• Journal of the Korean Institute of Illuminating and Electrical Installation Engineers
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• v.27 no.4
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• pp.62-72
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• 2013

To operate an automatic picking system in distribution center with high precision and high dynamics, this paper presents a robust control scheme of a linear induction motor (LIM) using the mass estimation and disturbance force observer. The force disturbance which gives a direct influence on the control performance of LIM is estimated in real-time through the disturbance observer and compensated by a feedforward manner. To get a satisfactory performance even under the mass variation by reducing the disturbance force due to the mismatched mass during the speed transient such as the acceleration and deceleration periods, a mass estimation algorithm is proposed. A Simulink model for LIM is developed and the validity of the proposed scheme is verified through the comparative simulation studies using Matlab - Simulink.

• The Transactions of the Korean Institute of Power Electronics
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• v.7 no.6
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• pp.531-536
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• 2002

This paper investigates the problem of the speed controller of conventional speed sensorless stator flux-oriented(SFO) induction motor drive, and proposes a robust speed controller to solve the conventional problem. In the proposed method, a robust speed controller for speed sensorless SFO system Is designed by taking advantage of disturbance torque observer and using feedforward.

• Proceedings of the KSME Conference
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• 2008.11a
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• pp.926-931
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• 2008

In order to design a high-performance controller with excellent positioning and tracking performance, an optimal tuning method based on the integrated design concept is studied. DOBs, feedforward controllers and CCC are applied to control the bi-axial linear servomechanism. To derive accurate dynamic models of mechanical subsystems equipped with linear servos for the integrated tuning, system identification processes are conducted through the sine sweeping. An optimal tuning problem with stability, robustness and overshoot constraints is formulated as a nonlinear constrained optimization problem. Optimal gains are obtained through the SQP method. Experimental results confirm that both tracking and contouring errors are significantly reduced by applying the proposed controller and integrated tuning method.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2004.11a
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• pp.586-591
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• 2004

A load/unload mechanism is applied to most small form factor hard disk drives. Loading velocity is ones of the most important factors to ensure the reliability of the load/unload operations. Especially, the lower the flying height of the head becomes, the more important the accuracy of the loading velocity control becomes. Because there is no sensor during the load/unload operations, BEMF voltage is used to sense the head velocity. To measure BEMF voltage, a simple circuit is added to the load/unload HDD control system. Overall acceptable results are obtained by using the simple PI controller but the errors from the target velocity occur when the head moves along the ramp and then reaches the disk. Feedforward profile and disturbance observer are used to remove those errors effectively.

• The Transactions of the Korean Institute of Electrical Engineers B
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• v.51 no.3
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• pp.116-124
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• 2002

Design and analysis of disturbance observer-based deadbeat control fur single-phase inverter applications are comprehensively presented in this paper. Load current can be estimated by disturbance observer, which is basically structured with the first order equation in this case and is regarded as a relatively simple method in comparison with conventional full-order Luenberger observer. Also, an inherent one-step delay problem appeared in the deadbeat control method is overcome by a simple prediction technique proposed. Output voltage dip is reduced by the feedforward control with the change rate of the estimated load current involved in the deadbeat current control loop. The proposed algorithms are verified by the respective simulation and experiment results.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.58 no.7
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• pp.1405-1410
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• 2009

Output voltage of a DC/DC power converter system is likely to be distorted if variable loads exist in the output terminal. This paper presents a new disturbance observer(DOB) approach to maintain a robust regulation of the output voltage of a boost type DC/DC converter. Unlike the buck-type converter case, the regulation problem of the boost converter is very complicated by the fact that, with respect to the output voltage to be regulated, the system is non-minimum phase. Owing to the non-minimum phase property the classical DOB approach has not been applied to the boost converter. Motivated by a recent result on the application of DOB to non-mimimum phase system, an output feedback control law is proposed by using a parallel feedforward compensator. Simulation results using the Simulink SimPowerSystems prove the performance of the proposed controller against load variation.

• Proceedings of the KIEE Conference
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• 2000.07b
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• pp.1196-1198
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• 2000

In this paper, a new approach for digital feedback control of PWM inverter is proposed, in which an output DB(Dead-Beat) control is achieved combined with a simple disturbance observer. The deadbeat controller, which is constructed multiple loop control scheme for PWM inverter, is used for fast transient response. The disturbance observer can make the disturbances be cancelled by adding feedforward compensating loop in controller. The simulation result show the proposed control scheme can achieved good voltage regulation against large load variations.

• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.20 no.5
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• pp.589-597
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• 2011

In this paper, optimal tuning of a cross-coupled controller linked with the feedforward controller and the disturbance observer is studied to improve contouring and tracking accuracy as well as robustness against disturbance. Previously developed integrated design and optimal tuning methods are applied for developing the robust tuning method. Strict mathematical modeling of the multivariable system is formulated as a state-space equation. Identification processes of the servomechanism are conducted for mechanical servo models. An optimal tuning problem to minimize both the contour error and settling time is formulated as a nonlinear constrained optimization problem including the relevant controller parameters of the servo control system. Constraints such as relative stability, robust stability and overshoot, etc. are considered for the optimization. To verify the effectiveness of the proposed optimal tuning procedure, linear and circular motion experiments are performed on the xy-table. Experimental results confirm the control performance and robustness despite the variation of parameters of the mechanical subsystems.

• Proceedings of the KIPE Conference
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• 2003.07b
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• pp.663-666
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• 2003

This paper presents a speed controller method based on the disturbance torque observer of high performance brushless DC (BLDC) motor drives. In case of the speed control of robot arms and tracking applications with lower stiffness, we cannot design the speed controller gain to be very large from tile viewpoint of the system stability. Thus, the feedforward compensator using disturbance torque observer was proposed. This method can improve the speed characteristic without increasing the speed controller gain. The enhanced speed control performance can be achieved and the speed response against the disturbance torque can be Improved for high-performance BLDC motor drive systems in which the bandwidth of tile speed controller cannot be made large enough. Consequently, speed control for high-performance BLDC motor drives become improved. The simulation results for BLDC motor drive systems confirm the validity of the proposed method.

• Journal of the Korean Society for Precision Engineering
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• v.29 no.1
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• pp.79-86
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• 2012

This paper proposes PID and RIC (Robust Internal-loop Compensator) based motion controller using dual learning algorithm for position control of linear synchronous motor respectively. Its gains are auto-tuned by using two learning algorithms, reinforcement learning and neural network. The feedback controller gains are tuned by reinforcement learning, and then the feedforward controller gains are tuned by neural network. Experiments prove the validity of dual learning algorithm. The RIC controller has better performance than does the PID-feedforward controller in reducing tracking error and disturbance rejection. Neural network shows its ability to decrease tracking error and to reject disturbance in the stop range of the target position and home.