PD -슬라이딩 모드 제어의 절환을 통한 강인한 SPMSM 속도 제어기 설계

손주범(Ju-Beom Son),서영수(Young-Soo Seo),이장명(Jang-Myung Lee) 제어로봇시스템학회 2010 제어·로봇·시스템학회 논문지 Vol.16 No.3

The paper proposes a new type of robust speed control strategy for permanent magnet synchronous motor by using PD-sliding mode hybrid control. The PD control has a good performance in the transient region while the sliding mode controller provides the robustness against system uncertainties. Taking advantages of the two control strategies, the proposed control method utilizes the PD control in the approaching region to the sliding surface and the sliding mode control near at the sliding surfaces. The chattering problem of the sliding mode controller is eliminated by applying the saturation function for the switching function of the sliding mode control. The stability of the sliding mode control is verified by using Lyapunov function with the proper selection of variable gains. It is shown that with this simple switching algorithm, stability of the overall hybrid control system is ensured. Through the simulations, the PD-sliding mode algorithm is shown to have a good performance in the transient response as well as being robust against disturbances. The robustness of the PD-sliding mode algorithm is further demonstrated against various external disturbances in the real experiments of SPMSM motor control.

PMSM Speed Controller Using switching algorithm of PD and Sliding Mode Control

Yan Li,Ju-Beom Son,Jang-Myung Lee 제어로봇시스템학회 2009 제어로봇시스템학회 국제학술대회 논문집 Vol.2009 No.8

This paper proposes a realization of robust speed control for permanent magnet synchronous motor by using PD-Sliding mode hybrid control. The PD control has a good performance in the transient period while the sliding mode control has robustness against the system uncertainties. The proposed control method is proposed for the control of permanent magnet synchronous motor by taking advantages of both the PD and sliding mode controls. And the chattering problem of Sliding mode control is eliminated to apply the sigmoid function under the control of a switching function. The stability of the sliding mode control is verified by the Lyapunov function with the setting up of variable gains. The simple switching algorithm used for stability of hybrid control system. The embodiment of speed controllers has evaluated through experiments with 2KW SAMSUNG ROCKWELL PMSM. The PD-sliding mode algorithm which is shows a good performance in the transient period and robustness against disturbances. Robustness of the PD-sliding mode algorithm can be further checked with various external disturbances.

A novel smooth switching control strategy for multiple photovoltaic converters in DC microgrids

Qinjin Zhang,Wangbao Hu,Yancheng Liu,Hanwen Zhang,Honglai Wang 전력전자학회 2022 JOURNAL OF POWER ELECTRONICS Vol.22 No.2

With the photovoltaic (PV) penetration rate increasing in PV-storage-based DC microgrids, the conventional PV controller with only the maximum power point tracking (MPPT) control function can hardly meet the needs of the coordinated operation. The PV converter should operate at the MPPT or the constant voltage droop (CVD) mode according to the load demand. Two sets of relatively independent control loops are used to control the two modes. Inevitably, bus voltage and PV output power fluctuations are caused in the process of mode switching. This paper proposes a novel smooth switching control strategy for the smooth transition of multiple PV converters between MPPT and CVD modes. When combined with the PV array output characteristic curve, the value of dp/di is selected as the control variable. By tracking different dp/di command values, the PV converter can realize the control of the MPPT mode, the CVD mode, and smooth switching between the two modes. The MPPT and CVD modes are unified in the sense of using the same control loop, which avoids control loop switching during the PV mode switching. Finally, the effectiveness of the novel smooth switching control strategy is verified by the simulation and hardware in loop (HIL) experimental tests.

Asynchronous Control for Discrete-time Switched Time-delay Systems with Mode-dependent Persistent Dwell-time

Shuting Liu,Hangfeng He,Wenhai Qi,Kaibo Shi 제어·로봇·시스템학회 2022 International Journal of Control, Automation, and Vol.20 No.4

This paper deals with asynchronous control for discrete-time switched time-delay system with persistent dwell-time (PDT). The mode-dependent PDT switching is adopted, which is more general than average dwell time switching. Moreover, to deal with the mode-dependent delay in mode identification and signal transmission, the asynchronous phenomenon between controllers and subsystems is considered. A new mode-dependent Lyapunov function is constructed, which is suitable to the asynchronous PDT switching. Then, the sufficient condition for globally uniformly asymptotically stable (GUAS) of the discrete-time switched time-delay system is proposed. Further, the asynchronous controller and switching law are designed such that the closed-loop system is GUAS. Finally, an application example of water pollution is given to show the effectiveness of the proposed method.

