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A Second-Order Sliding Mode Controller for Active Suspension Systems
Shigehiro Toyama,Fujio Ikeda,Yoshio Sorimachi 제어로봇시스템학회 2008 제어로봇시스템학회 국제학술대회 논문집 Vol.2008 No.10
This paper presents a second-order sliding mode controller for active suspension systems. The proposed controller, which occurs a limit cycle as the second-order sliding mode, is designed by the integral sliding mode control theory with the twisting algorithm. With the block diagram algebra, the proposed control system can be converted into a nonlinear feedback system consisting of a linear transfer function and a nonlinear element. For the nonlinear system, the describing function method can approximately lead the existence condition for an ideal limit cycle at desired frequency with desired amplitude. Satisfying the existence condition, the proposed controller could almost occur the desired limit cycle in the vicinity of the switching surface, instead of the perfect sliding mode for the conventional sliding mode control theory. As a result, deterioration of the control efforts due to the chattering in high frequency range, such as the ride comfort or the road holding performance, could be suppressed, since the control input could be smooth. An indicator of the robustness against the perturbation of the plant was led from a view of the existence condition in the Nyquist’s plot. Finally, simulation results show the effectiveness of the proposed controller.
Fujio Ikeda,Ryota Toyama,Shigehiro Toyama 제어로봇시스템학회 2009 제어로봇시스템학회 국제학술대회 논문집 Vol.2009 No.8
In this paper, a new saturation control technique using fractional calculus in the framework of anti-windup compensation is developed for linear time-invariant systems subject to input nonlinearities. The difficulties of most anti-windup control methods are caused by constracting alocal feedback loop of the anti-windup compensator. In stead, it is considered that a fractional order controller is simply put in front of an unconstrained controller. The effectiveness of the proposed method is illustrated in a simulation example.