• Journal of Electrical Engineering and Technology
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• v.12 no.3
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• pp.1177-1186
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• 2017

This paper presents a torque ripple reduction method of direct torque control (DTC) using fuzzy controller with optimal selection strategy of voltage vectors in a five-phase induction motor. The conventional DTC method has some drawbacks. First, switching frequency changes according to the hysteresis bands and motor's speed. Second, the torque ripple is rapidly increased in long control period. In order to solve these problems, some/most papers have proposed torque ripple reduction methods by using the optimal duty ratio of the non-zero voltage vector. However, these methods are complicated in accordance with the parameter. If this drawback is eliminated, the torque ripple can be reduced compared with conventional method. In addition, the DTC can be simply controlled without the use of the parameter. Therefore, the proposed algorithm is changing the voltage vector insertion time by using the designed fuzzy controller. Also, the optimized voltage vector selection method is used in accordance with the torque error. Simulation and experimental results show effectiveness of the proposed control algorithm.

• Journal of the Korean Solar Energy Society
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• v.32 no.5
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• pp.31-40
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• 2012

This paper introduces a methodology for NREL 5MW wind turbine, which is the variable speed and variable pitch(VSVP) control system. This control strategy maximizes the power extraction capability from the wind in the low wind speed region and regulates the wind turbine power as the rated one for the high wind speed region. Also, pitch control efficiency is raised by using pitch scheduling.Torque schedule is made of torque table depending on the rotor speed. Torque control is used for vertical region in a torque-rotor speed chart. In addition to these, mechanical loads reduction using a drive train damper and exclusion zone on a torque schedule is tried. The NREL 5MW wind turbine control strategy is comprised by the generator torque and blade pitch control. Finally, proposed control system is verified through GH Bladed simulation.

• Journal of Institute of Control, Robotics and Systems
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• v.4 no.3
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• pp.342-348
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• 1998

A majority of industrial robots are controlled by a simple joint servo control of joint actuators. In this type of control, the performance of control is greatly influenced by the joint interaction torques including Coriolis and centrifugal forces, which act as disturbance torques to the control system. As the speed of the robot increases, the effect of this disturbance torque increases, and hence makes the high speed - high precision control more difficult to achieve. In this paper, the joint disturbance torque of robots is analyzed. The joint disturbance torque is defined using the coefficients of dynamic equation of motion, and for the case of a 2 DOF planar robot, the conditions for the minimum and maximum joint disturbance torques are identified, and the effect of link parameters and joint variables on the joint disturbance torque are examined. Then, a solution to the optimal path placement problem is propose that minimizes the joint disturbance torque during a straight line motion. The proposed method is illustrated using computer simulation. The proposed solution method can be applied to a class of robots that are controlled by independent joint servo control, which includes the vast majority of industrial robots.

• Journal of the Korean Institute of Illuminating and Electrical Installation Engineers
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• v.23 no.11
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• pp.94-101
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• 2009

This paper poses tracking control and torque control methods to reduce torque ripple for bilateral symmetric trainers. As opposed to the conventional method, the torque control method for active joint movement is proposed. Using a step motor (PK296-03b, step angle: $1.8^{\circ}$), a simulator for a bilateral symmetric trainer is created, and the effectiveness of the proposed control method is verified through experiment results.

• Journal of Advanced Marine Engineering and Technology
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• v.21 no.2
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• pp.186-194
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• 1997

In this thesis, a new speed control algorithm based on the load torque observer theory is pro¬posed for the high performance speed control of a voltage source inverter to drive a 3 - phase induction motor. The proposed system becomes robust against disturbances using a feed -- for¬ward control of the load torque estimated at load torque observer. Computer simulation and experimental works using the proposed control confirm that transient response for the varia¬tion ofload torque becomes improved, compared with the conventional PI control method.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.262-262
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• 2000

This paper presents a new torque sharing function method that extends the definition region of the conventional TSF to both the positive and negative torque production regions. By using this definition, all kinds of the control inputs that consider switching on/off angle control as well as the current profiling can be described. A parametrized representation of the current profiles is proposed by using a series of B-spline functions, which reduces memory requirement and enables additional controllers. Optimal determination of the TSFs are also investigated for various control objectives. Moreover, the comparison study of each objective is presented. Since this method generalizes all of the possible control input, the current and torque profiles obtained from the optimization are the most suitable control input that satisfy the objectives.

• Journal of the Korean Society for Precision Engineering
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• v.11 no.6
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• pp.50-56
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• 1994

A DC generator control system was designed to control the torque of a rotating shaft precisely. The control system is composed of a strain gage type torque cell, a torque cell amplifier, a computer, a D/A converter, a error detector, a DC voltage amplifier and a resistor. The response test under unit step input and the dynamic stability test for the designed control system were carried out. It was confirmed that the settling time from the response test is about 4 s and the error from the dynamic stability test is less than 0.06% of rated output of torque cell. The designed control system may be used to control a DC generator which may be used to apply torque to a rotating shaft.

• The Transactions of the Korean Institute of Electrical Engineers D
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• v.49 no.3
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• pp.117-123
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• 2000

A new control method for precision robust position control of a PMSM (Permanent Magnet Synchronous Motor) using asymptotically stable adaptive load torque observer is presented in the paper. Precision position control is obtained for the PMSM system approximately linearized using the field-orientation method. Recently, many of these drive systems use the PMSM to avoid backlashes. However, the disadvantages of the motor are high cost and complex control because of nonlinear characteristics. Also, the load torque disturbance directly affects the motor shaft. The application of the load torque observer is published in [1] using fixed gain. However, the motor flux linkage is not exactly known for a load torque observer. There is the problem of uncertainty to obtain very high precision position control. Therefore, a model reference adaptive observer is considered to overcome the problem of unknown parameter and torque disturbance in this paper. The system stability analysis is carried out using Lyapunov stability theorem. As a result, asymptotically stable observer gain can be obtained without affecting the overall system response. The load disturbance detected by the asymptotically stable adaptive observer is compensated by feedforwarding the equivalent current which gives fast response. The experimental results are presented in the paper using DSP TMS320c31.

• Proceedings of the KIPE Conference
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• 2001.10a
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• pp.341-345
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• 2001

Recently, many examples of practical applications of the motors with reluctance torque, such as IPMSM, RM, etc. are reported. However, the problems of the torque ripple produced by the IPMSM, are also presented. The main reasons of the torque ripple generation are the structural imperfectness of the IPMSM and its control system, such as the cogging torque of the motor, the dead time of inverter, sensors offset, imbalance and non-linearity, and so on. In this paper, authors propose a suppression control method of the torque ripple for IPMSM utilizing the repetitive control with the Fourier transformer and a vibration signal detected by an acceleration sensor attached to the motor frame, considering periodicity of the motor torque ripple. An experimental system to simulate the compliant mechanical frame is constructed, and the effectiveness of the proposed method is confirmed by experimental results.

• KIEE International Transaction on Electrical Machinery and Energy Conversion Systems
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• v.5B no.4
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• pp.337-342
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• 2005

Direct torque control (DTC) was originally developed for induction machine drives, and, more recently has been applied to permanent magnet brushless AC (BLAC) drives. In this paper, the performance of DTC controlled brushless DC (BLDC) drives is compared with that of PWM current controlled BLDC drives, both with and without current shaping. Both simulation and experimental results are presented, as well as the analysis of the resulting torque waveforms. It is shown that, in addition to exhibiting a fast torque response, a DTC controlled BLDC drive has a significantly lower low-frequency torque ripple than the PWM current controlled BLDC drive without current shaping, and that it is easier to implement than PWM current control with current shaping.