피아식별 모드-5를 위한 통합시험 원격 버전 제어 방법 연구

정영환,김찬수,김인한,이원식,위성혁,나형호 한국정보과학회 2019 정보과학회 컴퓨팅의 실제 논문지 Vol.25 No.9

The identification of friend or foe is necessary to prevent the shooting of unintended targets. The United States plans to suspend the Mode-4 identification system and apply Mode-5 from July 2020 forward. The transition to Mode-5 is inevitable in order to ensure the interoperability of peer identification in the Republic of Korea military operations with the US as well as NATO member states. In a situation where the actual defense field shooting and engagement tests were limited, we conducted a weapon systems test evaluation and integration test, parts if an integrated test system based on verification, validation and accreditation certified through a virtual engagement environment. As weapon systems are improved through Mode-5 performance, an integrated testing system of the appropriate version for the weapon system must be run for interoperability verification and integration testing. However, if a version-specific integrated test system is built, the production schedule and costs will increase. Therefore, there is a need to develop a remote version switching control program to effectively operate the integrated test system. The remote version switching control program can effectively operate the integrated test system, reducing the production schedule and cost. 피아식별은 전/평시 군의 작전수행 간 피아구분 및 우군살상 방지를 위해서 필요하다. 미국은 2020년 7월부터 기존의 Mode-4를 사용 중단하고 Mode-5를 적용할 계획이다. 미군 및 NATO 회원국과의 연합작전 시 피아식별의 상호운용성 보장을 위해 한국군의 Mode-5로의 전환은 불가피하다. 현재 국방시험평가 분야에서 실 사격 및 교전 시험이 제한되는 경우 VV&A 인증 받은 가상교전 환경기반 통합시험시스템으로 무기체계 시험평가 및 통합시험을 수행해왔다. 무기체계가 Mode-5로 성능개량 됨에 따라 상호운용성 확인 및 통합시험을 위해 해당 무기체계에 적합한 버전의 통합시험시스템을 운용해야 한다. 하지만, 버전 별 통합시험시스템을 제작하게 되면 제작 일정 및 비용 소요가 늘어난다. 따라서, 효과적으로 통합시험시스템을 운용하기 위해 통합시험시스템 원격 모드 제어 프로그램 개발 필요성이 제기되었다. 본 논문에서는 통합시험시스템을 효과적으로 운용할 수 있으며, 제작 일정 및 비용 소요를 줄일 수 있는 방법에 대해 다루어 보았다.

제어기 모드 스위칭을 이용한 사이버 물리 시스템의 검지 회피 센서 공격 대응

전희균(Heegyun Jeon),은용순(Yongsoon Eun) 제어로봇시스템학회 2021 제어·로봇·시스템학회 논문지 Vol.27 No.2

This paper reports on a detection technique for stealthy sensor attacks on cyber-physical systems (CPS). The considered attack is a pole-dynamics attack, in which false data are injected to cancel the unstable trajectory of a plant captured on the feedback sensor output. In this attack, the systems appear to operate normally in the steady-state while the plant is destabilized. The target system is a linear plant, including unstable pole-dynamics, and we assume that the adversary knows the model to carry out the attack. The proposed detection method employs a switching mechanism of two control modes that play different roles. The first mode is the normal mode, which consists of a linear controller and an anomaly detector, having the same structure as those used in conventional networked control systems. The second mode is the attack detection mode, which utilizes an internal feedback controller. It is assumed that this internal controller is not known to the adversary. When the system is in the attack detection mode, owing to the use of the internal controller, the overall system dynamics differ from those adopted by the adversary, thereby the effect of the attack is revealed. The CPS periodically switches between the attack detection mode and normal mode. The timing of the switch is determined to ensure that any attack is revealed before the physical system becomes unstable. The results are validated via simulations of quadrotor control.

