• Proceedings of the KIPE Conference
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• 1997.07a
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• pp.60-63
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• 1997

A new approach to the position sensor elimination of PM synchronous motor drives is presented in this study. Using the position sensing characteristics of PMSM itself, the actual rotor position as well as the machine speed can be estimated by adaptive flux observer and used as the feedback signal for the vector controlled PMSM drive. The adaptive speed estimation is achieved by model reference adaptive technique. The adaptive laws are derived by the Popov's hyperstability theory and the positivity concept. In order to verify the effectiveness of the proposed scheme, computer simulations are carried out for the actual parameters of a PM synchronous motor and the results well demonstrate that the proposed scheme provides a good estimation value of the rotor speed without mechanical sensor. It is also shown that the actual rotor position as well as the machine speed can be achieved under the variation of the magnet flux linkage. Since the flux linkages are estimated by the adaptive flux observer and used for the identification of the rotor speed, robust estimation of the rotor speed can be performed.

• Proceedings of the KIPE Conference
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• 2000.07a
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• pp.228-231
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• 2000

When the vector control which does not need a speed signal from a mechanical speed sensor it is possible to reduce the cost of the control equipment and to improve the control performance in many industrial application. In this paper describes a rotor speed estimate method of induction motor based on the theory of counter EMF MRAS. This method eliminated the pure integrator. and we can be expected to rapid responsibility of the speed identification, Therefore we improve the initial condition of the integrator and drift problem. The stability of speed estimator is proved on the basis of hyperstability theory. In order to confirm the performance of the proposed system Simulation and experiment is performed.

• Journal of Ocean Engineering and Technology
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• v.3 no.2
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• pp.559-559
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• 1989

This paper deals with the robust controller design of robot manipulator to track a desired trajectory in spite of the presence of unmodelled dynamics in cause of nonlinearity and parameter uncertainty. The approach follwed in this paper is based on model reference adaptive control technique and convergence on hyperstability theory but it does away with the assumption that process is characterized by a linear model remaining time invariant during adaptation process. The performance of controller is demonstrated by computed simulation about position and speed control of six link manipulator in case of disturbance and payload variation.

• Journal of Ocean Engineering and Technology
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• v.3 no.2
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• pp.59-69
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• 1989

This paper deals with the robust controller design of robot manipulator to track a desired trajectory in spite of the presence of unmodelled dynamics in cause of nonlinearity and parameter uncertainty. The approach follwed in this paper is based on model reference adaptive control technique and convergence on hyperstability theory but it does away with the assumption that process is characterized by a linear model remaining time invariant during adaptation process. The performance of controller is demonstrated by computed simulation about position and speed control of six link manipulator in case of disturbance and payload variation.

• Journal of the Korean Institute of Telematics and Electronics
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• v.27 no.3
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• pp.145-155
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• 1990

In this paper, an adaptive Infinite Impulse Response (IIR) filter algorithm using output error method, which prevents poles of a system transfer function from being out of unit circle, is proposed, and it is proved that the proposed algorithm always satisfies hyperstability. The proposed algorithm is applied to an Adaptive Noise Canceller (ANC), and compared with a Least Square (LS) method adaptive IIR filter algorithm and an adaptive Finite Inpulse Response (FIR) filter algorithm. As a result, the validity of the proposed algorithm is proved.

• Proceedings of the KIPE Conference
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• 2001.07a
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• pp.409-412
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• 2001

When the vector control, which does not need a speed signal from a mechanical speed sensor, it is possible to reduce the cost of the control equipment and to improve the control performance in many industrial application. In this paper, describes a rotor speed estimate method of induction motor based on the theory of counter EMF MRAS. This method eliminated the pure integrator. and we can be expected to rapid responsibility of the speed Identification. Therefore, we improve the initial condition of the integrator and drift problem. The stability of speed estimator is proved on the basis of hyperstability theory. In order to confirm the performance of the proposed system. Simulation and experiment is performed.

• Proceedings of the KIPE Conference
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• 1996.06a
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• pp.17-20
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• 1996

An adaptive current control scheme of a permanent magnet (PM) synchronous motor with the simultaneous estimation of the magnitude of the flux linkage and stator resistance is proposed. The adaptive parameter estimation is achieved by a model reference adaptive system (MRAS) technique. The adaptive laws are derived by the Popov's hyperstability theory and the positivity concept. The predictive control scheme is employed for the current controller with the estimated parameters. The robustness of the proposed current control scheme is compared with the conventional one through the computer simulations.

• Proceedings of the KIEE Conference
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• 2001.07b
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• pp.1172-1175
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• 2001

Recently, vector control without a speed sensor for an inverter induction motor system has been developed. In this paper describes the vector control system estimates rotor speed based on FMRAS(Flux Model Reference Adaptive System). Because of improving the initial condition and drift problem by pure integrator is eliminated, we can be expected to rapid responsibility of the speed estimation. The stability of speed estimator is proved on the basis of hyperstability theory. Proposed control system used TMS320C31 DSP for high speed processing. The effectiveness of the proposed system is verified by simulation and experimental results. This result shows that the highly characteristic speed estimation and robust character of load regulation.

• Transactions of the Korean Society of Mechanical Engineers
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• v.14 no.2
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• pp.331-338
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• 1990

In adaptive control, the lack of persistent and rich excitation causes the estimated parameters to drift, which degrade the performance of the system and may introduces instability to the system in a stochastic environment. To solve the problem of the parameter drift, the concept of single parameter adaptation is presented. For the parameter identification, a priori error is directly used for adaptation error. The structure of the controller is based upon the minimum variance control technique. The stability and robustness analysis is carried out by the sector stability theorem for the second order system. The computer simulation is performed to justify the theoretical analysis for the various cases.

• 제어로봇시스템학회:학술대회논문집
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• 1992.10b
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• pp.135-139
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• 1992

Control of tool-environment interaction force to comply the robot system to an environment is of vital in many automated process. This paper presents the implementation of an adaptive force control with commercial robot system in two dimensional contour following task. A model reference adaptive control system, combined with the linear compensators, is implemented. That is, a use of adaptive control is to provide an auxiliary control system so that the contour following performance can be improved from that of using linear control system only. Hyperstability is used to derive the adaptive control law. Experimental verification of the proposed control system is obtained using PUMA 560 robot system. Data obtained experimentally shows that the use of additional adaptive control system improves the contour following performance about 30% in RMS contact force errors upon that of the system controlled by the linear compensators only.