제어로봇시스템학회:학술대회논문집
- 1992.10a
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- Pages.670-674
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- 1992
Speed regulation of DC motor using Kalman filter
칼만필터를 이용한 직류 모터의 속도조절
- Kim, Cheon-joong (Dept. of Electronics Eng., Chungnam National Univ.) ;
- Kim, Sung-Soo (Dept. of Electronics Eng., Chungnam National Univ.) ;
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Lyou, Joon
(Dept. of Electronics Eng., Chungnam National Univ.)
- Published : 1992.10.01
Abstract
This paper presents a velocity regulation scheme for a DC motor subjected to random torque and velocity measurement noises of white noise type as well as unknown constant load torque (bias). The scheme separately estimates an unknown bias in addition to state estimation by the bias-free Kalman Filter, and reflects the effect of the bias estimate to the armature input voltage such that velocity variations be regulated. It is shown via computer simulations that the performance of the present scheme is superior to that of the conventional analog PI regulator.
Keywords