• 제목/요약/키워드: saturation control

검색결과 792건 처리시간 0.022초

철손과 포화를 고려한 동기 릴럭턴스 모터의 최대토크제어 (Maximum Torque Control of Synchronous Reluctance Motor including iron loss and saturation)

  • 백동기;김민태;황영성;성세진
    • 대한전기학회논문지:전기기기및에너지변환시스템부문B
    • /
    • 제49권2호
    • /
    • pp.116-122
    • /
    • 2000
  • In the high speed range for salient type synchronous reluctance motor, the effect of iron loss can not be negligible. We have investigated the voltage equations including iron loss from the model that is added the equivalent iron loss in the equivalent inductance in series. In this paper, we derive Ld linear approximate equation from saturation range of Ld, Lq vs applied voltage characteristics and obtain equations including saturation and iron loss related to maximum torque control using Ld. The effect of saturation and iron loss is investigated under maximum torque control. And we show that the proposed maximum torque control scheme achieves the desired performances through experimental results.

  • PDF

제한된 구동기 용량을 갖는 선형 시스템의 스케듈링 $H_{\infty}$ 제어기 설계 (Design of Scheduled $H_{\infty}$ Control for Linear Systems with Limited Actuator Capacity)

  • 송용희;김진훈
    • 대한전기학회논문지:시스템및제어부문D
    • /
    • 제53권9호
    • /
    • pp.622-629
    • /
    • 2004
  • In practical control systems, the capacity of actuators is limited and this degrades the system performances and it is often a source of instability. To use full capacity of actuators, we adopt the gain scheduled control permitting the over saturation in controls. The basic idea of gain scheduled control is to use a higher gain control when the state variables are smaller and a lower gain control when the state variables are larger. First, we derive a constant H control and a reachable set while satisfying the degree of over saturation. Next, we divide this set into nested subsets and find $H_{\infty}$ controls at rack subsets while satisfying the degree of over saturation. Finally, the control gain is applied according to the status of states. Note that all procedures are done by solving linear matrix inequalities(LMI). Finally, we show the validity and applicability of our proposed control using the simulations of a six-story building subjected to the earthquake excitation.

입력 토크 포화를 갖는 로봇 매니퓰레이터에 대한 분산 강인 적응 제어 (Decentralized Robust Adaptive Control for Robot Manipulators with Input Torque Saturation)

  • 신진호
    • 제어로봇시스템학회논문지
    • /
    • 제21권12호
    • /
    • pp.1160-1166
    • /
    • 2015
  • This paper proposes a decentralized robust adaptive control scheme for robot manipulators with input torque saturation in the presence of uncertainties. The control system should consider the practical problems that the controller gain coefficients of each joint may be nonlinear time-varying and the input torques applied at each joint are saturated. The proposed robot controller overcomes the various uncertainties and the input saturation problem. The proposed controller is comparatively simple and has no robot model parameters. The proposed controller is adjusted by the adaptation laws and the stability of the control system is guaranteed by the Lyapunov function analysis. Simulation results show the validity and robustness of the proposed control scheme.

Seismic response control of buildings with force saturation constraints

  • Ubertini, Filippo;Materazzi, A. Luigi
    • Smart Structures and Systems
    • /
    • 제12권2호
    • /
    • pp.157-179
    • /
    • 2013
  • We present an approach, based on the state dependent Riccati equation, for designing non-collocated seismic response control strategies for buildings accounting for physical constraints, with particular attention to force saturation. We consider both cases of active control using general actuators and semi-active control using magnetorheological dampers. The formulation includes multi control devices, acceleration feedback and time delay compensation. In the active case, the proposed approach is a generalization of the classic linear quadratic regulator, while, in the semi-active case, it represents a novel generalization of the well-established modified clipped optimal approach. As discussed in the paper, the main advantage of the proposed approach with respect to existing strategies is that it allows to naturally handle a broad class of non-linearities as well as different types of control constraints, not limited to force saturation but also including, for instance, displacement limitations. Numerical results on a typical building benchmark problem demonstrate that these additional features are achieved with essentially the same control effectiveness of existing saturation control strategies.

입력 제한 조건을 고려한 불확실성 시스템의 출력 귀환 LPV 제어 (Output-feedback LPV Control for Uncertain Systems with Input Saturation)

  • 김성현
    • 제어로봇시스템학회논문지
    • /
    • 제19권6호
    • /
    • pp.489-494
    • /
    • 2013
  • This paper tackles the problem of designing a dynamic output-feedback control for linear discrete-time norm-bounded uncertain systems with input saturation. By employing a LPV (Linear Parameter Varying) instead of LTI (Linear Time-Invariant) control, the useful information on interpolation parameters appearing in the procedure of representing saturation nonlinearity as a convex polytope is additionally applied in the control design procedure. By solving the addressed problem that can be recast into a convex optimization problem characterized by LMIs (Linear Matrix Inequalities) with one prescribed scalar, the vertices of convex set containing an LPV output-feedback control gain and the associated maximal invariant set of initial states are simultaneously obtained.

