• Title/Summary/Keyword: Torque Disturbance

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Active Mechanical Vibration Control of Rotary Compressors for Air-conditioning Systems

  • Park, Cheon-Su;Kim, SeHwan;Park, Gwi-Geun;Seok, Jul-Ki
    • Journal of Power Electronics
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    • v.12 no.6
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    • pp.1003-1010
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    • 2012
  • Recent power electronics and variable-frequency motor drive technologies have been applied to air conditioners to improve efficiency and power density. However, the mechanical vibrations and acoustic noise resulting from the compressor still remain as a serious problem. This paper presents the development and implementation of an online disturbance state-filter for the suppression of multiple unknown and time-varying vibrations of air conditioning systems. The proposed design has a form of the state-filter based on a Luenburger-style closed-loop speed observer. An active vibration decoupling strategy with an estimated disturbance is provided, which manipulates a motor torque command. Since the proposed estimation does not require any additional transducers or hardware for obtaining real-time information upon disturbances, it is suitable for retrofitting industrial air conditioners.

Speed control of IPMSM using the Disturbance Estimator (외란 추정기를 이용한 매입형 영구자석 동기전동기의 속도제어)

  • Jeon, Yong-Ho
    • The Journal of the Korea institute of electronic communication sciences
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    • v.17 no.5
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    • pp.867-872
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    • 2022
  • The effect of load is an important factor in precise speed control of a motor. n this study, we design a state observer that can estimate and define one state of disturbance including errors and nonlinear terms of mathematical models, which is not easy with a mathematical model. Then, the observation gain is set so that the estimation error of the state observation converges to 0, and the estimated state is used in the back stepping controller to design a controller capable of precise speed tracking. As a result of applying to 1 [hw] class Interior Permanent Magnet Synchronous Motor, excellent stste variable observation and tracking performance can be confirmed.

Robust Speed Drive of Induction Motors using Least Order Load Torque Observer (최소차원 부하토크 관측기를 이용한 유도전동기의 강인한 속도제어)

  • Seo, Young-Soo;Lim, Young-Bae;Sung, Dae-Yong;Song, Ho-Bin;Kim, Jung-Gyun
    • Proceedings of the KIEE Conference
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    • 1996.07a
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    • pp.470-472
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    • 1996
  • In this paper, we proposed a new speed control algorithm based on the least-order observer theory. The proposed system using the new algorithm can estimate the instantaneous speed accurately even at low speed by using a load torgue observer estimating the torgue component of indirect-vector controlled induction motor. Thus the stable characteristics of speed control are possible at low speed even in the case of using low-resolution rotary encoder. Also, the system becomes robust against disturbance by feedforward control the load torque estimated automatically at the speed observer.

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Optimal Redundant Actuation of Parallel Manipulators with High Operational Stiffness (고강성 병렬형 로봇의 최적 여유 구동)

  • Kim, Sung-Bok
    • Journal of Institute of Control, Robotics and Systems
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    • v.6 no.2
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    • pp.181-189
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    • 2000
  • This paper presents the optimal redundant actuation of parallel manipulators for complicated robotic applications such as cutting grinding drilling and digging that require a high degree of operational stiffness as well as the balance between force applicability and dexterity. First by taking into account the distribution(number and location) of active joints the statics and the operational stiffness of a redundant parallel manipulator are formulated and the effects of actuation redundancy are analyzed, Second for given task requirements including joint torque limit task force maximum allowable disturbance and maximum allowable deflection the task execution conditions of a redundant parallel manipulator are derived and the efficient testing formulas are provided. Third to achieve high operational stiffness while maintaining moderate dexterity the redundant actuation of a parallel manipulator is optimized which determines the optimal distribution of active joints and the optimal internal joint torque, Finally the simulation results for the optimal redundant actuation of a planar parallel manipulator are given.

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Development of a Cutting Force Monitoring System for a CNC Lathe (CNC 선반에서의 절삭력 감지 시스템 개발)

  • Heo, Geon-Su;Lee, Gang-Gyu;Kim, Jae-Ok
    • Journal of the Korean Society for Precision Engineering
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    • v.16 no.1 s.94
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    • pp.219-225
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    • 1999
  • Monitoring of the cutting force signals in cutting process has been well emphasized in machine tool communities. Although the cutting force can be directly measured by a tool dynamometer, this method is not always feasible because of high cost and limitations in setup. In this paper an indirect cutting force monitoring system is developed so that the cutting force in turning process is estimated based on a AC spindle drive model. This monitoring system considers the cutting force as a disturbance input to the spindle drive and estimates the cutting force based on the inverse dynamic model. The inverse dynamic model represents the dynamic relation between the cutting force, the motor torque and the motor power. The proposed monitoring system is realized on a CNC lathe and its estimation performance is evaluated experimentally.

