• Proceedings of the KIEE Conference
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• 2006.04b
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• pp.229-231
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• 2006

The paper presents a sensorless speed control of interior permanent magnet synchronous motors using an adaptive integral binary observer in view of composition with a main loop regulator and an auxiliary loop regulator. The binary observer has a property of the chattering alleviation in the constant boundary layer; however, the steady state estimation accuracy and robustness are dependent upon with width of the constant boundary. In order to improve the steady state performance of the binary observer, the binary observer is formed by adding extra integral dynamic to the switching hyperplane equation.

• Proceedings of the KIEE Conference
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• 2006.04b
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• pp.216-218
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• 2006

In this paper, a new sensorless control based on an adaptive sliding mode observer is proposed for the interior permanent magnet synchronous motor(IPMSM) drives. With using voltage equation only, the adaptive sliding mode observer was investigated. The proposed adaptive sliding mode observer is applied to overcome the problem caused by using the dynamic equation. Furthermore, the Lyapunov theorem is used to prove the system stability included speed estimate and speed control. The effectiveness of the proposed algorithm is confirmed by the experiments.

• Proceedings of the KIEE Conference
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• 1996.07a
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• pp.458-460
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• 1996

In this study, the full-state flux observer is designed in the synchronous DQ-frame and the speed adaptation rule is derived by using the MRAS(Model Reference Adaptive System) theory. In this rule, the induction motor becomes a reference model and the flux observer is taken as a adjustable model. A guideline of the adaptation gain is investigated for the precise and stable speed adaptation and the proposed scheme is compared with the conventional one designed in the stationary DQ-frame.

• Proceedings of the KIEE Conference
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• 2003.10b
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• pp.83-85
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• 2003

This paper presents a speed control of permanent magnet synchronous motors (PMSM) using an adaptive integral binary observer without speed and position sensors. In view of composition with a main loop regulator and an auxiliary loop regulator, the binary observer has a property of the chattering alleviation in the constant boundary layer. In order to improve the steady state performance of the binary observer, the proposed adaptive integral binary observer is formed by adding extra integral dynamics to the switching hyperplane equation. The effectiveness of the proposed system is conformed by the experimental results.

• Proceedings of the KIPE Conference
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• 1997.07a
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• pp.60-63
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• 1997

A new approach to the position sensor elimination of PM synchronous motor drives is presented in this study. Using the position sensing characteristics of PMSM itself, the actual rotor position as well as the machine speed can be estimated by adaptive flux observer and used as the feedback signal for the vector controlled PMSM drive. The adaptive speed estimation is achieved by model reference adaptive technique. The adaptive laws are derived by the Popov's hyperstability theory and the positivity concept. In order to verify the effectiveness of the proposed scheme, computer simulations are carried out for the actual parameters of a PM synchronous motor and the results well demonstrate that the proposed scheme provides a good estimation value of the rotor speed without mechanical sensor. It is also shown that the actual rotor position as well as the machine speed can be achieved under the variation of the magnet flux linkage. Since the flux linkages are estimated by the adaptive flux observer and used for the identification of the rotor speed, robust estimation of the rotor speed can be performed.

• Proceedings of the KIEE Conference
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• 2009.07a
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• pp.1849_1850
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• 2009

In this paper, we propose an adaptive observer for electrically driven mobile robots in the presence of parametric uncertainties. To estimate the unmeasured velocities of the mobile robot, we develop an adaptive observer using the transformation matrices which can solve the difficulty caused by the quadratic velocity terms depending on the uncertain parameters. Using the Lyapunov stability theory, we prove that all signals in a closed-loop system converge to zero. Finally, the simulation results demonstrate the effectiveness of the proposed observer system.

• The Transactions of the Korean Institute of Electrical Engineers P
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• v.54 no.1
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• pp.1-7
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• 2005

This paper is proposed the speed and position sensorless control of surface permanent magnet synchronous motor(SPMSM) with adaptive fuzzy and observer. A adaptive fuzzy controller is applied for speed control of SPMSM drive. A adaptive state observer is used for the mechanical state estimation of the motor. The observer was developed based on nonlinear model of SPMSM, that employs a d - q rotating reference frame attached to the rotor. A adaptive observer is implemented to compute the speed and position feedback signal. The validity of the proposed sensorless scheme is confirmed by various response characteristics.

• Proceedings of the KIEE Conference
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• 2006.10c
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• pp.360-362
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• 2006

This paper proposes a new track-following control method using disturbance observer with the freedom of gain and frequency adaptation in optical disk drive system. Recent ODDs use smaller track pits, higher rotation speed and broader rotational speed variations to increase the data capacity and data transfer rate. This cause the degradation of track-following performance by increasing the disturbance of the rotary system. In this paper, we discussed on a DOB structure that efficiently attenuate the disturbance without effecting the overall feedback loop characteristics on CLV type ODD which uses a higher and broader range of rotational speed. DOB structure uses two band pass filter. We analyzed the track-following performance sensitivity on rotational frequency variance and gain changes. This analysis is done on a computer simulation environment and actual ODD product.

• Proceedings of the KIEE Conference
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• 2006.10c
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• pp.327-329
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• 2006

A controller is proposed for the robust adaptive backstepping control of a class of uncertain nonlinear systems using nonlinear disturbance observer (NDO). The NDO is applied to estimate the time-varying lumped disturbance in each step, but a disturbance observer error does not converge to zero since the derivative of lumped disturbance is not zero. Then the fuzzy neural network (FNN) is presented to estimate the disturbance observer error such that the outputs of the system are proved to converge to a small neighborhood of the desired trajectory. The proposed control scheme guarantees that all the signals in the closed-loop are semiglobally uniformly ultimately bounded on the basis of the Lyapunov theorem. Simulation results are presented to illustrate the effectiveness and the applicability of the approaches proposed.

• Journal of Institute of Control, Robotics and Systems
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• v.13 no.4
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• pp.335-343
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• 2007

This paper deals with the method to estimate the friction in a system. We study a nonlinear friction model to estimate the friction in an inverted pendulum and approximate the friction model using fuzzy basis functions expansion. To demonstrate the friction observer using FBFs, we derive a update rule based on the error term that is formed by the output from a real system and observer output with a friction estimate. And two compensation algorithms to improve the response of an inverted pendulum are proposed. The first method that a observer parameter is updated in on-line and the friction is compensated at the same time. The second method is to compensate the friction with observer parameter estimated priori. The two methods is compared through the experimental results.