Identification of saturation-type nonlinear feedback control systems

  • Yeping, Sun;Kasiwagi, Hiroshi
    • 제어로봇시스템학회:학술대회논문집
    • /
    • 제어로봇시스템학회 1996년도 Proceedings of the Korea Automatic Control Conference, 11th (KACC); Pohang, Korea; 24-26 Oct. 1996
    • /
    • pp.161-164
    • /
    • 1996
  • The authors have recently proposed a new method for identifying Volterra kernels of nonlinear control systems by use of M-sequence and correlation technique. A specially chosen M-sequence is added to the nonlinear system to be identified, and the crosscorrelation function between the input and output is calculated. Then every crosssection of Volterra kernels up to 3rd order appears at a specified delay time point in the crosscorrelation. This method is applied to a saturation-type nonlinear feedback control system of mechanical-electrical servo system having torque saturation nonlinearity. Simulation experiments show that we can obtain Volterra kernels of saturation-type nonlinear system, and a good agreement is observed between the observed output and the calculated one from the measured Volterra kernels.

  • PDF

Compensation of Periodic Magnetic Saturation Effects for the High-Speed Sensorless Control of PMSM Driven by Inverter Output Power Control-based PFC Strategy

  • Lee, Kwang-Woon
    • Journal of Power Electronics
    • /
    • 제15권5호
    • /
    • pp.1264-1273
    • /
    • 2015
  • An inverter output power control based power factor correction (PFC) strategy is being extensively used for permanent magnet synchronous motor (PMSM) drives in appliances because such a strategy can considerably reduce the cost and size of the inverter. In this strategy, PFC circuits are removed and large electrolytic DC-link capacitors are replaced with small film capacitors. In this application, the PMSM d-q axes currents are controlled to produce ripples, the frequency of which is twice that of the AC main voltage, to obtain a high power factor at the AC mains. This process indicates that the PMSM operates under periodic magnetic saturation conditions. This paper proposes a back electromotive-force (back-EMF) estimator for the high-speed sensorless control of PMSM operating under periodic magnetic saturation conditions. The transfer function of the back-EMF estimator is analyzed to examine the effect of the periodic magnetic saturation on the accuracy of the estimated rotor position. A simple compensation method for the estimated position errors caused by the periodic magnetic saturation is also proposed in this paper. The effectiveness of the proposed method is experimentally verified with the use of a PMSM drive for a vacuum cleaner centrifugal fan, wherein the maximum operating speed reaches 30,000 rpm.

포화입력을 가진 비선형 시스템에 대한 슈퍼바이저 제어의 안정성 연구 (A Study on the Stability of Supervisory Control for Nonlinear System with Saturating Input)

  • 차경래
    • 한국생산제조학회지
    • /
    • 제8권4호
    • /
    • pp.112-122
    • /
    • 1999
  • In realistic control systems the nonlinear saturation attributes of the control actuator due to physical limitations should be taken into account This nonlinear saturation of actuators may cause not only deterioration of the control performance but also a large overshoot during start-up and shut-down. As the overshoot increases the system may become oscillatory unstable. in this paper the supervisor implementation which guarantees good performance for saturation operation and prevents reset wind up is presented, Moreover the sufficient conditions of the stability for saturated system using supervisory control with a dynamic controller are provided in the continuous-time and in the discrete-time domain Numerical example is illustrated to depict the efficiency of supervisory control for a typical satuaurated production-distribution system controlled by a discrete-time dynamic controller and to validate basic results by simulation.

  • PDF

강인 포화 제어기의 안정성에 관한 실험적 연구 (Experimental Study on Stability of Robust Saturation Controller)

  • 임채욱;문석준;박영진;박윤식
    • 한국소음진동공학회논문집
    • /
    • 제16권2호
    • /
    • pp.207-213
    • /
    • 2006
  • In our previous research, we proposed a robust saturation controller which involves both control input saturation and structured real parameter uncertainties. This controller can analytically prescribed the upper and lower bounds of parameter uncertainties, and guarantee the closed-loop robust stability of the system in the presence of actuator's saturation. And the availability and the effectiveness of the proposed robust saturation controller were verified through numerical simulations. In this paper, we verify the robust stability of this controller through experimental tests. Expecially, we show unstable cases of other controllers in comparison with this controller. Experimental tests are carried out in the laboratory using a two-story test structure with a hydraulic-type active mass damper.

구조적 파라미터 불확실성을 갖는 안정한 선형계에 대한 강인 포화 제어기 (Robust Saturation Controller for the Stable LTI System with Structured Real Parameter Uncertainties)

  • 임채욱;박영진;문석준;박윤식
    • 제어로봇시스템학회논문지
    • /
    • 제12권6호
    • /
    • pp.517-523
    • /
    • 2006
  • This paper is focused on a robust saturation controller for the stable linear time-invariant (LTI) system involving both actuator's saturation and structured real parameter uncertainties. Based on affine quadratic stability and multi-convexity concept, a robust saturation controller is newly proposed and the linear matrix inequality (LMI)-based sufficient existence conditions for this controller are presented. The controller suggested in this paper can analytically prescribe the lower and upper bounds of parameter uncertainties, and guarantee the closed-loop robust stability of the system in the presence of actuator's saturation. Through numerical simulations, it is confirmed that the proposed robust saturation controller is robustly stable with respect to parameter uncertainties over the prescribed range defined by the lower and upper bounds.