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주형렬(Hyeong-Yeol Joo),박승규(Seung-Kyu Park),곽군평(Gun-Pyong Kwak) 대한전기학회 2009 대한전기학회 학술대회 논문집 Vol.2009 No.7
This paper discusses about a robust servo system applying PID control to PMSM. The system has robustness by Sliding Mode Controller. A novel sliding surface is defined by virtual state. This sliding surface has nominal dynamics of an original PID control system. So Sliding Mode Control(SMC) technique can be used with PID controller. Its design is based on the augmented system whose dynamics have a higher order than that of the original system. The reaching phase is removed by using an initial virtual state whitch makes the initial sliding function equal to zero.