• 전기학회논문지
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• 제59권6호
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• pp.1179-1185
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• 2010

This paper deals with a robust controller design problem for a small one-link robot arm system subject to input time delay and load variations. The uncertain parameters of the system are considered as a disturbance input. A disturbance observer(DOB) has been designed to alleviate disturbance effects and to compensate performance degradation owing to the time-delay. This paper employs a new DOB structure for non-minimum phase systems together with the Smith predictor. We propose a new controller for reducing the both effects of disturbance and time-delay. In order to test the performance of proposed controller, four different other control laws are compared with the proposed one by computer simulations. The simulation results show the effectiveness of the proposed control method.

• International Journal of Precision Engineering and Manufacturing
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• 제3권4호
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• pp.94-100
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• 2002

The conventional sliding mode control (SMC) technique requires a priori knowledge of the upperbounds of disturbances and/or modeling uncertainties to assure robustness. This, however, may not be easy to obtain in practical situation. This paper presents a new methodology, a sliding mode control with disturbance estimator (SMCDE), which offers a robust control performance without a priori knowledge about the disturbance. The proposed technique is featured by an average value of the imposed disturbance over a certain period. A nonlinear spring-mass-damper system and a two-link robot system are adopted as illustrative application examples. Control performances such as estimation error and tracking error are compared between the proposed methodology and conventional scheme.

• 전기학회논문지
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• 제57권2호
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• pp.221-228
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• 2008

This paper presents a new method for world wide network motor controlled system. It uses disturbance observer to present high precision position control algorithm to disturbance change, and to apply this to induction motors. It shows that proposed algorithm is strong in induction motor precision control for disturbance change. This system with disturbance observer used deadbeat control, which have high benefit, is good for quick disturbance compensation. To show these effectiveness the whole process is simulated by simulink, and also experimented by DSP6416 with TCP-IP network board.

• Tribology and Lubricants
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• 제18권1호
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• pp.9-15
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• 2002

The nonlinear vibration characteristics of hydrodynamic journal bearings with a circumferential groove we analyzed numerically when the external sinusoidal disturbances are given to the rotor-bearing system continuously. Furthermore, a cavitation algorithm, implementing the Jakobsson-Floberg-Olsson boundary condition, is adopted to predict cavitation regions in a fluid film more accurately than the conventional analysis. which uses the Reynolds boundary condition. It is found that the difference between linear and nonlinear analysis is much more remarkable as the amplitude of external disturbance increases, and it depends upon the excitation frequency of the external disturbance. It is also shown that the cavity region in the fluid film increases as the amplitude or excitation frequency of the external disturbance increases. The whirling center of the steady state orbit moves closer to the bearing center as the amplitude or excitation frequency of the external disturbance increases.

• 대한조선학회논문집
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• 제44권3호
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• pp.238-247
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• 2007

This paper presents the thrust loss suppression algorithm in the electric propulsion ship. The thrust loss due to cavitation can be regarded as the disturbance torque. The disturbance torque is estimated by means of the disturbance observer. Considering the estimated disturbance torque, the speed reference of the propeller is modified to suppress the thrust loss. The experimental results which performed in the cavitation tunnel with electric machine operating system and its controller will be shown to verify the proposed algorithm.

• 전력전자학회:학술대회논문집
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• 전력전자학회 2005년도 전력전자학술대회 논문집
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• pp.230-233
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• 2005

This paper present a new method for world wide network motor controlled system. It use disturbance observer to present high precision position control algorithm to disturbance change, and to apply this to induction motors. It shows that proposed algorithm is strong in induction motor precision control for disturbance change. This system with disturbance observer used deadbeat control, which have high benefit, is good for quick disturbance compensation. To show these effectiveness the whole process is simulated by simulink, and also experimented by DSP6416 with TCP-IP network board.

• 한국산학기술학회논문지
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• 제7권2호
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• pp.137-144
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• 2006

본 논문에서는 시스템 파라미터의 변동이나 모델의 불확실성 및 외부 외란 등에 강인한 외란 관측기에 기초로 한 강인 제어기의 설계를 제안한다. 제어기는 두 개 루프의 구조를 갖는 모델기반 보상기와 궤환 제어기 구조로 구성되어 있다. 내부 루프 보상기는 내외부의 외란을 제거하고, 외부 루프 궤환 제어기는 주어진 사양을 만족하도록 하는 역할을 수행한다. 결과적으로, 제안한 강인 제어기를 이용함으로써 외란에 대해 시스템을 안정화 시킬 수 있으며, 제어 성능을 향상시킬 수 있음을 보인다.

• 한국윤활학회:학술대회논문집
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• 한국윤활학회 2001년도 제33회 춘계학술대회 개최
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• pp.334-339
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• 2001

The nonlinear vibration characteristics of hydrodynamic journal bearings with a circumferentially groove are analyzed numerically when the external sinusoidal disturbances are given to the rotor-bearing system continuously. Also, the cavitation algorithm implementing the Jakobsson-Floberg-Olsson boundary condition is adopted to predict cavitation regions in the fluid film more accurately than conventional analysis which uses the Reynolds condition. It is found that the difference between linear and nonlinear analysis is much more remarkable as the amplitude of external disturbance increases, and it depends upon the excitation frequency of external disturbance. It is also shown that the cavity region in the fluid film is increased as the amplitude or excitation frequency of external disturbance increases. The whirling center of the steady state orbit moves closer to the bearing center as the amplitude or the excitation frequency of the external disturbance increases because of smaller range of full film region.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2002년도 추계학술대회논문초록집
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• pp.319.1-319
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• 2002

A frequency-domain PES estimation and its prediction method are proposed for the tightly-coupled servo/mechanical design of high-TPI HDD system above 100kTPI. The major two disturbance energies which are related with mechanical vibrations inside of HDD are used to predict the drive-level PES, while considering closed-loop servo dynamics. One is the torque disturbance which mainly comes from aerodynamic excitation of HSA system and the other is the displacement disturbance from disk-spindle dynamics. (omitted)

• 한국소음진동공학회논문집
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• 제22권11호
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• pp.1042-1048
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• 2012

A 2-axis gimbal system is one of main disturbance sources affecting image jitter response of a satellite. The gimbal system comprises azimuth stage and elevation stage, and these pointing mechanism can be rotated by stepping motors about its azimuth and elevation axes simultaneously. Because of the complex and coupled dynamic motion of the gimbal system, its moment of inertia and structural modes can be changed according to the system configuration, and thus the gimbal system generates complicated and non-linear disturbance characteristics. In order to improve the jitter response of a spacecraft, it is an indispensable process to reduce the micro-vibration disturbance level of the antenna system. In the present research, a 2-axis gimbal system was manufactured and then its micro-vibration test was performed in terms of two types of stepping motors(2-phase and 5-phase). The test results show that the disturbance level of the gimbal system can be reduced by replacing the 2-phase stepping motor with the 5-phase one, and the average disturbance attenuation ratio is 56 % in peak level and 48 % in standard deviation level. The experimental results confirm that it is an efficient jitter reduction method to adopt a high-phase stepping motor.