Modeling, Dynamic Analysis and Control Design of Full-Bridge LLC Resonant Converters with Sliding-Mode and PI Control Scheme

Kai Zheng,Guodong Zhang,Dongfang Zhou,Jianbing Li,Shaofeng Yin 전력전자학회 2018 JOURNAL OF POWER ELECTRONICS Vol.18 No.3

In this paper, a sliding mode and proportional plus integral (SM-PI) control combined with self-sustained phase shift modulation (SSPSM) for LLC resonant converters is presented. The proposed control scheme improves the transient response while preserving good steady-state performance. An averaged large signal model of an LLC converter with the ZVS modulation technique is developed for the SM control design. The sliding surface is obtained based on the input-output linearization concept. A system identification method is adopted to obtain the transform function of the LLC resonant converter, which is used to design the PI control. In order to reduce the inherent chattering problem in the steady state, the combined SM-PI control strategy is derived with fuzzy control, where the SM control is responsive during the transient state while the PI control prevails in the steady state. The combination of SSPSM and the SM-PI control provides ZVS operation, robustness and a fast transient response against step load variations. Simulation and experimental results validate the theoretical analysis and the attractive features of the proposed scheme.

A Comparative Study of Operating Angle Optimization of Switched Reluctance Motor with Robust Speed Controller using PSO and GA

V. Vasan Prabhu,V. Rajini,M. Balaji,V. Prabhu 대한전기학회 2015 Journal of Electrical Engineering & Technology Vol.10 No.2

This paper’s focus is in reducing the torque ripple and increasing the average torque by optimizing switching angles of 8/6 switched reluctance motor while implementing a robust speed controller in the outer loop. The mathematical model of the machine is developed and it is simulated using MATLAB/Simulink. An objective function and constraints are formulated and Optimum turn-on and turn-off angles are determined using Particle swarm optimization and Genetic Algorithm techniques. The novelty of this paper lies in implementing sliding mode speed controller with optimized angles. The results from both the optimization techniques are then compared with initial angles with one of them clearly being the better option. Speed response is compared with PID controller.

Sliding Mode Control of Uncertain Switched Delay Systems via Hysteresis Switching Strategy

Jie Lian,Jun Zhao 제어·로봇·시스템학회 2010 International Journal of Control, Automation, and Vol.8 No.6

This paper investigates the robust sliding mode control (SMC) problem for a class of uncertain switch-ed systems with time-varying delay. The sliding surface is constructed such that the sliding motion is completely invariant to all admissible uncertainties. For the case of the known delay-derivative upper bound, by using the multiple Lyapunov functions method, the Hysteresis switching law dependent on the state and the previous value of switching signal are designed to stabilize the sliding motion and avoid the chattering. Variable structure controllers are developed to drive the state of switched systems to reach the sliding surface in finite time and remain on it thereafter. For the case of the unknown delay-derivative upper bound, based on the single Lyapunov function method, the conditions of stabilization are obtained. Finally, a numerical example is given to illustrate the effectiveness of the proposed methods.

비행제어법칙 전환시스템 개발

안종민(Jong-Min Ahn),임상수(Sang-Soo Lim),권종광(Jong-Kwang Kwon),최섭(Sup Choi),이용표(Yong-Pyo Lee),고준수(Joon-Soo Ko) 한국항공우주학회 2008 韓國航空宇宙學會誌 Vol.36 No.7

본 논문은 비행 중 비행제어법칙을 전환함으로써 실험 대상 비행제어법칙을 검증할 수 있는 비행제어법칙 전환시스템 개발에 관한 논문이다. 본 연구를 통하여 제어법칙 간 전환에 따른 천이응답을 최소화하기 위한 페이더 설계 및 대기 모드 상태에 있는 비행제어법칙의 적분기 안정화 설계가 도입되었다. 두 개의 제어법칙 간 데이터 통신은 1553 통신 방식을 채택하였다. 본 논문은 개발된 비행제어법칙 전환시스템의 구조 및 주요 개념 설계 연구 및 고등훈련기급의 비행성 평가 시뮬레이터를 이용한 시스템 검증 결과를 포함한다. This paper deals with a development of flight control law switching system which can be used for flight test of the research control law by switching control law during flight. Through this research program, fader logic and integrator stabilization design has been introduced to minimize the transient response of aircraft caused by flight control law switching and to prevent the divergence of the integrator included in the control law in standby mode. MIL-STD-1553B communication was applied to transfer the data between the two control laws. This paper introduce the control law switching system architecture and major design concept and include the system verification and validation result performed on the flying quality simulator of the advanced trainer.