• 전력전자학회논문지
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• 제10권4호
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• pp.363-372
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• 2005

본 논문에서는 비선형 모델링 기법을 이용하여 matrix convertor로 구동되는 유도전동기 구동장치의 성능개선을 위한 새로운 센서리스 기법을 제안한다. 각 스위치에서 발생하는 전환지연과 스위치 소자의 전압강하등과 같은 matrix converter의 비선형 특성을 모델링하여 보상함으로써 저속영역에서의 속도제어성능을 향상시킨다. 전속도 영역에서의 속도 센서리스 제어성능을 향상시키기 위해 축소차원 확장 루엔버거 관측기를 적용하고, 제안한 관측기 이득의 설정방법을 제안한다. 실험을 통해 제안한 제어 알고리즘의 타당성을 검증한다

• 대한전기학회논문지:시스템및제어부문D
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• 제49권3호
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• pp.89-94
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• 2000

A novel observer design methodology for linear time-invariant systems named the dynamic observer is presented. Efficient and plausible design algorithms are also provided. The dynamic observer is an extension of the usual static observer. The concept of the dynamic observer enlarges the capacity of observer design so much that well-developed advanced linear controller design techniques can be utilized to design observers. Both the dynamic observers in the form of standard and Luenburger types are considered. The essential characteristics of the dynamic observer to be qualified as an effective observer design scheme are addressed.

• 제어로봇시스템학회논문지
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• 제7권6호
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• pp.487-493
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• 2001

In this paper, a new reduced-order dynamic observer method is presented. Two types of observers are pronounced, namely, the model based reduced-order dynamic observer and the Luenburger type reduced-order dynamic observer. Useful design algorithms are also provided for each structure. The essential features of the proposed observed design methods are addressed to be qualified ad effective observers. The proposed method clarifies the duality between the controller and observer designs.

• 한국해양공학회지
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• 제20권6호
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• pp.24-34
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• 2006

Hydrodynamic coefficients strongly affect the dynamic performance of an AUV. Thus, it is important to know the true values of these coefficients, in order to accurately simulate the AUV's dynamic performance. Although these coefficients are generally obtained experimentally, such as through the PMM test, the measured values are not completely reliable because of experimental difficulties and errors. Another approach, by which these coefficients can be obtained, is the observer method, in which a model-based estimation algorithm estimates the coefficients. In this paper, the hydrodynamic coefficients are estimated using two nonlinear observers: a sliding mode observer and an extended Kalman filter. Their performances are evaluated in Matlab simulations, by comparing the estimated coefficients obtained from the two observer methods, with the experimental values as determined from the PMM test. A sliding mode controller is constructed for the diving and steering maneuver by using the estimated coefficients. It is demonstrated that the controller, applied with the estimated values, maintains the desired depth and path with sufficient accuracy.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.480-485
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• 2005

Perspective dynamical systems arise in machine vision problems, in which only perspective observation is available. This paper considers the state estimation problem for a rigid body moving in three dimensional spaces using the image data obtained by a CCD camera or some other means. Because the motion of the rigid body and the observed data are generally corrupted by noises, it is necessary to seek a state estimation method to reduce the influence of the noises. In this paper, by means of computer simulations for a simple example, we examine the sensitivity to the noises of the nonlinear observer developed in the recent paper ([1] R. Abdursul, H. Inaba and B. Ghosh, Nonlinear observers for perspective time-invariant linear systems, Automatica, vol. 40, Issue 3, pp. 481-490, 2004) and the effectiveness of the Extended Kalman Filter.

• 한국해양공학회지
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• 제20권6호
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• pp.7-17
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• 2006

Depth and heading control of an AUV are considered to follow the predetermined depth and heading angle. The proposed control algorithm is designed. based on a sliding mode control using estimated hydrodynamic coefficients. The hydrodynamic coefficients are estimated with conventional nonlinear observer techniques, such as sliding mode observer and extended Kalman filter. By using the estimated coefficients, a sliding mode controller is constructed for the combined diving and steering maneuver. The simulation results of the proposed control system are compared with those of control system with true coefficients. This paper demonstrates the proposed control system, discusses the mechanisms that make the system stable and follows the desired depth and heading angle, accurately, in the presence of parameter uncertainty.

• 전력전자학회:학술대회논문집
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• 전력전자학회 2002년도 전력전자학술대회 논문집
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• pp.142-145
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• 2002

A new scheme to estimate machine inertia in low speed is proposed in this paper. It is necessary to consider the machine parameter of low speed instantaneous observer to precise control in servo system, which has frequent load variation and speed change. To estimate machine parameter, especially the moment of inertia, Reduced-Order Extended Luenberger Observer (ROELO) is applied. The effectiveness of the proposed ROELO is showed by simulation.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2000년도 하계학술대회 논문집 B
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• pp.1105-1107
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• 2000

This paper proposes the new reduced-order extended Luenberger observer and presents the application to sensorless vector control of induction motor. The main features of the proposed observer are discussed and compared with the other observers.

• International Journal of Ocean System Engineering
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• 제1권1호
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• pp.16-27
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• 2011

The depth and heading control of an autonomous underwater vehicle (AUV) are considered to follow the predetermined depth and heading angle. The proposed control algorithm was based on a sliding mode control, using estimated hydrodynamic coefficients. The hydrodynamic coefficients were estimated employing conventional nonlinear observer techniques, such as sliding mode observer and extended Kalman filter. Using the estimated coefficients, a sliding mode controller was constructed for a combined diving and steering maneuver. The simulated results of the proposed control system were compared with those of a control system that employed true coefficients. This paper demonstrated the proposed control system, and discusses the mechanisms that make the system stable and accurately follow the desired depth and heading angle in the presence of parameter uncertainty.

• 대한임베디드공학회논문지
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• 제19권3호
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• pp.123-130
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• 2024

This paper proposes an EMPC (Explicit Model Predictive Controller) for temperature tracking control based on heat load prediction by an ESO (Extended State Observer) for a variable cooling circulation system with multiple indoor units connected to one outdoor unit. In this system, heat transfer and heat loss relative to the input temperature are modeled using system dynamics. Using this model, we design an EMPC based on an ESO that is robust to temperature changes and depends on airflow. To determine the stability of both the controller and the observer, asymptotic stability is verified through Lyapunov stability analysis. Finally, to validate the performance of the proposed controller, simulations are conducted under three scenarios with varying airflow, set temperature, and heat load.