• Proceedings of the KIEE Conference
• /
• 1994.07a
• /
• pp.280-282
• /
• 1994

This paper proposes sliding mode state for robust speed control of induction motor. Sliding mode state observer is robust for measurement noise, modeling-error and load disturbance. The pole of sliding mode state observer can be placed at (0,0) in Z-plane for fast response. This method is, namely, deadbeat control. Sliding mode state observer output is discontinuous on a switching hyperplance, that causes harmful effects such as current harmonics and speed oscillation. In this paper, also the reducing method of the chattering of sliding mode state observer output is proposed. The proposed system is digitally implemented with TMS320C31.

• The Transactions of the Korean Institute of Electrical Engineers D
• /
• v.53 no.5
• /
• pp.338-344
• /
• 2004

This paper presents a sensorless speed control of a DC servo motor using a fuzzy-sliding observer in the presences of load disturbances. A fuzzy-sliding observer is proposed in order to estimate the speed of a motor rotor. First, a sliding observer is used to estimate the derivative of the armature current directly using the armature current mesured in the DC servo motor. Second, the optimal gain of the Luenberger observer is set up using the fuzzy control. Experimental results show the good performance in the DC servo motor system with the proposed fuzzy-sliding observer.

• Journal of Power Electronics
• /
• v.10 no.5
• /
• pp.505-517
• /
• 2010

In this paper, an intelligent sliding-mode speed controller for achieving favorable decoupling control and high precision speed tracking performance of permanent-magnet synchronous motor (PMSM) drives is proposed. The intelligent controller consists of a sliding-mode controller (SMC) in the speed feed-back loop in addition to an on-line trained wavelet-neural-network controller (WNNC) connected in parallel with the SMC to construct a robust wavelet-neural-network controller (RWNNC). The RWNNC combines the merits of a SMC with the robust characteristics and a WNNC, which combines artificial neural networks for their online learning ability and wavelet decomposition for its identification ability. Theoretical analyses of both SMC and WNNC speed controllers are developed. The WNN is utilized to predict the uncertain system dynamics to relax the requirement of uncertainty bound in the design of a SMC. A computer simulation is developed to demonstrate the effectiveness of the proposed intelligent sliding mode speed controller. An experimental system is established to verify the effectiveness of the proposed control system. All of the control algorithms are implemented on a TMS320C31 DSP-based control computer. The simulated and experimental results confirm that the proposed RWNNC grants robust performance and precise response regardless of load disturbances and PMSM parameter uncertainties.

• The Transactions of the Korean Institute of Electrical Engineers D
• /
• v.54 no.10
• /
• pp.587-594
• /
• 2005

An adaptive observer for rotor resistance is designed to estimate rotor flux for the a-b model of an induction motor assuming that rotor speed and stator currents are measurable. A singularly perturbed model of the motor is used to design an Adaptive sliding mode observer which drives the estimated stator currents to their true values in the fast time scale. The adaptive observer on the sliding surface is based on the equivalent switching vector and both the estimated fluxes and the estimated rotor resistance converge to their true values. A speed controller considering the effects of parameter variations and external disturbance is proposed in this paper. First, induction motor dynamic model at nominal case is estimated. based on the estimated model, speed controller is designed to match the prescribed speed tracking specifications. Then a dead-time compensator and a robust controller are designed to reduce the effects of parameter variations and external disturbances. the desired speed tracking control performance can be preserved under wide operating range, and good speed load regulating performance. Some simulated results are provided to demonstrate the effectiveness of the Proposed controller.

• Proceedings of the Korean Society of Tribologists and Lubrication Engineers Conference
• /
• 2002.10b
• /
• pp.193-194
• /
• 2002

The frictional characteristics of natural rubber plates under various conditions including sliding speed, contacted ball size, and lubrication conditions were evaluated experimentally. The frictional force and the normal force were measured by a self-made tester pin and a load cell with strain gages. In the lubrication condition, the effect of sliding speed was not significant over tested speed range. But in the none-lubrication condition, according to increase the sliding speed, the friction coefficient was decreased. The coefficients of friction under various lubrication conditions were varied from 0.03 to 0.32 and under none-lubrication condition was varied from 2.54 to 4.74.

