• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.2552-2556
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• 2005

In general, the forklift driven by DC motor drive system is used in the industrial field. Classically, the DC motor is controlled by current control using proportion control method, by output torque following the load on the plane like a manual operation. But in the industrial field, the forklift is demanded the robust drive mode. Some cases of the mode, there aretrouble in torque control following slope capacity. The control is sensitive concerning about slope angle and output speed, various control method is studied for stability of speed control. In this paper, I apply current control for the self-tuning using the fuzzy controller to obtain robust, stable speed control and use stable, high efficiency control using DSP as main controller for high speed processor, embody dynamic characteristic of control compared the PI controller to the fuzzy controller.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.767-770
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• 1996

A H$\_$.inf./ contro theory was applied to motor speed control of two-mass system to get controller which acts effectively with control object including uncertainties. The H$\_$.inf./ control problem was composed and solved. After that, numerical simulation were executed to confirm ability of the controller which compared with PI controller.

• Proceedings of the KIPE Conference
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• 1998.10a
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• pp.137-142
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• 1998

This paper describes a simple vector control scheme for the wound rotor type induction motors(WRIM) without the additional speed sensor in order to remove the external resistor bank which is usually adapted for the WRIM speed control. The motor angular speed is obtained indirectly from the slip angular speed is obtained indirectly from the slip angular speed and the slip angular speed is estimated by detecting the rotor currents only. Because the motor parameters are not included in the estimation algorithm, the proposed algorithm is free from the variation of the motor parameters and the robust sensorless vector control can be achieved. The performance of the proposed scheme is verified through the digital simulation.

• Proceedings of the KIPE Conference
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• 1997.07a
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• pp.70-78
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• 1997

A DSP-based nonlinear speed control of a permanent magnet synchronous motor(PMSM) which is robust to unknown parameter variations and speed measurement error is presented. The model reference adaptive system(MRAS) based adaptation mechanisms for the estimation of slowly varying parameters are derived using the Lyapunov stability theory. For the disturbances or quickly varying parameters, a quasi-linearized and decoupled model including the influence of parameter variations and speed measurement error on the nonlinear speed control of the PMSM is derived. Based on this model, a boundary layer integral sliding mode controller to improve the robustness and performance of a PMSM drive is designed and compared with the conventional controller. To show the validity of the proposed control scheme, simulations and experimental works are carried out and compared with the conventional control scheme.

• Journal of Electrical Engineering and information Science
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• v.3 no.1
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• pp.94-102
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• 1998

A DSP-based robust nonlinear speed control of a permanent magnet synchronous motor(PMSM) is presented. A quasi-linearized and decoupled model including the influence of parameter variations and speed measurement error on the nonlinear speed control of a PMSM is derived. Based on this model, a boundary layer integral sliding mode controller to improve the robustness and performance of the nonlinear speed control of a PMSM is designed and compared with the conventional controller. To show the validity of the proposed control scheme, simulations and experimental works are carried out and compared with the conventional control scheme.

• Journal of the Korean Society of Fisheries and Ocean Technology
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• v.55 no.4
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• pp.402-410
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• 2019

This paper deals with the disturbance observer (DOB) based sliding mode control (SMC) for a DC motor to control motor rotating speed precisely and to ensure strong robustness against disturbance including load torque and parameter variation. The reason of steady state error in speed on conventional SMC without DOB is analyzed in detail. Especially, the suggested DOB is designed to prevent measuring noise and harmonics caused by derivative operation on rotating speed. The control performance of the DOB based SMC is evaluated by the various simulations. The simulation results showed that the DOB based SMC had more robust performance than the SMC system without DOB. Especially, precise speed control was possible even though motor parameter variation and load torque was added to the system.

• Journal of Power Electronics
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• v.12 no.6
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• pp.904-911
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• 2012

This paper presents a fuzzy adaptive speed controller that guarantees a fast dynamic behavior and a precise trajectory tracking capability for surfaced-mounted permanent magnet synchronous motors (SPMSMs). The proposed fuzzy adaptive control strategy is simple and easy to implement. In addition, the proposed speed controller is very robust to system parameter and load torque variations because it does not require any accurate parameter values. The global stability of the proposed control system is analytically verified. To evaluate the proposed fuzzy adaptive speed controller, both simulation and experimental results are shown under motor parameter and load torque variations on a prototype SPMSM drive system.

• Journal of Power Electronics
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• v.19 no.2
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• pp.497-508
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• 2019

The predictive speed control (PSC) strategy can realize the simultaneous control of speed and current by using one cost function. As a model-based control method, the performance of the PSC is vulnerable to model mismatches such as load torque disturbances and parameter uncertainties. To solve this problem, this paper presents a robust predictive speed control (RPSC) strategy for surface-mounted permanent magnet synchronous motor (SPMSM) drives. The proposed RPSC uses extended state observers (ESOs) to estimate the lumped disturbances caused by load torque changes and parameter mismatches. The observer-based prediction model is then compensated by using the estimated disturbances. The introduction of ESOs can achieve robustness against predictive model uncertainties. In addition, a modified cost function is designed to further suppress load torque disturbances. The performance of the proposed RPSC scheme has been corroborated by experimental results under the condition of load torque changes and parameter mismatches.

• Proceedings of the KIPE Conference
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• 1997.07a
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• pp.89-96
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• 1997

A robust speed control scheme for a brushless DC(BLDC) motor using an adaptive input-output linearization technique is presented. By using this technique, the nonlinear motor model can be linearized in Brunovski canonical form, and the desired speed dynamics can be obtained based on the linearized model. This control technique, however, gives an undesirable output performance under the mismatch of the system parameters and load conditions. For the robust output response, the controller parameters will be estimated by a model reference adaptive technique where the disturbance torque and flux linkage are estimated. The adaptation laws are derived by the Popov's hyperstability theory and positivity concept. The proposed control scheme is implemented on a BLDC motor using the software of DSP TMS320C30 and the effectiveness is verified through the comparative experiments.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 2002.04a
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• pp.521-527
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• 2002

This paper presents a dynamic modeling and a robust PID controller design process for the wire bonder head assembly. For the modeling elements, the system is divided into electrical system, magnetic system, and mechanical system. Each system is modeled by using the bond graph method. The PID controller is used for high speed/high accuracy position control of the wire bonder assembly. The Taguchi method is used to evaluate the more robust PID gain combinations than conventional one. This study makes use of an L18 array with three parameters varied on three levels. Computer simulations and experimental results show that the designed PID controller provides more improved signal to noise ratio and reduced sensitivity than the conventional PID controller.