• Title/Summary/Keyword: variable structure controller(VSC)

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A Design of Variable Structure Controller for the General Single Input Systems with Unmeasurable State Variables (측정불가능한 상태변수를 갖는 일반적인 단일 입력 계통에 대한 가변구조 제어기의 설계)

  • 박귀태;최중경
    • The Transactions of the Korean Institute of Electrical Engineers
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    • v.41 no.7
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    • pp.773-783
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    • 1992
  • There have been several control schemes for the single input systems with unmeasurable state variables using variable structure control(VSC) theory. However, each of them is a study on the systems which can be represented in the phase canonical form or non-phase canonical form dynamic equation separately. As these control algorithms have difficulties in practical application by its theoretical limitations, in this paper we propose a new VSC theory which overcomes those limitations, in this paper we propose a new VSC theory which overcomes those limitations of proposed schemes. This new control scheme can be realized for the general linear systems which have unmeasurable state variables. And the switching function of this VSS algorithm consists of measurable state variable function(reduced-order switching function) and its derivatives. Also in the construction of control imput only measurable state variables are used.

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The Design of Variable Structure Controller for the System in Phase Canonical Form with Incomplete State Measurements (비 측정 상태변수를 갖는 위상 표준형계통에 대한 가변구조 제어기의 설계)

  • 박귀태;최중경
    • The Transactions of the Korean Institute of Electrical Engineers
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    • v.41 no.8
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    • pp.902-913
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    • 1992
  • There have been several control schemes for the single input systems with unmeasurable state variables using variable structure control(VSC) theory. In the previous VSC, the systems must be represented in phase canonical form and the complete measurements for each state variable must be assumed. In order to eliminate these restrictions several VSC methods were proposed. And especially for the systems in phase canonical form with unmeasurable state variables, the reduced order switching function algorithm was proposed. But this method has many drawbacks and can not be used in the case of general form (not phase canonical form) dynamic system. Therefore this paper propose new construction method of switching fuction for the systems in phase canonical form, which reduce the restriction of reduced order switching function algorithm. And this algorithm can be realized for any state representation and adopted in the systems where not all states are available for switching function synthesis or control.

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Analysis of an Robust Control for a Vehicle Active Suspension System (차량 능동현가시스템에 대한 강인 제어 해석)

  • Kim, J.Y.
    • Transactions of The Korea Fluid Power Systems Society
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    • v.7 no.3
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    • pp.20-27
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    • 2010
  • A vehicle suspension system performs two functions, the ride quality and the stability, which conflict with each other. An active suspension system has an external energy source, from which energy is always supplied to the system for continuous control of vehicle motion. Therefore, an active suspension system can have even more improved performance. Some control laws have been proposed for active suspension system, but in this paper, an optimal variable structure control(VSC) is proposed. The VSC method is well suited for a class of nonlinear system and can address the robustness issues to constant modelling errors and disturbances. This paper develops an optimal VSC controller and compares its performance to those of a passive suspension system and an active suspension system with an optimal controller. The transient and frequency responses are analyzed respectively.

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Design of FLC based on the concept of VSC for Home VCR Drum Motor

  • Park, Tae-Hong;Lee, Sang-Lak;Park, Gwi-Tae;Lee, Kee-Samg
    • Journal of the Korean Institute of Intelligent Systems
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    • v.5 no.1
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    • pp.25-32
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    • 1995
  • In this paper, the FLVSC (Fuzzy Logic Variable Structure controller), of which control rules are extracted from the concepts of the VSC(Variable Structure control) is proposed and diesgned for drum motor(BLDC motor) in home VCR. The FLC (Fuzzy Logic Controller) based on linguistic rules has the advantages of not needing of some exact mathermatical model for plant to be controlled. The proposed method has the characteristics which are viewed in conventional VSC, e.g. insensitivity to a class of distrubances, parameter variations and uncertainites in a sliding mode. In addition, the method has the properties of the FLC-noise rejection capability etc. The computer simulation and experiment using DSP(TMS320C30) have been carried out for the servo control of VCR drum motor to show the usefulness of the proposed method.

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Variable Structure Control for a System with Mismatched Disturbances (입력과 매칭되지 않는 외란을 갖는 시스템에 대한 가변구조제어)

  • Choi, Yun-Jong;Park, Poo-Gyeon
    • Proceedings of the KIEE Conference
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    • 2007.04a
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    • pp.149-151
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    • 2007
  • For several decades, VSC has gained much attention as one of the useful design tools for handling the practical system with uncertainties or disturbances. Generally, the disturbances in the matching condition can be perfectly rejected via VSC; however, these in the mismatching condition are known to be hardly rejected. There have been some trials on it, in which the resulting controls in fact belong to the class of robust control guaranteeing disturbance ${\gamma}$-attenuation. Therefore, in this paper, we propose a new Variable Structure Control (VSC) for a system with mismatched disturbances. The proposed controller is composed of linear and nonlinear parts; the former plays a role in stabilizing the system and the latter takes care of attenuating the disturbances. The main contribution is to introduce the concept of switching-zone, rather than switching-surface, that is designed through piece-wise Lyapunov functions. The resulting non-convex conditions are formulated with an iterative linear programming algorithm, which provides an excellent performance of almost rejecting the disturbances.

