• 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.

• Proceedings of the KIEE Conference
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• 2006.07d
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• pp.1850-1851
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• 2006

The sliding mode control is acceptable for Autonomous Underwater Vehicle(AUV), since the dynamics of AUV are highly nonlinear and have several parameter uncertainty such as the added mass terms, the hydrodynamic coefficients. The sliding mode control can deal well with nonlinearity of the system and offers a robustness to controller with parameter uncertainty. Since sliding mode control has the defect of chattering problem, only in ideal case the actuator can respond by control law. Therefore we propose the sliding mode control with non-chattering. And computer simulations illustrate the performance of the proposed controller.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.387-390
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• 1996

In this paper, A new PI-type reaching law for variable structure control is proposed to alleviate the chattering and improve the robustness properties in the presence of matched uncertainty. The proposed reaching law consists of a proportional term and an integral term. And the dynamics of switching function can easily be specified by using the second-order system analysis method. And also the proposed scheme has the advantages of alleviating the chattering than Gao's one and reducing the influence of uncertainties by band pass filter characteristic. The efficiency of the proposed method has been demonstrated by simulations for Dutch Roll damping in a light aircraft.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.1621-1623
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• 2005

The input chattering in the sliding mode control (SMC) is alleviated through a low pass filter. When the low pass filter is added to the original system, the overall system including the low pass filter dynamics can not satisfy the matching condition. So the integral SMC is applied for a main controller. A sliding surfaces are designed carefully to make the overall dynamics same with the nominal control system.

• Journal of Electrical Engineering and information Science
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• v.3 no.1
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• pp.58-66
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• 1998

A continuous, accurate, and robust variable structure tracking controller(CVSTC) is designed for brushless direct drive servo motors(BLDDSM). Although conventional variable structure controls can give the desired tracking performances, there exists an inevitable chattering problems in control input which is undesirable for direct drive systems. With the presented algorithm, not only the chattering problems are removed by using the efficient compensation of the disturbance observer, but also the prescribed tracking trajectory can be obtained using the sliding dynamics when an initial of the desired trajcetory is different from that of a BLDDSM. The design of the sliding mode tracking controller for the prescribed, accurate, and robust tracking performance without the chattering problem is given based on the results of the detailed stability analysis. The usefulness of the suggested algorithm is demonstrated through the computer simulation for a BLDDSM under load variations.

• KIEE International Transaction on Electrical Machinery and Energy Conversion Systems
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• v.3B no.1
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• pp.52-58
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• 2003

The application of a sliding mode control for improving the dynamic response of an induction motor based speed control system is presented in this paper and provides attractive features, such as fast response, good transient performance, and insensitivity to variations in plant parameters and external disturbance. However, chattering is a difficult problem for which the sliding mode control is a popular solution. This paper presents a new fuzzy-sliding mode controller for a sensorless vector-controlled induction motor servo system to practically eliminate the chattering problem for traction applications. A DSP based implementation of the speed control system is employed. Experimental results are presented using a propulsion system simulator. The performance of the drive is shown to be practically free from chattering.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.151.4-151
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• 2001

Chattering-free sliding mode control is derived from the reaching law method and Lyapunov stability theorem. Its control input Is composed of continuous term and discontinuous term. By the combination of these terms, the robustness and tracking performance can be improved and the chattering can be avoided. But in the reaching mode, the sliding mode control is sensitive to the modeling uncertainties, parameter variations and disturbances, also it needs a large control input. These result in poor transient responses. In this paper, to overcome these problems in the reaching mode, a time-varying sliding surface is proposed. And it is applied to a 2-link SCARA robot manipulator, experimental results show that the transient response is improved and its ...

• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 2003.04a
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• pp.516-522
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• 2003

Monitoring chattering is also important for realizing an unmanned machining system While many researches were done on this area, it is still a difficult job to detect very small amplitude amount of chattering. A monitoring system using a capacitive spindle displacement sensor was developed to monitor cutting vibration in turning in this research. The variance of the measured spindle displacement signals using the developed sensor was calculated and utilized to quantity the small vibration in machining. The results were compared with variance obtained using a tool dynamometer. The result showed that the developed system could be utilized in monitoring the subtle changes of cutting vibrations with high sensitivity confidence.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2000.06a
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• pp.1848-1853
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• 2000

Cause and the elimination method for the chattering phenomena were investigated the check valve attached exit of the auxiliary cooling water pump at a korean nuclear powerplant. From the site experiment and numerical calculation the incident angle of the disk was so small that it was not able to produce the lifting force to overcome the component of disk weight. Moreover, it turned out that the installed position was not symmetric for the secondary vortical flow generated inside the elbow, so that the flow structure had strongly unstable flow characteristics. From this technical support, the tapping noise and the chattering phenomena were eliminated exactly by changing the incidence angle of the valve disk and installed position of the check valve.

• Journal of the Institute of Electronics Engineers of Korea SC
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• v.40 no.6
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• pp.1-7
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• 2003

This paper introduces a robust sliding mode repetitive control method for a class of nonlinear system. The sliding mode controller stabilizes the overall system and makes the tracking error converge to some residual set. Also, tile repetitive learning controller makes the tracking error converge to zero. Unlike other methods, the proposed sliding mode controller reduces the chattering effects in the steady state without using high-order sliding manifold approach.