• 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.

• 전자공학회논문지SC
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• 제49권4호
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• pp.78-89
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• 2012

SR 모터의 발생토크는 비선형성이 심해서 토크리플을 최소화하는 기준전류명령을 결정하는 것이 매우 어렵다. 본 논문에서는 반복학습제어 방법을 이용하여 계산적으로 효율적인 SR 모터의 토크리플을 최소화하는 기준전류명령을 구하는 방법을 제안한다. 토크리플을 최소화하는 기준전류명령은 2차원 순람표(look-up table) 형태로 결정된다. 제안된 반복학습제어 방법은 토크모델을 이용하지 않기 때문에 모델오차에 대한 영향이 없고 정밀도가 높으며 계산적으로도 간단한다. 컴퓨터 시뮬레이션을 통해 제안된 방법이 효과적으로 동작됨을 입증한다.

• Journal of Electrical Engineering and Technology
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• 제12권5호
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• pp.1925-1933
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• 2017

The brushless DC motor's commutation torque ripple is caused by inconsistency in the rate of phase current change. Thus, a method that considers armature resistance is proposed to modulate phase current. The three-phase control strategy, which involves the "open-phase conduction, off-phase pulse width modulation, and maintained non-commutation phase" technique, is applied during commutation at full-speed segments of the motor. Changes in each phase current are analyzed theoretically by establishing mathematical model based on phase current to determine the relative difference among shutdown phase, duty, and motor operating parameters. The turn-on and turn-off phase current change rates are made to be consistent to ensure less non-commutation phase current ripple, then the torque ripple is inhibited. The simulation results show that the phase commutation current and torque ripple coefficient of the proposed method are reduced from 56.9% and 55.5% to 6.8% and 6.1%, respectively. In the experiment system, the pulsation coefficient of the motor phase current is reduced from 40.0% to 16.7% at low speed and 50.0% to 18.8% at high speed. The simulation and experimental results show that the proposed control method significantly inhibits commutation current and torque in the full section.

• Journal of Power Electronics
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• 제8권4호
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• pp.354-362
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• 2008

This paper presents neural load torque compensation method which is composed of a deadbeat load torque observer and gains compensation by a parameter estimator. As a result, the response of the PMSM (permanent magnet synchronous motor) obtains better precision position control. To reduce the noise effect, the post-filter is implemented by a MA (moving average) process. The parameter compensator with an 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 problems. The neural network is trained in online phases and it is composed by a feed forward recall and error back-propagation training. During normal operation, the input-output response is sampled and the weighting value is trained multi-times by the 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 load torque and parameter variation. Stability and usefulness are verified by computer simulation and experiment.

• 산업기술연구
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• 제18권
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• pp.289-293
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• 1998

In a independent joint servo control of robots, the performance of the control is influenced greatly by the joint interaction torques including Coriolis and centrifugal forces. These act as disturbance torques to the control system. As the speed of the robot increases, the effect of this disturbance torque increase, and makes the high speed - high precision control more difficult to achieve. In this paper, a solution to the optimal path placement problem is presented that minimizes the joint disturbance torque during a straight line motion. The proposed method is illustrated using computer simulation. The proposed solution method can be applied to the class of robots that are controlled by independent joint servo control, which includes the vast majority of industrial robots.

• 전력전자학회:학술대회논문집
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• 전력전자학회 2017년도 전력전자학술대회
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• pp.407-408
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• 2017

In regenerative mode of an IPMSM control system without a bi-directional DC-DC converter, the 3-phase PWM inverter charges the battery. At this time, the regenerative torque reference for braking must output the proper torque reference to charge the battery. This paper proposed a regeneration control method that controls the voltage and current of the battery through CC-CV control at the regenerative braking torque corresponding to the driver's brake control.

• 제어로봇시스템학회논문지
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• 제22권7호
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• pp.524-529
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• 2016

We describe the design and fabrication of a two-axis force/torque sensor with parallel-plate beams (PPBs) and single beams for measuring force and torque in hip-joint rehabilitation exercise using a lower rehabilitation robot. The two-axis force/torque sensor is composed of an Fz force sensor and a Tz torque sensor, which detect z direction force and z direction torque, respectively. The two-axis force/torque sensor was designed using the FEM (Finite Element Method) and manufactured using strain gages. The characteristics experiment of the two-axis force/torque sensor was carried out. The test results show that the interference error of the two-axis force/torque sensor was less than 0.64% and the repeatability error and the non-linearity of the two-axis force/torque sensor were less than 0.03%. It is thought that the developed two-axis force/torque sensor could be used for a lower rehabilitation robot.

• Transactions on Control, Automation and Systems Engineering
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• 제2권1호
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• pp.56-61
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• 2000

Majority of industrial robots are controlled by a simple independent joint control of joint actuators rather than complex controllers based on the nonlinear dynamic model of the robot manipulator. In this independent joint control scheme, the performance of actuator control is influenced significantly by the joint disturbance torques including gravity, Coriolis and centrifugal torques, which result in the trajectory tracking error in the joint control system. The control performance of a redundant manipulator under independent joint control can be improved by minimizing this joint disturbance torque in resolving the kinematic redundancy. A 3 DOF planar robot is studied as an example, and the dynamic programming method is used to find the globally optimal joint trajectory that minimize the joint disturbance torque over the entire motion. The resulting solution is compared with the solution obtained by the conventional joint torque minimization, and it is shown that joint disturbance can be reduced using the kinematic redundancy.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2005년도 학술대회 논문집 전문대학교육위원
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• pp.180-183
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• 2005

A programmable dynamometer is the proposed system improved the problem of the torque measuring delay with torque transducer, and the load torque is estimated by the minimal order state observer based on the torque component of the vector control induction moter. Therefore, the torque controller is not affected by a load torque disturbance. To verify a superiority of the proposed control algorithm, the analysis for a root locus of a conventional control method and the proposed one, and simulation and experiment is performed. Therefore we hope to be extended in industrial application.

• Journal of Power Electronics
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• 제13권3호
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• pp.369-380
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• 2013

Direct torque control based on space vector modulation (SVM-DTC) protects the DTC transient merits. Furthermore, it creates better quality steady-state performance in a wide speed range. The modified method of DTC using SVM improves the electrical magnitudes of asynchronous machines, such as minimizing the stator current distortions, the stator flux with electromagnetic torque without ripple, the fast response of the rotor speed, and the constant switching frequency. In this paper, the proposed method is based on two new control strategies for direct torque control with space vector modulation. First, fuzzy logic control is used instead of the PI torque and a PI flux controller to minimizing the torque error and to achieve a constant switching frequency. The voltages in the direct and quadratic reference frame ($V_d$, $V_q$) are achieved by fuzzy logic control. In this scheme, the switching capability of the inverter is fully utilized, which improves the system performance. Second, the close loop of stator flux estimation based on the voltage model and a low pass filter is used to counteract the drawbacks in the open loop of the stator flux such as the problems saturation and dc drift. The response of this new control strategy is compared with DTC-SVM. The experimental and simulation results demonstrate that the proposed control topology outperforms the conventional DTC-SVM in terms of system robustness and eliminating the bad outcome of dc-offset.