• Proceedings of the KIEE Conference
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• 2006.10c
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• pp.133-135
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• 2006

This paper considers a speed control problem of DC motor under load variations. In order to reduce the effect of load variation, a disturbance observer has been designed for the given system. With a cheap encoder there exists considerable measurement noise in the velocity feedback and it should be reflected in designing the disturbance observer. The authors have obtained the nominal transfer function of a DC motor and designed a disturbance observer for the control purpose. With the disturbance observer a digital controller has been implemented using a DSP(TMS320F2812). Some experiments show the enhanced performance of the control system with the proposed method.

• Proceedings of the KIEE Conference
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• 1991.11a
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• pp.175-178
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• 1991

The drive system of servo motor is requested to have robustness of disturbance and parameter variation. However, the dynamics of PMSM drive change significantly by forced disturbance and parameter variation. Moreover, the state error caused by them should be suppressed completely and rapidly. In this paper, the vector-control system of PMSM using dual adaptive control loop is investigated. In the proposed system, linear adaptive control loop rapidly recovers the state error caused by both disturbance and parameter variation. In the dual adaptive control loop, the inner loop reduces the system sensitivity of parameter variation and disturbance, and the outer loop suppresses the state error caused by them completely. The proposed servo system is verified through a computer simulations and experimental results.

• Journal of the Korean Society of Mechanical Technology
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• v.13 no.4
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• pp.31-36
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• 2011

Smart Door(SD) is a human friendly power-assisted door system for passenger car doors. It offers comfort and safety to passengers and drivers by supplying additional power. In this study, dynamic system model and the equation of motion derivation are derived. And we propose the disturbance observer based collision detection algorithm for safety when opening the door. A disturbance caused by collision has a fast response compared to a friction, uncertainties and so on. The main idea this study is to estimate a variation of disturbance for stably and effectively detecting a collision. In order to evaluate a performance of collision detection, an experiment set up is constructed. The experimental results validate the usefulness of the proposed collision detection algorithm.

• Proceedings of the KIPE Conference
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• 2003.07b
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• pp.816-819
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• 2003

This paper described a robust control of an induction motor using a disturbance cancellation observer of a feedforward control with Matlab simulink. The speed response of conventional PI controller characteristics is affected by variation of load torque disturbance. In this system, the speed control characteristics using a feedforward control toughen about a load torque disturbance.

• Proceedings of the KIEE Conference
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• 1997.07b
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• pp.452-455
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• 1997

It is well known that Variable Structure Controller(VSC) is robust to parameters variation and disturbance but its performance depends on the design parameters such as switching gain and slope of sliding surface. This paper proposes a more robust VSC that is composed of local VSC's. Each local VSC considers the local system dynamics which has narrow parameter variation and disturbance. We optimize the local VSC's by use of Evolution Strategy, and then we use Artificial Neural Network to generalize the local VSC's and construct the overall VSC in order to cover the whole range of parameter variation and disturbance. Simulation on BLDC motor current control has verified the proposed VSC is superior to the conventional VSC.

• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.504-507
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• 1997

It is well known that Variable Structure Controller(VSC) is robust to parameters variation and disturbance but its performance depends on the design parameters such as switching gain and slope of sliding surface. This paper proposes a more robust VSC that is composed of local VSC's. Each local VSC considers the local system dynamics with narrow parameter variation and disturbance. First we optimize the local VSC's by use of Evolution Strategy, and next we use Artificial Neural Network to generalize the local VSC's and construct the overall VSC in order to cover the whole range of parameter variation and disturbance. Simulation on BLDC motor current control shows that the proposed VSC is superior to the conventional VSC.

• Journal of the Korean Society of Fisheries and Ocean Technology
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• v.55 no.4
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• pp.402-410
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• 2019

This paper deals with the disturbance observer (DOB) based sliding mode control (SMC) for a DC motor to control motor rotating speed precisely and to ensure strong robustness against disturbance including load torque and parameter variation. The reason of steady state error in speed on conventional SMC without DOB is analyzed in detail. Especially, the suggested DOB is designed to prevent measuring noise and harmonics caused by derivative operation on rotating speed. The control performance of the DOB based SMC is evaluated by the various simulations. The simulation results showed that the DOB based SMC had more robust performance than the SMC system without DOB. Especially, precise speed control was possible even though motor parameter variation and load torque was added to the system.

• Proceedings of the KIEE Conference
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• 1999.07b
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• pp.985-987
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• 1999

In this Paper, speed controller design for disturbance system is explained robust control for disturbance. This paper usig CDM. It has highest sensitivity in plant variation and disturbance. After that computer simulation were executed to confirm ability of compared with PID controller.

• Proceedings of the KIEE Conference
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• 1997.07b
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• pp.612-615
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• 1997

In this paper, a robust speed controller considering the effect of uncertainty (plant parameter variation. external load disturbance. unmodeled and nonlinear dynamics etc..) for induction motor is proposed. Firstly. the dynamic model at nominal case of induction motor is estimated. Based on the estimated model. the IPSC ( Integral - Proportional Speed Controller) is designed. Then a DTRC (Dead-time Robust Controller) combining DTC ( Dead-time Compensator) & SRC (Simple Robust Controller) is designed to reduce the effects of parameter variation and external disturbance. Some simulated results are provided to demonstrate the effectiveness of the proposed controller.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.7 no.2
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• pp.131-136
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• 2006

This paper described a robust control of an induction motor using a disturbance cancellation observer of a feedforward control with Matlab simulink. The speed response of conventional PI controller characteristics is affected by variation of load torque disturbance. In this system, the speed control characteristics using a feedforward control toughen about a load torque disturbance.