• 전력전자학회:학술대회논문집
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• 전력전자학회 2001년도 전력전자학술대회 논문집
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• pp.389-392
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• 2001

This paper presents neural load disturbance observer that used to deadbeat load torque observer and regulation of the compensation gain by parameter estimator. As a result, the response of PMSM follows that of the nominal plant. The load torque compensation method is compose of a neural deadbeat observer. To reduce of the noise effect, the post-filter, which is implemented by MA process, is proposed. The parameter compensator with RLSM (recursive least square method) parameter estimator is suggested to increase the performance of the load torque observer and main controller. The proposed estimator is combined with a high performance neural torque observer to resolve the problems. As a result, the proposed control system becomes a robust and precise system against the load torque and the parameter variation. A stability and usefulness, through the verified computer simulation, are shown in this paper.

• Journal of Power Electronics
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• 제17권5호
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• pp.1211-1222
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• 2017

In order to decrease the parameter sensitivity of deadbeat direct torque control (DB-DTC), an improved deadbeat direct torque control method for surface mounted permanent-magnet synchronous motor (SPMSM) drives is proposed. First, the track errors of the stator flux and torque that are caused by model parameter mismatch are analyzed. Then a sliding mode observer is designed, which is able to predict the d-q axis currents of the next control period for one-step delay compensation, and to simultaneously estimate the model parameter disturbance. The estimated disturbance of this observer is used to estimate the stator resistance offline. Then the estimated resistance is required to update the designed sliding-mode observer, which can be used to estimate the inductance and permanent-magnetic flux linkage online. In addition, the flux and torque estimation of the next control period, which is unaffected by the model parameter disturbance, is achieved by using predictive d-q axis currents and estimated parameters. Hence, a low parameter sensitivity DB-DTC method is developed. Simulation and experimental results show the validity of the proposed direct control method.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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• pp.948-951
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• 1996

High-speed/high-accuracy control of robot manipulator becomes more and more stringent because of the external disturbance and nonlinear characteristics. To meet this ends, lots of control strategies were proposed in the past such as the computed torque control, the nonlinear decoupled feedback control, and adaptive control. These control methods need computations of the inverse dynamics and require much computational effort. Recently, a disturbance observer with unmodeled robot dynamics and simple algorithms to motion control have been widely studied. This paper proposes a motor control strategy based on the disturbance observer which estimate the disturbance of each joint from input-output relationship of the actuator and eliminate the estimated disturbance including the torque due to modeling errors, coupling force, nonlinear friction, and so on. To apply the disturbance observer to closedloop system like velocity servo pack, the modified control structure was constructed and shown that it is equivalent to a disturbance observer in open-loop system. Finally, using the proposed approach, simulation and experiments were carried out for a two-degree-of-freedom SCARA type direct drive robot, and show some results to verify the effectiveness of the proposed algorithms.

• Journal of information and communication convergence engineering
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• 제6권4호
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• pp.421-424
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• 2008

In torque transmission system, we must suppressed vibration for Accuracy characteristic response of motor, Therefore, vibration suppression factor is very important motor control. To suppress vibration, a various control method has been proposed. Specially, one method of vibration suppression used disturbance observer filter. This method is torsion torque passing disturbance observer filter. By the estimated torsion torque feedback, vibration can be suppressed. The CDM(coefficient diagram method) is used to design the filter and Proportional controller. But using coefficient diagram method, not adapted controller parameter in disturbance. For this solution, we used fuzzy controller for auto tuning controller parameter. We proved this approach is confirmed by simulation.

• 대한전기학회논문지:전기기기및에너지변환시스템부문B
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• 제53권3호
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• pp.188-195
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• 2004

This paper presents neural load torque observer that is used to deadbeat load torque observer and gain compensation by parameter estimator As a result, the response of the PMSM(permanent magnet synchronous motor) follows that nominal plant. The load torque compensation method is composed of a neural deadbeat observer To reduce the noise effect, the post-filter implemented by MA(moving average) process, is adopted. The parameter compensator with RLSM (recursive least square method) parameter estimator is adopted to increase the performance of the load torque observer and main controller The parameter estimator is combined with a high performance neural load torque observer to resolve the problems. The neural network is trained in on-line phases and it is composed by a feed forward recall and error back-propagation training. During the normal operation, the input-output response is sampled and the weighting value is trained multi-times by error back-propagation method at each sample period to accommodate the possible variations in the parameters or load torque. As a result, the proposed control system has a robust and precise system against the load torque and the Parameter variation. A stability and usefulness are verified by computer simulation and experiment.

• 전력전자학회:학술대회논문집
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• 전력전자학회 2003년도 춘계전력전자학술대회 논문집(2)
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• pp.816-819
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• 2003

This paper described a robust control of an induction motor using a disturbance cancellation observer of a feedforward control with Matlab simulink. The speed response of conventional PI controller characteristics is affected by variation of load torque disturbance. In this system, the speed control characteristics using a feedforward control toughen about a load torque disturbance.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2002년도 하계학술대회 논문집 B
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• pp.1088-1090
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• 2002

This paper described a robust control of an induction motor using a disturbance cancellation observer of a feedforward control. The speed response of conventional PI controller characteristic is affected by variations of load torque disturbance. In the proposed system. the speed control characteristic using a feedforward control isn't affected by a load torque disturbance.

• 전력전자학회:학술대회논문집
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• 전력전자학회 2002년도 전력전자학술대회 논문집
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• pp.179-182
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• 2002

This Paper described a robust control of an induction motor using a disturbance cancellation observer of a feedforward control, The speed response of conventional Pl controller characteristic is affected by variations of load torque disturbance. Tn the proposed system, the speed control characteristic using a feedforward control isn't affected by a load torque disturbance.

• 전력전자학회논문지
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• 제26권2호
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• pp.127-134
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• 2021

This study presents an overhang-type rail traction system using dual brushless AC (BLAC) motors with hall sensors. For an accurate position and moving length control of the designed rail traction system, instantaneous position controller using speed reference model and modified disturbance observer for BLAC motor with hall sensor are proposed. The presented speed reference model is designed to satisfy the required performance of 200 mm/s with proper acceleration and deceleration slopes to reduce mechanical vibration. Through the instantaneous speed reference model, instantaneous position and speed errors can be compensated together. Furthermore, the modified disturbance observer for BLAC motors with low-resolution hall sensors can improve the torque and speed control performance. The proposed disturbance observer is based on an actual motor speed. However, the feedback speed information of the hall sensor is not enough for use in the low-speed region. The practical adopted disturbance observer uses an activation speed band to the actual torque controller of the designed rail traction system. The proposed position control scheme is verified by the MATLAB-Simulink model and a practical manufactured traction system. In the computer simulation and experiments, the proposed position control scheme shows advanced control performance.

• 한국전자통신학회논문지
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• 제16권3호
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• pp.511-518
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• 2021

전동기의 좋은 추종 성능을 얻기 위해서는 외란 관측기가 포함되어 외란에 대응할 수 있는 제어기를 설계하는 것이 필요하다. 전동기의 외란 관측기는 1차 저역통과 필터를 기반으로 부하 토크과 역기전압을 추정하도록 설계하였다. 외란 관측기와 제어기의 상호관계를 비교하고, 개선된 제어 성능을 얻기 위하여 PI 제어기와 IP 제어기를 설계하였다. 설계된 관측기와 제어기의 성능을 확인하고자 120 [W]급의 BLDC 전동기에 적용하였다. 그 결과 오버슈트가 줄어들며, 정상상태 오차가 영으로 수렴하는 것을 확인할 수 있다.