• 제목, 요약, 키워드: variable structure system

검색결과 801건 처리시간 0.038초

헬리콥터 자세안정 가변구조제어기 설계 (Stabilizing variable structure controller design of helicopter)

  • 소일영;임규만;함운철
    • 제어로봇시스템학회:학술대회논문집
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    • pp.1504-1508
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    • 1996
  • In this paper, we derive dynamic equation of helicopter and design controller based on variable structure system. It is difficult to control helicopter because it has non-linear coupling between input and output of system and is MIMO system. The design of control law is considered here using variable structure methodology giving the robustness to parameter variations and invariance to some subsets of external disturbance. However we derive dynamic equations of helicopter and design stabilizing variable structure controller. Also, simulation results are given in this paper.

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비선형 시스템 계통에서 신경망에 근거한 가변구조 제어 (Neural Network based Variable Structure Control for a Class of Nonlinear Systems)

  • 김현호;이천희
    • 정보처리학회논문지A
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    • v.8A no.1
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    • pp.56-62
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    • 2001
  • This paper presents a neural network based variable structure control scheme for nonlinear systems. In this scheme, a set of local variable structure control laws are designed on the basis of the linear models about preselected representative points which cover the range of the system operation of interest. From the combination of the set of local variable structure control laws, neural networks infer the approximate control input in between the operating points. The neural network based variable structure control alleviates the effects of model uncertainties, which cannot be compensated by the control techniques using feedback linearization. It also relaxes the discontinuity in the system’s behavior that appears when the control schemes based on the family of the linear models are applied to nonlinear systems. Simulation results of a ball and beam system, to which feedback linearization cannot be applied, demonstrate the feasibility of the proposed method.

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일차 dynamic을 갖는 계통에 대한 가변구조 제어기의 설계 (The design of variable structure controller for the systems having the first order dynamic)

  • 박귀태;최중경;강윤관
    • 제어로봇시스템학회:학술대회논문집
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    • pp.179-184
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    • 1991
  • This paper will describe the application for variable structure control theory to the first order dynamic system and verify it's robustness. The study on the first order dynamic system control which has been essential part for the control of servo motor (AC, DC) systems has been excluded in the study of variable structure control system(VSCS) because this first order system was not applicable to the previous variable structure control theory. So, for the robustness control of first order dynamic system with variable structure control theory, we propose modified switching function synthesis which guarantees the advantages of conventional VSCS and removes reaching phase which regards as shortcomings in VSCS. And we demonstrate the practical potential of implementation about this theory by simulation results of AC motor variable speed control.

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A Simple Learning Variable Structure Control Law for Rigid Robot Manipulators

  • Choi, Han-Ho;Kuc, Tae-Yong;Lee, Dong-Hun
    • 제어로봇시스템학회:학술대회논문집
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    • pp.354-359
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    • 2003
  • In this paper, we consider the problem of designing a simple learning variable structure system for repeatable tracking control of robot manipulators. We combine a variable structure control law as the robust part for stabilization and a feedforward learning law as the intelligent part for nonlinearity compensation. We show that the tracking error asymptotically converges to zero. Finally, we give computer simulation results in order to show the effectiveness of our method.

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A New Integral Variable Structure Controller For Incorporating Actuator Dynamics

  • Lee, Jung-Hoon
    • 전기전자학회논문지
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    • v.10 no.2
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    • pp.97-102
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    • 2006
  • In this paper, a new simple integral variable structure controller is designed with incorporating the actuator dynamics. The formulation of the VSS (variable structure system) controller design includes integral augmented sliding surface and the dynamics of the actuator expressed as the state equation. An illustrative example is given to show the effectiveness of the developed controller.

