• 제어로봇시스템학회논문지
• /
• 제22권5호
• /
• pp.320-325
• /
• 2016

This paper presents a robust finite-time sliding mode control (SMC) scheme for unknown disturbance and unmodeled nonlinear friction and dynamics in the robotic manipulator. A finite-time SMC (FSMC) surface and finite-time sliding mode controller are constructed to obtain faster error convergence than the conventional infinite-time based SMC. By adding prescribed constraint control term to a finite-time SMC to compensate for unknown disturbance and uncertainties, a robust control scheme can be designed as well as faster convergence control. In addition, simpler controller structure is built by using feed-forwarding upper bound coefficients of each manipulator dynamic parameters instead of model-based control or adaptive observer to estimate unknown manipulator parameters. Simulation and experimental evaluations highlight the efficacy of the proposed control scheme for an articulated robotic manipulator.

• Journal of Power Electronics
• /
• 제15권3호
• /
• pp.753-762
• /
• 2015

This paper presents a nonlinear sliding mode control (SMC) scheme with a variable damping ratio for interior permanent magnet synchronous motors (IPMSMs). First, a nonlinear sliding surface whose parameters change continuously with time is designed. Actually, the proposed SMC has the ability to reduce the settling time without an overshoot by giving a low damping ratio at the initial time and a high damping ratio as the output reaches the desired setpoint. At the same time, it enables a fast convergence in finite time and eliminates the singularity problem with the upper bound of an uncertain term, which cannot be measured in practice, by using a simple adaptation law. To improve the efficiency of a system in the constant torque region, the control system incorporates the maximum torque per ampere (MTPA) algorithm. The stability of the nonlinear sliding surface is guaranteed by Lyapunov stability theory. Moreover, a simple sliding mode observer is used to estimate the load torque and system uncertainties. The effectiveness of the proposed nonlinear SMC scheme is verified using comparative experimental results of the linear SMC scheme when the speed reference and load torque change under system uncertainties. From these experimental results, the proposed nonlinear SMC method reveals a faster transient response, smaller steady-state speed error, and less sensitivity to system uncertainties than the linear SMC method.

• Composites Research
• /
• 제34권2호
• /
• pp.115-122
• /
• 2021

복합재료 중에서 SMC(sheet molding compound) 복합재료는 자동차의 차체 성형에 주로 쓰이고 있다. 자동차 산업에서는 차량 사고를 고려하여야 하므로 재료의 충돌 거동 및 특성에 관한 연구는 필수적이다. 충돌은 짧은 시간에 일어나기 때문에 육안으로 확인이 어렵다. 따라서 충돌 거동을 확인하기 위해서는 유한요소 모델을 이용한 충돌 손상 해석이 필요하다. 충돌 손상 해석을 위해서는 SMC 복합재료의 손상 모델에 대한 파라메터가 요구된다. 본 연구에서는 SMC 복합재료의 손상 모델에 대한 파라메터를 획득하기 위해 인공신경망 기법을 적용하였다. LS-DYNA에서 파라메터에 따른 결과를 이용하여 대체 모델을 구성하였다. 자유 낙하 충돌 실험에서 얻은 흡수 에너지와 인공신경망 모델을 이용한 흡수 에너지를 비교하여 최적화된 파라메터를 획득하였다. 획득한 파라메터를 유한요소 모델에 적용해 결과를 비교하여 파라메터의 신뢰성을 검증하였다.

• 제어로봇시스템학회논문지
• /
• 제17권4호
• /
• pp.295-298
• /
• 2011

Almost all of control methods proposed so far have been designed such that the overall system guarantees asymptotic stability. It implies that the output converges to zero but not reaches to zero in a finite time. In many actual cases, however, it is preferable to design the controller such that the output gets to zero in a finite time. In this paper, we proposed a novel elliptical sliding surface. To show the effectiveness of the proposed method, experimental results are given.

