Journal of the Korean Institute of Illuminating and Electrical Installation Engineers (조명전기설비학회논문지)

The Korean Institute of IIIuminating and Electrical Installation Engineers (한국조명전기설비학회)
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A Robust Control Scheme of Linear Induction Machine for Automatic Picking System Using Mass Estimation and Disturbance Force Observer

질량추정과 외란추력 관측기를 이용한 자동피킹 시스템 구동용 선형 유도모터의 강인제어 기법

  • Choi, Jung-Hyun (Dept. of Electrical and Information Engineering, Seoul National University of Science and Technology) ;
  • Yoo, Dong-Sang ;
  • Kim, Kyeong-Hwa (Dept. of Electrical and Information Engineering, Seoul National University of Science and Technology)
  • 최정현 (서울과학기술대학교 전기정보공학과) ;
  • 유동상 (국립한경대학교 전기전자제어공학과) ;
  • 김경화 (서울과학기술대학교 전기정보공학과)
  • Received : 2013.02.06
  • Accepted : 2013.03.11
  • Published : 2013.04.30
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Abstract

To operate an automatic picking system in distribution center with high precision and high dynamics, this paper presents a robust control scheme of a linear induction motor (LIM) using the mass estimation and disturbance force observer. The force disturbance which gives a direct influence on the control performance of LIM is estimated in real-time through the disturbance observer and compensated by a feedforward manner. To get a satisfactory performance even under the mass variation by reducing the disturbance force due to the mismatched mass during the speed transient such as the acceleration and deceleration periods, a mass estimation algorithm is proposed. A Simulink model for LIM is developed and the validity of the proposed scheme is verified through the comparative simulation studies using Matlab - Simulink.

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