean peak height (Rpm), maximum mean depth (Rvm), and average asperity slope were calculated using a computer program and compared with the dynamic friction results. The analysis showed that the surface parameters undergo marked variations during the sliding process, but the variations were statistically significant. It was found that amongst various surface parameters, the maximum depth (Rvm) and the average asperity slope of the asperities were the biggest variation during the sliding proceeding. This result confirms the previous study and may suggests a new approach to monitoring the flooring environments with their service as the effort to reduce the pedestrain slip accident.