Browsing by Author "CHERN, TL"

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AN OPTIMAL VARIABLE STRUCTURE CONTROL WITH INTEGRAL COMPENSATION FOR ELECTROHYDRAULIC POSITION SERVO CONTROL-SYSTEMS
(1992-10-01)
CHERN, TL
;
WU, YC
;
交大名義發表
;
電控工程研究所
;
National Chiao Tung University
An approach employing variable structure control with integral compensation is presented for an electrohydraulic position servo control system to achieve accurate servo tracking in the presence of load disturbance and plant parameter variation. Simulations show that the proposed approach may give a rather accurate servo-tracking result and is fairly robust to plant parameter variation and load disturbance.
DESIGN OF BRUSHLESS DC POSITION SERVO SYSTEMS USING INTEGRAL VARIABLE STRUCTURE APPROACH
(1993-01-01)
CHERN, TL
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WU, YC
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電控工程研究所
;
Institute of Electrical and Control Engineering
This paper considers brushless DC position control systems with unknown external load disturbance and plant parameter variations. Since the dynamic characteristics of such systems are very complex and highly nonlinear, a conventional linear controller design may not assure satisfactory requirements. To improve the dynamic response of such systems, an integral-compensated variable structure control (IVSC) has been proposed. The approach comprises an integral controller for achieving a zero steady-state error response under step input, and a variable structure controller for enhancing the robustness. Simulation results show that the proposed approach gives a rather accurate servo-tracking result and is fairly robust to plant parameter variations and external load disturbance.
DESIGN OF INTEGRAL VARIABLE STRUCTURE CONTROLLER AND APPLICATION TO ELECTROHYDRAULIC VELOCITY SERVOSYSTEMS
(1991-09-01)
CHERN, TL
;
WU, YC
;
電控工程研究所
;
Institute of Electrical and Control Engineering
An integral variable structure controller (IVSC) for robust servotracking is proposed. It comprises an integral controller, which is designed for achieving zero steady-state error under step input, and a variable structure controller (VSC) which is designed for enhancing robustness. A procedure is developed for determining the coefficients of the switching plane and the integral control gain such that the overall closed-loop system has the desired eigenvalues. Furthermore, a modified proper continuous function is introduced to overcome the chattering problem. An electrohydraulic velocity servocontrol system using the proposed IVSC approach is illustrated. Simulation results show that the proposed IVSC approach can achieve accurate servotracking and is fairly robust to plant parameter variations and external load disturbances.
INTEGRAL VARIABLE STRUCTURE CONTROL APPROACH FOR ROBOT MANIPULATORS
(1992-03-01)
CHERN, TL
;
WU, YC
;
電控工程研究所
;
Institute of Electrical and Control Engineering
An integral variable structure control (IVSC) approach for robot manipulators is presented to achieve accurate servo-tracking in the presence of load variations, parameter variations and nonlinear dynamic interactions. A procedure is proposed for choosing the control function so that it guarantees the existence of the sliding mode and for determining the coefficients of the switching plane and the integral control gain such that the IVSC approach has the desired properties. Furthermore, a modified proper continuous function is introduced to overcome the chattering problem. The proposed IVSC approach has been simulated for the first three links of a PUMA 560 robot arm as an illustration. The simulation results demonstrate the potential of the proposed scheme.