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부정합 시스템 행렬 불확실성을 갖는 시스템을 위한 동적 출력 궤환 가변 구조 제어기 (A Dynamic Output Feedback Variable Structure Controller for Uncertain Systems with Unmatched System Matrix Uncertainty)

  • 이정훈
    • 전기학회논문지
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    • v.59 no.11
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    • pp.2066-2072
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    • 2010
  • In this paper, a variable structure dynamic output feedback controller with an transformed sliding surface is designed for the improved robust control of a uncertain system under unmatched system uncertainty, matched input matrix uncertainty, and disturbance satisfying some conditions. This paper is extended from the results of the static output feedback VSS in [9]. To effectively remove the reaching phase problems, an initial condition of the dynamic output is determined. The previous some limitations on the dynamic output feedback variable structure controller is overcome in this systematic design. A stabilizing control is designed to generate the sliding mode on the predetermined sliding surface S=0 and as a results the closed loop exponential stability is obtained and proved together with the existence condition of the sliding mode on S=0 for all unmatched system matrix uncertainties. To show the usefulness of the algorithm, a design example and computer simulations are presented.

가변구조를 이용한 전기-유압서보계의 위치제어에 관한 연구 (A Study on the Position Control of an Electro-Hydraulic Servomechanism Using Variable Structure System)

  • 허준영;권기수;하석홍;조겸래;이진걸
    • 대한기계학회논문집
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    • v.13 no.2
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    • pp.213-220
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    • 1989
  • 본 연구에서는 고정도의 위치제어계를 실현하기 위하여 가변구조제어이론을 전기-유압서보계에 적용하였다.실험은 유압구동부의 공급압력을 변화시켜 유압계의 매개변수를 변화시켜줄 때와 관성하중을 가감하여 부하를 변화시켜 가며 행하였다. 가변구조계에서는 계의 매개변수변동과 부하변동에도 영향을 받지 않음을 종래의 고정구조계와 구조계와 비교, 검토하였다.

가변구조 제어기법을 이용한 고장허용 현가장치 설계 (Design of Self-Repairing Suspension Systems via Variable Structure Control Scheme)

  • 김도현
    • 제어로봇시스템학회논문지
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    • v.8 no.11
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    • pp.922-927
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    • 2002
  • A variable structure control (VSC) based model following control system that possesses fault detection and isolation (FDI) capability as well as fault tolerance property is proposed. The nonlinear part of the proposed control law. whose magnitude is determined by sliding variables, plays the role of suppressing fault effect. Thus, approximate fault reconstruction is also possible via the analysis of sliding variables. The proposed algorithm is applied to an active suspension system of pound vehicles to verify its applicability.

Variable Structure Model Reference Adaptive Control, for SIMO Systems

  • mohammadi, Ardeshir Karami
    • 제어로봇시스템학회:학술대회논문집
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    • pp.1987-1992
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    • 2004
  • A Variable Structure Model Reference Adaptive Controller (VS-MRAC) using state Variables is proposed for single input multi output systems. . The structure of the switching functions is designed based on stability requirements, and global exponential stability is proved. Transient behavior is analyzed using sliding mode control and shows perfect model following at a finite time. The effect of input disturbances on stability and transients is investigated and shows preference to the conventional MRAC schemes with integral adaptation law. Sliding surfaces are independent of system parameters and therefore VS-MRAC is insensitive to system parameter variations. Simulation is presented to clear the theoretical results.

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가변구조제어에 의한 조준경 고각 안정화 (Stabilization of elevation for gunner primary sight using variable structure control)

  • 김중완;이정규;김주상;이만형
    • 제어로봇시스템학회:학술대회논문집
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    • pp.643-647
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    • 1990
  • Gunner primary sight(GPS) stabilization system lays line of sight(LOS) to find out a target and transmits informations to the fire control system (FCS). In a moving vehicle, accuracy of LOS and FCS depends on the design of GPS and servomechanism system. The heavy vibration of vehicle on the severe off-road environment degenerates the stabilization capability of GPS. In this study, to stabilize of elevation for GPS using the variable structure control, we derived the dynamic equation of GPS system and designed the variable structure controller. Computer simulation results fulfilled the static and dynamic stability of GPS using the variable structure control.

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