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A Research on the Adaptive Control by the Modification of Control Structure and Neural Network Compensation (제어구조 변경과 신경망 보정에 의한 적응제어에 관한 연구)

  • Kim, Yun-Sang;Lee, Jong-Soo;Choi, Kyung-Sam
    • Proceedings of the KIEE Conference
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    • 1999.11c
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    • pp.812-814
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    • 1999
  • In this paper, we propose a new control algorithm based on the neural network(NN) feedback compensation with a desired trajectory modification. The proposed algorithm decreases trajectory errors by a feed-forward desired torque combined with a neural network feedback torque component. And, to robustly control the tracking error, we modified the desired trajectory by variable structure concept smoothed by a fuzzy logic. For the numerical simulation, a 2-link robot manipulator model was assumed. To simulate the disturbance due to the modelling uncertainty. As a result of this simulation, the proposed method shows better trajectory tracking performance compared with the CTM and decreases the chattering in control inputs.

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A PID learning controller for DC motors (DC 전동기를 위한 PID 학습제어기)

  • 백승민;이동훈;국태용
    • 제어로봇시스템학회:학술대회논문집
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    • 1996.10b
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    • pp.347-350
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    • 1996
  • With only the classical PID controller applied to control of a DC motor, a good (target) performance characteristic of the controller can be obtained, if all the model parameters of DC motor and operating conditions such as external load torque, disturbance, etc. are exactly known. However, in case when some of system parameters or operating conditions are uncertain or unknown, the fixed PID controller does not guarantee the good performance which is assumed with precisely known system parameters and operating conditions. In view of this and robustness enhancement of DC motor control system, we propose a PID learning controller which consists of a set of learning rules for PID gain tuning and learning of an auxiliary input. The proposed PID learning controller is shown to drive the state of uncertain DC motor system with unknown system parameters and external load torque to the desired one globally asymptotically. Computer simulation results are given to demonstrate the effectiveness of the proposed PID learning controller, thereby showing whose superiority to the conventional fixed PID controller.

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Design and Tracking Control of 4-DOF Motion Platform for Bicycle Simulator (자전거 시뮬레이터용 4자유도 운동판의 설계 및 추적 제어)

  • 성지원;신재철;이종원
    • Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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    • 2001.11a
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    • pp.235-240
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    • 2001
  • A four degrees of freedom (dof) motion platform for bicycle simulator is developed. The motion platform, capable of the vertical linear and three angular motions, is designed based on analysis of the typical motion characteristics revealed by the existing six dof bicycle simulator. The platform essentially consists of two parts: the three dof parallel manipulator, consisting of a moving platform, a fixed base and three actuators, and the turntable to generate the yaw motion. The nonlinear kinematics and dynamics of the three dof parallel manipulator with multiple closed loop chains are analyzed for tracking control of the motion platform. The tracking performances of the three control schemes are experimentally compared: the computed torque method (CTM), the sliding mode control (SMC) and the PD control. The CTM and SMC, incorporated with the system dynamics model, are found to be equally better in performance than the PD controller, irrespective of the presence of external disturbance.

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Novel Quasi-Sliding Mode Speed Controller for Induction Motor (유도전동기 속도제어를 위한 개선된 근사 슬라이딩 모드 제어기)

  • Cha, Jung-Hwa;Kim, Sang-Woo;Kim, Jun-Hwan;Moon, Hak-Yong;Jeon, Hee-Jong
    • Proceedings of the KIEE Conference
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    • 1997.11a
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    • pp.512-514
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    • 1997
  • In this paper, a quasi-sliding mode (QSM) control with load observer is discussed for field-oriented induction motor speed drive. The proposed QSM control, which is defined in the discrete time domain and act with the load torque observer eliminating impacted load torque, restricts the bound of chattering within specified band. With this strategy, we can obtain fast dynamics without overshoot and robustness to parameter variation and disturbance. The proposed scheme is verified by digital simulation.

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Model-Based Monitoring of the Turning Force (모델에 근거한 선삭력 모니터링)

  • 허건수
    • Proceedings of the Korean Society of Machine Tool Engineers Conference
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    • 1999.10a
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    • pp.11-15
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    • 1999
  • Monitoring of the cutting force signals in cutting process has been well emphasized in machine tool communities. Although the cutting force can be directly measured by a tool dynamometer, this method is not always feasible because of high cost and limitations in setup. In this paper an indirect cutting force monitoring system is developed so that the cutting force in turning process is estimated based on a AC spindle drive model. This monitoring system considers the cutting force as a disturbance input to the spindle drive and estimates the cutting force based on the inverse dynamic model. The inverse dynamic model represents the dynamic relation between the cutting force, the motor torque and the motor power. The proposed monitoring system is realized on a CNC lathe and its estimation performance is evaluated experimentally.

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