제어로봇시스템학회:학술대회논문집
- 제어로봇시스템학회 1992년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 19-21 Oct. 1992
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- Pages.670-674
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- 1992
칼만필터를 이용한 직류 모터의 속도조절
Speed regulation of DC motor using Kalman filter
- Kim, Cheon-joong (Dept. of Electronics Eng., Chungnam National Univ.) ;
- Kim, Sung-Soo (Dept. of Electronics Eng., Chungnam National Univ.) ;
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Lyou, Joon
(Dept. of Electronics Eng., Chungnam National Univ.)
- 발행 : 1992.10.01
초록
This paper presents a velocity regulation scheme for a DC motor subjected to random torque and velocity measurement noises of white noise type as well as unknown constant load torque (bias). The scheme separately estimates an unknown bias in addition to state estimation by the bias-free Kalman Filter, and reflects the effect of the bias estimate to the armature input voltage such that velocity variations be regulated. It is shown via computer simulations that the performance of the present scheme is superior to that of the conventional analog PI regulator.
키워드