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A High Speed md High Precision Position Control of a XY Table using a VSC (가변구조 제어기를 이용한 XY 테이블의 고속 고정도 위치제어)

  • 이성훈;김가규;최봉열
    • Proceedings of the IEEK Conference
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    • 1999.06a
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    • pp.813-816
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    • 1999
  • In this paper is Proposed a VSC(variable structure controller) for a high-speed and high-precision position control of a XY Table, which is based on the PI type reaching mode. Also the comparative study between the proposed method and the conventional PID controller is presented as well. Designed and tuned under repeated experiments, the proposed method showed a better reasonable performance than PID controller in the aspect of tracking error.

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Implementation of binary position controller with continuous inertial external loop for BLDC motor (브러시 없는 직류전동기를 위한 연속관성형 외부루프를 갖는 바이너리제어기의 구현)

  • 김영조;김영석
    • The Transactions of the Korean Institute of Electrical Engineers
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    • v.45 no.1
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    • pp.60-66
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    • 1996
  • Brushless DC(BLDC) motor have been increasingly used in machine tools and robotics applications due to the reliability and the efficiency. In control of BLDC motor, it is important to construct the controller which is robust to parameter variations and external disturbances. Variable structure controller(VSC) has been known as a powerful tool in robust control of time varying systems. In practical systems, however, VSC has a high frequency chattering which deteriorates system performances. In this paper, a binary controller(BC) which takes the form of VSC and MRAC combined is presented to solve this problem. BC consists of the primary loop controller and the external loop controller to change the gain of primary loop controller smoothly. So it can generate the continuous control input and is insensitive to parameter variations in the given domain. To confirm the validity, various investigations of control characteristics for various design parameters in a position control system of BLDC motor are carried out. (author). 11 refs., 18 figs., 1 tab.

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Tracking Control of Variable Structure System with a New Variable Boundary Layer (새로운 가변 경계층을 갖는 가변 구조 제어 시스템의 추적 제어)

  • Lee, Hui-Jin;Kim, Eun-Tae;Kim, Dong-Yeon
    • Journal of the Institute of Electronics Engineers of Korea SC
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    • v.37 no.3
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    • pp.19-32
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    • 2000
  • This paper suggests the variable structure controller with a new variable boundary layer for the accurate tracking control of the variable structure systems. Up to now, variable structure controller (VSC) applying the variable boundary layer did not remove chattering from an arbitrary initial state of the system trajectory because VSC has the limited initial state according to the fixed sliding surface. But, by using the linear time-varying sliding surfaces, the scheme has the robustness against chattering from all states. The suggested method can be applied to the second-order nonlinear systems with parameter uncertainty and extraneous disturbances, and has better tracking performance than the conventional method. To demonstrate the advantages of the proposed algorithm, it is applied to a two-link manipulator.

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The Design of Sliding Mode Controller with Sliding Perturbation Observer for a Robust Control of Stewart Platform Manipulator (스튜어트 플랫폼의 견실제어를 위한 슬라이딩 섭동 관측기를 갖는 슬라이딩 모드 제어기 개발)

  • You, Ki-Sung;Park, Min-Kyu;Lee, Min-Cheol
    • Journal of Institute of Control, Robotics and Systems
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    • v.8 no.8
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    • pp.639-648
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    • 2002
  • The stewart platform manipulator is a manipulator that has the closed-loop structure with an upper plate end-effector and a base frame. The stewart platform manipulator has the merit of high working accuracy and high stiffness compared with a serial manipulator. However, this is a complex structure, so controllability of the system is not so good. In this paper, we introduce a new robust motion control algorithm using partial state feedback for a class of nonlinear systems in the presence of modelling uncertainties and external disturbances. The major contribution of this work introduces the development and design of robust observer for the state and the perturbation, which is integrated into a variable structure controller(VSC) structure. The combination of controller/observer improves the control performance, because of the robust routine called sliding mode control with sliding perturbation observer(SMCSPO). Simulation and experiment are performed to apply to the manipulator. And their results show a high accuracy and a good performance.

A Position Control of Brushless DC Motor for Power Installation with Binary Control (바이너리제어를 이용한 동력설비용 브러시리스 직류전동기의 위치제어)

  • 유완식;조규민;김영석
    • The Proceedings of the Korean Institute of Illuminating and Electrical Installation Engineers
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    • v.9 no.4
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    • pp.55-61
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    • 1995
  • Variable structure control (VSC) can be used for the control of power plants required stability and robustness such as elevator control. It has no overshoot and is insensitive to parameter variations and disturbances in the sliding mode where the system structure is changed with the sliding surface in the center. But in the real system, VSC has a high frequency chattering which has a bad influence upon the control system proformances. In this paper, to alleviate the high frequency chattering, a binary controller (BC) with inertial type external loop is implemented by DSP and applied to position control of brushless DC motor. Binary controller has external loop to generate the continuous control input with the flexible variation of primary loop gain. Thus it has the property of chattering alleviation in addition to advantages of the conventional variable structure control.

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