• Journal of Power Electronics
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• v.9 no.4
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• pp.582-592
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• 2009

This paper proposes a new speed sensorless direct torque and flux controlled interior permanent magnet synchronous motor (IPMSM) drive. Closed-loop control of both the torque and stator flux linkage are achieved by using two proportional-integral (PI) controllers. The reference voltage vectors are generated by a SVM unit. The drive uses an adaptive sliding mode observer for joint stator flux and rotor speed estimation. Global asymptotic stability of the observer is achieved via Lyapunov analysis. At low speeds, the observer is combined with the high frequency signal injection technique for stable operation down to standstill. Hence, the sensorless drive is capable of exhibiting high dynamic and steady-state performances over a wide speed range. The operating range of the direct torque and flux controlled (DTFC) drive is extended into the high speed region by incorporating field weakening. Experimental results confirm the effectiveness of the proposed method.

• Journal of Navigation and Port Research
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• v.32 no.2
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• pp.133-140
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• 2008

In this paper, a fault detection method for operator failures using the observation technique is proposed. The suggested algorithm is extended using the conventional sensor/actuator fault detection method. First, it is assumed that operator failure affects human work operations, as it is an external input signal. With this assumption, a human work model with operator failure is suggested. Second, an unknown input observer with proportional and integral gains is introduced. The characteristic of this observer of estimating an external signal without an exact input is shown, and the conditions for the detection of an operator failure are proposed. Finally, by simulating the container crane operations, it is verified that the observer can accurately detect an operator failure and estimate its magnitude from the given internal signal.

• 제어로봇시스템학회:학술대회논문집
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• 1986.10a
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• pp.269-274
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• 1986

A continuous-time modified gain extended Kalman filter (MGEKF) is developed in an effort to extend the discrete-time results of 1) and 2). Used as an observer, it is globally exponentially convergent. For stochastic system, the stability of the MGEKF is proven under certain conditions. The performance of the MGEKF is compared with that of the EKF for a particular nonlinear system where the fininate dimensional optimal filter exists.

• Journal of Institute of Control, Robotics and Systems
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• v.14 no.1
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• pp.42-48
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• 2008

This paper presents an observer design method for a special class of multi input multi output(MIMO) nonlinear systems. First, we characterize the class of MIMO nonlinear systems with a block triangular structure. Also, the observability matrices for SISO nonlinear systems are extended to MIMO systems. By using the generalized observability matrices, it is shown that under the boundedness conditions of system state and input, the proposed observer guarantees the local exponential stability of error dynamics. Finally, its application to induction motor is given to verify the proposed method.

• Journal of Institute of Control, Robotics and Systems
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• v.14 no.9
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• pp.886-892
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• 2008

In this paper, a closed-loop observer to extract the center of mass (CoM) of a bipedal robot is suggested. Comparing with the simple conversion method of just using joint angle measurements, it enables to get more reliable estimates by fusing both joint angle measurements and F/T sensor outputs at ankle joints. First, a nonlinear-type observer is constructed to estimate the flexible rotational motion of the biped in the extended Kalman filter framework. It adopts the flexible inverted pendulum model which is appropriate to address the flexible motion of bipeds, specifically in the single support phase. The predicted estimates of CoM in terms of the flexible motion observer are combined with measurements (that is, output of the CoM conversion equation with joint angles). Then, we have final CoM estimates depending on the weighting values which penalize the flexible motion model and the CoM conversion equation. Simulation results show the effectiveness of the proposed algorithm.

• The Journal of the Acoustical Society of Korea
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• v.18 no.6
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• pp.9-16
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• 1999

As a part of target motion analysis(TMA) with highly noisy bearings-only measurements from a passive sonar system, a nonlinear batch estimator is proposed to provide the initial estimates to a sequential estimator called the modified gain extended Kalman filter(MGEKF). Based on the system observability analysis of passive target tracking, a practical and effective method is suggested to determine the observer maneuvers for improved TMA performance through system observability enhancing. Also suggested is a method to determine observer location for enhanced system observability at the initial phase of TMA from various engagement boundaries which represent the relationship between observer-target relative geometrical data and system observability. The proposed TMA methods are tested by a series of computer simulation runs.

• The Transactions of the Korean Institute of Power Electronics
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• v.9 no.3
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• pp.231-239
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• 2004

A new scheme to estimate the moment of inertia in the motor drive system in very low speed is proposed in this paper. The simple estimation scheme, which is usually used in most servo system for low speed operation, is sensitive to the variation of the machine parameter, especially the moment of inertia. To estimate the motor inertia value, Reduced-Order Extended Luenberger Observer (ROELO) is applied. The effectiveness of the proposed inertia identification method using the RORLO is verified by simulation and experiment.

• Journal of Power Electronics
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• v.17 no.6
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• pp.1611-1624
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• 2017

With the rapid development of microgrid technology, microgrid projects are no longer limited to laboratory demonstrations and pilot platforms. It shows greater value in practical applications. Hence, the smooth interaction between a microgrid and the main grid plays a critical role. In this paper, a control method based on active disturbance rejection control (ADRC) is proposed in order to realize seamless transitions between grid-connected and islanding operation modes and stable operation with variable loads. It is verified by simulations that the proposed ADRC-based method features better performance when compared to conventional proportional-integral-differential (PID) control. Meanwhile, the stability of the third-order extended state observer (ESO) in second-order ADRC is validated by using Lyapunov stability criteria.

• Proceedings of the KIEE Conference
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• 1997.07c
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• pp.1174-1176
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• 1997

In this paper, the power system stabilizer(PSS) using the sliding mode observer-model following(SMO-MF) including closed-loop feedback(CLF) for single machine system is extended to multimachine system.

• Nuclear Engineering and Technology
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• v.22 no.2
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• pp.139-150
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• 1990

This paper describes a method for estimating the flux and precursor spatial distributions using only limited flux measurements. It is based on the Luenberger observer in control theory, extended to the distributed parameter systems such as the space-time reactor dynamics equation. The results of the application of the method to simple reactor models showed that the flux distribution could be estimated by the observer very efficiently using information from only a few sensors.