• Title/Summary/Keyword: Torque Disturbance

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Position Control for AC Servo Motor Using a Sliding Mode Control (슬라이딩 모드제어에 의한 교류 서보 전동기의 위치제어에 관한 연구)

  • 홍정표;홍순일
    • Journal of the Institute of Convergence Signal Processing
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    • v.5 no.3
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    • pp.210-215
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    • 2004
  • The dynamic model of ac servo motor is influenced very much due to rotor resistance change and nonlinear characteristic. By using the sliding mode control the dynamic behavior of system can be made insensitive to plant parameter change and external disturbance. This paper describes the application of the sliding mode control for position control of ac servo motor. The control scheme is derived and designed. A design method based on external load parameters has been developed for the robust control of ac induction servo drive. The proposed control scheme are given based on the variable structure controller and slip frequency vector control. Simulated results are given to verify the proposed design method by adoption of sliding mode and show robust control for a change of shaft initial J, viscous friction B and torque disturbance.

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A Time-Varying Gain Super-Twisting Algorithm to Drive a SPIM

  • Zaidi, Noureddaher;Jemli, Mohamed;Azza, Hechmi Ben;Boussak, Mohamed
    • Journal of Power Electronics
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    • v.13 no.6
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    • pp.955-963
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    • 2013
  • To acquire a performed and practical solution that is free from chattering, this study proposes the use of an adaptive super-twisting algorithm to drive a single-phase induction motor. Partial feedback linearization is applied before using a super-twisting algorithm to control the speed and stator currents. The load torque is considered an unknown but bounded disturbance. Therefore, a time-varying switching gain that does not require prior knowledge of the disturbance boundary is proposed. A simple sliding surface is formulated as the difference between the real and desired trajectories obtained from the indirect rotor flux oriented control strategy. To illustrate the effectiveness of the proposed control structure, an experimental setup around a digital signal processor (dS1104) is developed and several tests are performed.

Robust PID Controller Tuning Technique and Applicationi to Speed Controller Design for BLDC Motors (견실 PID 제어기 조정기법 및 BLDC 모터의 속도제어기 설계에의 응용)

  • Kim, In-Soo;Lee, Young-Jin;Park, Sung-Jun;Park, Han-Woong;Lee, Man-Hyung
    • Journal of the Korean Society for Precision Engineering
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    • v.17 no.8
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    • pp.126-133
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    • 2000
  • This paper is a study on robust PID controller tuning technique using the frequency region model matching method.To design the robust PID controller satisfying disturbance attenuation and robust tracking property for a reference input first an {{{{ETA _$\infty$}}}} controller satisfying given performances is designed using an H$_{\infty}$ control method, And then the parameters(proportional gain integral gain and derivation gain) of the robust PID controller with the performances of the desinged H$_{\infty}$ controller are determined using the model matching method at frequency domain. in this paper this PID controller tuning technique is applied to PID speed controller design for BLDC motors. Consequently simulation results show that the proposed PID speed controller satisfies load torque disturbance attenuation and robust tracking property and this study has usefulness and applicability for the speed control system; design of BLDC motors.

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A Study on vibration suppression of dual inertia system using controlling Parameter $\alpha$ of PID controller with 2-degree of freedom (2자유도 PID 제어기의 파라미터 $\alpha$ 추종을 이용한 2관성 시스템의 진동억제)

  • 박재현;추연규;김현덕;박연식
    • Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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    • 2004.05b
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    • pp.506-510
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    • 2004
  • A torque transmission system composed of several gears and couplings is flexible. In order to get an exact response of motor, the torsional vibration due to an unexpected change of motor speed must be suppressed. Therefore, it is very important that motor control suppress vibration. Various methods to control it including dual inertia system are proposed. Specially, the method of vibration suppression is that vibration can be suppressed to fee㏈ack the estimated torsion torque via the disturbance observer filter being of normal filter. The suitable Proportional controller and coefficient parameter can be designed using CDM and the torsional vibration also be suppressed, but it has a low degree of adaptability to disturbance. The PID controller can be designed easily, but makes the excessive overshoot and oscillation for system response in the early period. To resolve these problems, simple and practical PID controller with two degree of freedom is proposed recently that it ran improve performance of obeying the reference unconcerned in any disturbance by changing the proportional gain by two degree of freedom parameter. But it has also the defect that parameter a must be changed to obtain the ideal Proportional parameter. On this paper, we design the controller which automatically adjusts parameter u using fuzzy Algorithm to overcome such defects. Also, we compare the proposed method with established one and evaluate them to confirm performance of the designed controller.

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$H_{\infty}$ Robust Yaw-Moment Control Based on Brake Switching for the Enhancement of Vehicle Performance and Stability (차량 성능 및 안정성 향상을 위한 $H_{\infty}$ 요 모멘트 강인제어)

  • Ahn, Woo-Sung;Park, Jong-Hyeon
    • Transactions of the Korean Society of Mechanical Engineers A
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    • v.24 no.8 s.179
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    • pp.1899-1909
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    • 2000
  • This paper proposes a new $H_{\infty}$ yaw moment control scheme using brake torque switching for improving vehicle performance and stability especially in high speed driving. In the scheme, one wheel is selected, depending on the vehicle states, at which a brake torque for control is applied. Steering angles are modeled as a disturbance to the system and the $H_{\infty}$ controller is designed to minimize the difference between the performance of the vehicle and that of the desired model. Its performance robustness as well as stability robustness to system parameter variations is assured through ${\mu}$-analysis. Various simulations with a nonlinear 8-DOF vehicle model show that proposed controller enhances the vehicle performance and stability under disturbances and parameter variations as well as under the normal driving condition.

