• Title, Summary, Keyword: variable structure system

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CNC milling experiments using a variable structure control (가변구조제어기를 사용한 CNC 공작기계의 절삭실험)

  • 김정호;은용순;조동일
    • 제어로봇시스템학회:학술대회논문집
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    • pp.852-855
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    • 1996
  • A variable structure controller is developed for an AC servo motor used in CNC milling machines. The designed controller is implemented as an outer loop controller to a factory designed motor-servopack system. The robustness parameter is tuned for a fast response when the speed tracking error is large, while it is tuned for small oscillations when the speed tracking error is small. The designed controller is installed on a CNC machine using a PC. Cutting experiments show improved performance over the factory-designed controller.

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The Study of Sliding Mode Variable Structure-Fuzzy Induction Motor Control using Simulink (Simulink를 이용한 슬라이딩모드 가변구조-퍼지 유도전동기 속도제어에 관한 연구)

  • Kim, Sang-Woo;Kim, Byung-Jin;Jung, Eul-Gi;Jeon, Hee-Jong
    • Proceedings of the KIPE Conference
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    • pp.361-365
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    • 1998
  • In this paper, the sliding mode variable structure-fuzzy(SMVS-F) control algorithm is applied to speed controller for field oriented induction motor drive system. According to the principle of sliding mode variable structure-fuzzy adjustable speed control scheme, the proposed algorithm shows good performances which are reducing chattering, robustness against parameter variation in induction motor drive. The validity of the proposed control scheme is verified by computer simulation using SIMULINK.

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A variable structure control algorithm incorporating actuator dynamics (구동부 동특성을 고려한 가변구조 제어 알고리듬)

  • 이정훈;신휘범;차동국;강익호;장명광
    • 제어로봇시스템학회:학술대회논문집
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    • pp.285-288
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    • 1997
  • In this paper, the dynamics of actuators for generating the input of plants is considered in a design of the variable structure systems. While the input for plants is usually implemented by means of a certain actuator, the actuator dynamics is not incorporated in most of the VSS researches until now. The control algorithm of a VSS incorporating actuator dynamics is presented, and the simulation is given to show the usefulness of the algorithms.

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Study of a Variable Single-tracked Crawler for Overcoming Obstacles (가변형 단일 궤도를 이용한 장애물 극복방법에 관한 연구)

  • Kim, Jee-Hong;Lee, Chang-Goo
    • Journal of Institute of Control, Robotics and Systems
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    • v.16 no.4
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    • pp.391-395
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    • 2010
  • In our paper, we propose an asymmetric single-tracked wheel system, and describe its structure and the method for maintaining the length of a transformable track system. And the method is reducing the gap of lengths. Therefore, we propose an efficient structure for transforming and explain motions with kinematics. Our transformable shape single-tracked mobile system has an advantage to overcome an obstacle or stairs by the variable arms in the single unity track system. But we will make the variable shape of tracked system get a drive that has a force to stand against a wall. In this case, we can consider this system to a rigid body and have a notice that this single tracked system is able to get vary shape with the variable arm angle. Considering forces balance along x-axis and y-axis, and moments balance around the center of the mass we have. If this rigid body is standing against a wall and doesn't put in motion, the force of flat ground and the rigid body sets an equal by a friction. In the same way, the force of a wall and the rigid sets an equal by a friction.

Variable structure model following control for robot manipulator using time-varying sliding hyperplane

  • Park, Kang-Bark;Lee, Ju-Jang
    • 제어로봇시스템학회:학술대회논문집
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    • pp.519-523
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    • 1993
  • In this paper, the variable structure model following control scheme is proposed for the nonlinear robot manipulator system. The proposed control system guarantees that the system state is in the sliding mode for all time. Therefore, error transient can be prescribed in advance for all time. Furthermore, overall system is globally exponentially stable. Chattering problem is reduced by the introduction of a boundary layer. Simulation results are given to show the usefulness of the proposed control scheme.