• 로봇학회논문지
• /
• 제12권3호
• /
• pp.339-349
• /
• 2017

In this paper, we present a finite-time sliding mode control (FSMC) with an integral finite-time sliding surface for applying the concept of graph theory to a distributed wheeled mobile robot (WMR) system. The kinematic and dynamic property of the WMR system are considered simultaneously to design a finite-time sliding mode controller. Next, consensus and formation control laws for distributed WMR systems are derived by using the graph theory. The kinematic and dynamic controllers are applied simultaneously to compensate the dynamic effect of the WMR system. Compared to the conventional sliding mode control (SMC), fast convergence is assured and the finite-time performance index is derived using extended Lyapunov function with adaptive law to describe the uncertainty. Numerical simulation results of formation control for WMR systems shows the efficacy of the proposed controller.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 1995년도 Proceedings of the Korea Automation Control Conference, 10th (KACC); Seoul, Korea; 23-25 Oct. 1995
• /
• pp.267-270
• /
• 1995

In this paper, a variable structure control scheme with a terminal sliding mode is proposed for robot manipulators. The proposed control scheme guarantees that the output tracking error converges to zero in finite time, and the overall system shows robust property against parametric uncertainties and external disturbances all the time.

• 제어로봇시스템학회논문지
• /
• 제21권9호
• /
• pp.801-806
• /
• 2015

In this paper, we propose cascade-form velocity controller for a permanent magnet synchronous motor (PMSM). The proposed controller consists of a sliding-mode controller (SMC) for the inner current control loop and a model-predictive controller (MPC) for the outer velocity control loop. With SMC, we can ensure that the current tracking error always converges to zero in finite time. The SMC is designed to track the desired currents. Additionally, with MPC, we can obtain the optimal velocity control input which minimizes the cost function. Constraint conditions for input and input variation are included in the MPC design. The simulation results are included to validate the performance of the proposed controller.

• Tribology and Lubricants
• /
• 제18권5호
• /
• pp.345-350
• /
• 2002

Recently, as the development of manufacturing technique on SMC(sheet molding compound), various numerical and experimental approaches to injection and compression molding have been investigated. Injection and compression molding, however, has so various cases with complicated boundary condition that it is difficult to analyze mold characteristics precisely. In addition, since a slight change in process variables can significantly change the resulting mold thickness, a proper design is important to compression molding process. Therefore, in this study, the effects of various parameters on compression molding process have been investigated using FEM(finite element method) to formulate the melt front advancement during the mold filling process. To verify the results of present analysis, they are compared with those of reference. The results show a strong effect of initial charge volume, injection time and pressure as a result of variations in the rectangular charge shape.

• 제어로봇시스템학회논문지
• /
• 제17권3호
• /
• pp.236-240
• /
• 2011

The terminal sliding mode control schemes have been studied a lot since they can guarantee that the state error gets to zero in a finite time. However, the conventional terminal sliding surfaces have been designed using power function whose exponent is a rational number between 0 and 1, and whose numerator and denominator should be odd integers. It is clearly restrictive. Thus, in this paper, we propose a novel terminal sliding surface using power function whose exponent can be a real number between 0 and 1.

• 열처리공학회지
• /
• 제32권1호
• /
• pp.17-28
• /
• 2019

Jominy hardenability curves of low alloy steel containing less than 5 wt.% of alloying elements in total were calculated by applying Scheil's rule of additivity to pre-calculated isothermal transformation curve. Isothermal transformation curve for each phase in steel was approximated as a simple mathematical equation by using Kirkaldy's approach and all coefficients in the equation were estimated from experimental temperature-time-transformation (TTT) and/or continuous cooling transformation (CCT) data in the literature. Then jominy test with simple boundary conditions was performed in computer by applying the finite difference scheme. The resultant cooling curves at each location along a longitudinal direction of Jominy bar were applied to calculate phase fractions as well as mechanical properties such as micro Vickers hardness. The simulated results were compared with experimental CCT data and Jominy curves in the literature.