Survey of Nonlinear Control Methods to Permanent Magnet Stepping Motors (스테퍼 모터를 위한 비선형 제어기법의 개관)

  • Kim, Wonhee;Shin, Donghoon;Lee, Youngwoo;Chung, Chung Choo
    • Journal of Institute of Control, Robotics and Systems
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    • v.20 no.3
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    • pp.323-332
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    • 2014
  • Stepper motor is widely used in positioning applications due to its durability and high torque to inertia ratio as well as low cost and ability to be easily controlled with open-loop. Due to increased resolution of position control and improved stability of motion control, microstepping has drawn attention in industry since it was introduced in 1970s. With the increase in computational power and decrease in cost of embedded processors in recent years, drives and control systems for stepper motors have become more sophisticate than ever. Thus, closed-loop control methods have been developed to improve the performance of the stepper motors. In this paper, we review not only basic principles of conventional control methods used for stepper motors but also that of microstepping control. In addition, we surveyed recent development in nonlinear control methods applied to stepper motors. The nonlinear control methods are presented in the view of Lyapunov stability. Nonlinear torque disturbance observer, sliding mode control, and nonlinear phase compensation are also presented.

High Speed and Robust Control System with Deadbeat Disturbance Observer for 3D Eye Imaging Equipment (망막의 3차원 영상화를 위한 데드비트 외란 관측기를 가진 고속, 고강성 제어 시스템)

  • 고종선;이태훈;김영일
    • The Transactions of the Korean Institute of Power Electronics
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    • v.8 no.5
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    • pp.418-426
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    • 2003
  • To show a retina shape and thickness on the computer monitor, a laser has been used in Scanning Laser Ophthalmoscope(SLO) equipment using the traveling difference. This method requires exact synchronous control of laser traveling in optic system to show a clear 3-dimensional image of retina To obtain this image, this exact synchronism is very important for making the perfect plane scanning. In this study, a high speed and synchronous control of the galvanometer to make 3-dimensional retina image is presented. For the more, deadbeat load torque observer is added to the PI controller for compensation of the position error arisen in the high speed control. As a result, the proposed control system has a robust and precise response against the load torque variation appeared in high speed control. A stability and usefulness are verified by the computer simulation and the experiment.

Sliding Mode Trim and Attitude Control of a 2-00F Rigid-Rotor Helicopter Model

  • Jeong, Heon-Sul;Chang, Se-Myong;Park, Jin-Sung
    • International Journal of Aeronautical and Space Sciences
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    • v.6 no.2
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    • pp.23-32
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    • 2005
  • An experimental control system is proposed for the attitude control of a simplified 2-DOF helicopter model. The main rotor is a rigid one, and the fuselage is simply supported by a fixed hinge point where the longitudinal motion is decoupled from the lateral one since the translations and the rolling rotation are completely removed. The yaw trim of the helicopter is performed with a tail rotor, by which the azimuthal attitude can be adjusted on the rotatable post in the yaw direction. The robust sliding mode control tracking a given attitude angle is proposed based on the flight dynamics. A pitch damper is inserted for the control of pitching angle while the compensator to reaction torque is used for the control of azimuth angle. Several parameters of the system are selected through experiments. The results shows that the proposed control method effectively counteracts nonlinear perturbations such as main rotor disturbance, undesirable chattering, and high frequency dynamics.

Speed Control of the IPMSM Using The Torque Output Feedback (IPMSM의 토크출력피드백을 이용한 속도제어)

  • Jeon, Yong-Ho
    • The Journal of the Korea institute of electronic communication sciences
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    • v.13 no.1
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    • pp.93-100
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    • 2018
  • This study proposes a controller that compensates torque error for precise angular velocity tracking and a method to compensate the stability of controller in implementation. Also, it is proved that the designed controller can be asymptotically stable based on Lyapunov stability theory. The proposed controller is able to control the d-axis reference current to arbitrary values and easily achieve control performance with two gains. As a result of applying to IPMSM of about 750W class, the steady state error with reference speed 1200 [RPM] is within 0.1 [%]. And it can be seen that it is an asymptomatic stable controller overcoming disturbance within about 0.2 second in application of constant load of about 5 [Nm].

Design and Analysis of Large Induction Motor Control Coping with Voltage Sag (순간전압강하 극복을 위한 대용량 유도전동기 제어방식 설계 및 해석)

  • Cho, Sung-Don;Lim, Seong-Ho
    • Proceedings of the KIEE Conference
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    • 1998.07c
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    • pp.1056-1058
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    • 1998
  • Voltage dips caused by transmission system faults are usually of a short duration. High speed relaying and breaker operation will typically limit the disturbance to 0.1 seconds. Most motor controllers obtain their control power directly from the bus by means of a control transformer. Under this condition, a voltage dip can cause the contactor to drop out. disconnecting the motor from the line. The rapid re-energizing of the controller is in effect a fast reclosure which may result in motor damage. The time delay re-energizing of controller will result in a greater loss of speed and possibly loss of stability. Other means of controller can be used to prevent the motor from being disconnected from line during the fault. This can be accomplished by DC power controller or mechanically latched controller. This paper demonstrates that DC power controller or mechanically latched type controller to prevent the motor from being disconnected from line during the fault is, the most effective in minimizing speed reduction, transient motor current, transient motor torque and transient shaft torque by EMTP calculation.

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