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Design of the output feedback variable structure control system for multivariable system (다변수 계통에 대한 출력궤환 가벼구조 제어계에 관한 연구)

  • 이기상;조동식
    • 제어로봇시스템학회:학술대회논문집
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    • pp.197-202
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    • 1991
  • Recently, an output feedback variable structure control scheme(OFVSCS) is proposed to remove the assumption of full state availability and to make the application of VSC scheme to the high order systems with unmeasurable state variables possible. In this paper, a design method of an output feedback variable structure control system (IOFVSCS) that guarantees the invariance of the sliding mode against process parameter variation and external disturbance is proposed. The IOFVSCS is composed of two components; dynamic switching surface driven by measured I/0 informations and switching control input generator driven by switching surface information and measured output, where the two components are constructed by adopting unknown vector modelling approach. The invariance condition for the IOFVSCS is proved to be the same as that of the conventional VSCS. Simulation results show that the IOFVSCS can be designed to have robust properties better than that of the conventional VSCS in spite that the IOFVSCS is driven by small amount of measured information.

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A New Design Method of Sliding Mode Fuzzy Controller with Robust and fast Performance (강인성과 응답 성능을 고려한 슬라이딩모드 퍼지 제어기 설계에 관한 연구)

  • 박창우;이장욱
    • Proceedings of the IEEK Conference
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    • pp.425-428
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    • 1998
  • This paper proposes a new fuzzy controller using variable structure control theory. In this paper, after the time-varying fuzzy sliding surface is designed, the fuzzy rules are defined based on the variable structure control theory. This design method makes the fuzzy controller design more structured and can guarantee the stability and robustness of the fuzzy controller and overcome the shortcoming of the variable structure system. Through computer simulation and experiment of nonlinear inverted pendulum system, this thesis demonstrate that system has the robustness against disturbance and modelling error, and the tracking performance of it is improved.

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The asymptotic tracking using variable structure control for a minimum phase nonlinear system (가변 구조 제어 방식을 이용한 최소위상 비선형 시스템의 점근적 경로 추적)

  • Oh, Seung-Rohk
    • Journal of IKEEE
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    • v.13 no.1
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    • pp.30-35
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    • 2009
  • A new controller which can achieve the asymptotic tracking is proposed for the nonlinear system having a uncertainty in the input coefficient. A high gain observer is used to estimate the state variables when the nonlinear system has a modeling uncertainty. A variable structure control is used to achieve an asymptotic tracking, while ultimate boundness was achieved in the previous work. A Lyapunov analysis is used to justify the our proposal. The performance of proposed method is demonstrated via simulation.

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A Study on the Dynamic Behavior of a 2-step Variable Valve Switching System for Automotive Engines (자동차 엔진용 2단 가변밸브 기구의 스위칭 시스템 동적 거동에 관한 연구)

  • Kim, Dongil;Kim, Dojoong
    • Transactions of the Korean Society of Automotive Engineers
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    • v.22 no.6
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    • pp.39-48
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    • 2014
  • Variable valve actuation system is one of the widely used techniques to improve the fuel efficiency and power of automotive engines. 2-step variable valve actuation systems are also paid attention for the application to direct acting type valve train systems. Besides its advantages in size, weight, relatively simple structure, ets, however, 2-step variable valve actuation system has inherent disadvantages in dynamic instability of switching system to alter discontinuous lift modes. In this study, both experimental and analytical studies are performed to understand the dynamic behavior of a switching mechanism of a 2-step variable valve actuation system, and present a design method to improve its dynamic instability.

Variable Speed SRM Drive System with Fuzzy Controller (퍼지제어기를 이용한 스윗치드 리럭탄스 전동기의 속도제어)

  • Kim, C.H.;Kwon, Y.A.;Kim, C.U.
    • Proceedings of the KIEE Conference
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    • pp.6-8
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    • 1994
  • Switched reluctance motor drive system is well known as a variable speed drive system because it has a simple motor structure and a simple driving circuit. Widely slotted photo interrupter has been investigated as a position sensor for SRM speed control because it has advantages of low cost and simple structure. However it has low resolution and it produces dead-time signal. This paper studies variable speed SRM drive system with slotted photo-interrupter. Controller in this study is constructed by using fuzzy controller that covers system nonlinearities and small perturbations in sufficiency. The performance of this system is evaluated through computer simulation and experiment results.

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