• Transactions of the Korean Society of Mechanical Engineers A
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• v.40 no.1
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• pp.1-8
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• 2016

In this study, we propose a control algorithm for Inertially Stabilized Platforms (ISP), which combines Disturbance Observer (DOB) with conventional proportional integral derivative (PID) control algorithm. A single axis ISP system was constructed using a direct drive motor. The joint friction was modeled as a nonlinear function of joint speed while the accuracy of the model was verified through experiments and simulation. In addition, various Q-filters, which have different orders and relative degrees of freedom (DOF), were implemented. The stability and performance of the ISP were compared through experimental study. The performance of the proposed PID-plus-DOB algorithm was compared with the experimental results of the conventional double loop PID control under artificial vehicle motion provided motion simulator with six DOF.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• v.9 no.1
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• pp.959-962
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• 2005

Servomotors are used as key components of automated system by performing accurate positioning, accurate speed regulation, and precise motion control in response to commands from computers and sensors. Especially linear brushless servomotors have numerous advantages over ball screws, timing belts, rack/pinion drives and friction drives compared with rotary servomotors. This paper proposes the estimation of unknown parameters from the linear brushless DC motor which is operated by sinusoidal commutation. The estimated parameters are used to tune the controller gain and disturbance observer. In order to agree with this purpose, Digital Signal Processor(TMS320F240), developed for implementation of a speed Field Oriented Control(FOC), adopted in this study. The processor playing an important role in controller has A/D converters, PWM generators, riched I/O port internally.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.10 no.4
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• pp.659-666
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• 2006

Servo-motors are used as key components of automated system by performing precise motion control as accurate positioning and accurate speed regulation in response to the commands from computers and sensors. Especially, the linear brushless servo-motors have numerous advantages over the rotary servo motors which have connection with the friction induced transfer mechanism such as ball screws, timing belts, rack/pinion. This paper proposes an estimation method of unknown motor system parameters using the informations from the sinusoidal driving type linear brushless DC motor dynamics and outputs. The estimated parameters can be used to tune the controller gain and a disturbance observer. In order to meet this purpose high performance Digital Signal Processor, TMS320F240, designed originally for implementation of a Field Oriented Control(FOC) technology is adopted as a controller of the liner BLDC servo motor. Having A/D converters, PWM generators, rich I/O port internally, this servo motor application specific DSP play an important role in servo motor controller. This linear BLDC servo motor system also contains IPM(Intelligent Power Module) driver and hail sensor type current sensor module, photocoupler module for isolation of gate signals and fault signals.