• Tribology and Lubricants
• /
• v.16 no.3
• /
• pp.194-200
• /
• 2000

In order to evaluate the effect of Nb on wear properties of high speed steel(HSS) by powder metallurgy, niobium-alloyed HSS have been prepared by adding 0%, 1%, 3% and 5%Nb to HSS of 6%W-5%Mo-4 %Cr-5%V-5%Co. Sliding wear tests were conducted at various sliding speed conditions under the constant pressure using a pin-on-disc type machine. The results of this study show that the wear resistance of HSS by powder metallurgy was increased by the addition of Nb within the range of sliding speed used in this experimental study. However, the amount of Nb did not improve the wear resistance. It may be due to the thermal stability of carbide and high temperature properties of the matrix containing Nb comparing to that without Nb.

• Journal of the Korean Society for Precision Engineering
• /
• v.12 no.3
• /
• pp.62-72
• /
• 1995

The present study was undertaken to investigate the dry wear mechanism of the alumina ceramics in the purity variation for the wear of STB2. The wear test was carried out under different experimental condition various sliding speed, contact pressure and sliding distance. According as the alumina purity increased, wear volume of the STB2 decreased and minimum value of wear volume was over to high speed side. According as the sliding speed and sliding distance increased, friction coefficient decreased owing to drop of the shear strength, it decresed largely owing to decreased of elastic modulus and thermal conductivity with decrease in alumina purity. Indicative of minimum, value of wear volume, low speed side was abrasive wear, high speed side was wear of heat softening. The friction surface of ceramics protacted by oxide was transfer from STB2.

• Journal of Mechanical Science and Technology
• /
• v.15 no.3
• /
• pp.339-350
• /
• 2001

To overcome problems in tracking error related to the unmodeled dynamics in the high speed operation of industrial robots, many researchers have used sliding mode control, which is robust against parameter variations and payload changes. However, these algorithms cannot reduce the inherent chattering which is caused by excessive switching inputs around the sliding surface. This study proposes a fuzzy-sliding mode control algorithm to reduce the chattering of the sliding mode control by fuzzy rules within a pre-determined dead zone. Trajectory tracking simulations and experiments show that chattering can be reduced prominently by the fuzzy-sliding mode control algorithm compared to a sliding mode control with two dead zones, and the proposed control algorithm is robust to changes in payload. The proposed control algorithm is implemented to the SCARA (selected compliance articulated robot assembly) robot using a DSP (digital signal processor) for high speed calculations.

• Proceedings of the KIEE Conference
• /
• 2004.11c
• /
• pp.726-728
• /
• 2004

In this paper, the gain of the observer is properly set up using the fuzzy control and Fuzzy-Sliding observer(FSQ) that have a superior transient characteristic and is easy to implement compared to the existing method is designed. It estimate the differentiation of the armature current directly using the armature current measured in the AC motor. It estimate the speed of the rotor using the differentiation. It is proposed speed sensorless control method using the estimated speed. Optimal gain of speed observer(Luenberger observer) was set up using the fuzzy control and adapted speed control of AC servo motor. To verify the performance of designed Fuzzy-Sliding observer, simulation compared with fixed speed observer gain of G.B Wang and S.S Peng's sliding observer is performed. Also, it was proved the excellence and feasibility of the proposed observer from the comparison test with a speed sensor and without a speed sensor which used a highly efficient drive and 400W AC servo motor starting system.

• Journal of the Korean institute of surface engineering
• /
• v.36 no.2
• /
• pp.116-121
• /
• 2003

Ti-Si-N coating layers were deposited onto WC-Co substrates by a hybrid system of arc ion plating (AIP) and sputtering techniques. The tribological behaviors of Ti-Si-N coating layers with various Si contents were investigated by the dry sliding wear experiments, which were conducted at three different sliding speeds, 0.1, 0.3, 0.5 m/s, against the steel and alumina balls. In the case of steel ball, the average friction coefficient slightly decreased with increasing the sliding speed regardless of Si content due to adhesive wear behavior between coating layer and steel ball. At constant sliding speed, the average friction coefficient decreased with increase of Si content. On the contrary, in the case of alumina ball, the average friction coefficient increased with increasing the sliding speed regardless of Si content, indicating that the abrasive wear behavior was more dominant when the coating layers slide against alumina ball. Through these experimental results, it was found that the tribological behaviors of Ti-Si-N coating layers were effected by factors such as Si content, sliding speed, and kinds of counterpart materials rather than the hardness of coating layer.