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슬라이딩 모드 기반 관측기와 제어기를 이용한 역진자 시스템의 위치 및 안정화 제어
허준서(Junseo Heo),좌동경(Dongkyoung Chwa) 대한전기학회 2019 전기학회논문지 Vol.68 No.6
This paper proposes a position and stabilization control method for the inverted pendulum systems with disturbances such that an unstable equilibrium point is maintained and the position of the actuated body that can move freely is controlled. It is difficult to design the controller due to the dynamic coupling and nonlinear characteristics of the underactuated systems because the degree of freedom of the system is more than the number of the actuators. It is also a difficult problem to compensate for the disturbance. To solve this problem, we introduced an integral sliding mode based observer. Observer can be used to estimate and compensate for disturbance and system model errors, and state variables can also be estimated. Sliding mode controller for position and stabilization control is also proposed. Controller consists of the part that generates a reference value for the pendulum to move the actuated body to the desired position and the part that generates a control input to make the angle of the pendulum track the reference value. The stability of the overall pendulum systems using the proposed control schemes is provided and the feasibility of the proposed control methods is demonstrated through simulation results.
쿼드로터 시스템의 강인 추종 제어를 위한 적분 슬라이딩 모드 기반 외란 관측기 및 제어기 설계
임채윤(Chaiyoon Lim),허준서(Junseo Heo),좌동경(Dongkyoung Chwa) 대한전기학회 2022 전기학회논문지 Vol.71 No.1
In this paper, an integral sliding mode disturbance observer (ISMDO)-based integral sliding mode controller (ISMC) design method is proposed for robust tracking control of the position and attitude angles of a quadrotor system with disturbances. First, the dynamics of the quadrotor system is modeled including disturbances. Second, the disturbances are estimated and compensated for by designing the ISMDO. Third, a virtual attitude angle generator is used to control to follow a desired position, and a robust controller is designed to track the desired value of the system. Finally, simulations are performed to verify the proposed control method to show that the proposed robust control method is very effective compared to the methods using only one of the ISMC and the nonlinear disturbance observer.
장지영(Jiyoung Jang),허준서(Junseo Heo),좌동경(Dongkyoung Chwa) 대한전기학회 2021 대한전기학회 학술대회 논문집 Vol.2021 No.10
본 논문에서는 brushless direct current(BLDC) 모터의 정밀한 제어를 위해 비선형 마찰 모델인 Stribeck 모델을 이용하여 모터의 마찰력을 나타낸다. 비선형 마찰 모델을 포함하는 모터 운동 방정식의 파라미터를 Levenberg-Marquardt(LM) 알고리즘을 이용하여 식별한다. 본 논문에서는 실제 모터와 식별된 비선형 마찰 모델을 포함하는 시뮬레이션 모델이 얼마나 유사한지 검증하기 위해 실제 모터의 각속도 출력값과 시뮬레이션의 각속도 출력값을 비교한다.
비선형 마찰 모델을 고려한 BLDC 모터의 적분 슬라이딩 모드 제어
장지영(JiYoung Jang),허준서(Junseo Heo),좌동경(Dongkyoung Chwa) 대한전기학회 2022 전기학회논문지 Vol.71 No.1
This paper proposes an integral sliding mode control method for robust control of brushless direct current (BLDC) motor. In order to improve the control performance, the friction force of the motor is expressed using the Stribeck friction model, which is a nonlinear friction model that can accurately represent the friction force at low speed. The parameter values required to design the integral sliding mode controller are then obtained by identifying the parameters of the dynamic equations of the motor including the nonlinear friction model using the Levenberg-Marquardt (LM) algorithm. The performance of the proposed integral sliding mode control method for the BLDC motor is verified through both the simulation results and the actual motor speed control test results.