The Journal of the Korea institute of electronic communication sciences (한국전자통신학회논문지)

Korea Institute of Electronic Communication Science (한국전자통신학회)
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Speed control of IPMSM using the Feedback Linearizations

피드백 선형화를 이용한 매입형 영구자석 동기전동기의 속도 제어

  • Yong-Ho Jeon (Dept. Aviation Maintenance Engineering, Jungwon University)
  • 전용호 (중원대학교 항공정비학과)
  • Received : 2024.08.27
  • Accepted : 2024.10.12
  • Published : 2024.10.31
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Abstract

In order to obtain good driving performance in motor control, measurement of the state required for control is necessary. It must also be able to compensate for nonlinear elements of the mathematical model of the motor and disturbances such as load variation. In this study, we design a Kalman filter that can effectively remove noise included in measurements. Kalman filters are effective in estimating the state of linear systems. The system model is feedback linearized by estimating nonlinear terms and load variation as disturbances and compensating them for the system control input. It can be shown that the Kalman filter and the disturbance observer can converge stably independently of each other. As a result of the state estimation, an angular velocity estimation error of within approximately 0.3 [%] and a constant load estimation error of within approximately 4 [%] were obtained.

전동기 제어에서 좋은 운전 성능을 얻기 위해서는 요구되는 상태의 측정이 필요하다. 또한 전동기의 수학적 모델의 비선형 요소와 부하 변동과 같은 외란도 보상할 수 있어야 한다. 본 연구에서는 측정에 포함되는 잡음를 효과적으로 제거할 수 있는 칼만 필터를 설계한다. 칼만 필터는 선형 시스템의 상태 추정에 있어서 효과적이다. 비선형 항과 부하 변동을 외란으로 추정하여 시스템 제어 입력에 보상함으로 시스템 모델을 피드백 선형화한다. 칼만 필터와 외란 관측기가 서로 독립적으로 안정하게 수렴할 수 있음을 보인다. 상태 추정의 결과 약 0.3 [%] 이내의 각속도 추정오차와 상수 부하는 약 4 [%] 이내의 추정 오차를 얻을 수 있었다.

Keywords

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