• 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.

• Journal of the Institute of Electronics Engineers of Korea SC
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• v.40 no.4
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• pp.243-250
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• 2003

In this paper, the speed controller of permanent-magnet synchronous motor (PMSM) using the RBF neural (NN) disturbance observer is proposed. The suggested controller is designed using the input-output feedback linearization technique for the nominal model of PMSM and incorporates the RBF NN disturbance observer to compensate for the system uncertainties. Because the RBF NN disturbance observer which estimates the variation of a system parameter and a load torque is employed, the proposed algorithm is robust against the uncertainties of the system. Finally, the computer simulation is carried out to verify the effectiveness of the proposed method.

• Proceedings of the KIPE Conference
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• 1998.07a
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• pp.309-313
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• 1998

고성능 서보 전동기 시스템을 구축하기 위해서는 저속영역과 고속영역을 포함하는 넓은 속도영역에서의 정확한 속도검출을 통한 정밀한 속도제어기 필수적이며, 관성모멘트와 같은 전동기의 파라메터 변동에 대해 강인한 속도제어와 외란 억제능력도 중요한 요소로서 고려되어야 한다. 변동하는 부하의 관성모멘트을 식별하여 PI 속도제어기를 실시간으로 적응 동정하고, 플랜트 잡음과 측정잡음을 고려하는 상태 관측기인 칼만필터의 부하관성에 대한 민감성을 제거하기 위해 이를 적응 동정하여 적응 상태 추정기를 구현함으로써 우수한 속도 추정 성능을 얻었다. 또한 외란과 불확실한 모델링은 등가 외란으로 추정되어 전향적으로 보상된다. 본 논문에서는 이러한 특징을 이용하여 전동기의 고성능 속도제어를 구현하고 유도전동기를 이용한 실험을 통하여 연구결과의 유효성을 확인한다.

• The Journal of the Korea institute of electronic communication sciences
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• v.15 no.5
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• pp.907-912
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• 2020

When designing a controller, a motor can have robust and precise control performance only by considering the error of the motor's mathematical model and the disturbance acting on it. For robust and precise control, the mechanical and electrical disturbance observers were designed to estimate the disturbance, and applied to the speed controller and current controller designed as a nominal system. To confirm the control performance of the designed system, it is applied to a 120 [W] class BLDC motor, and the result of the speed tracking control overcomes disturbances, the steady state error converges to zero, and the asymptotically stable result can be confirmed.

• Proceedings of the KIPE Conference
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• 2001.07a
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• pp.381-384
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• 2001

본 논문에서는 간단한 외란 관측 기법을 이용한 영구자 석형 동기 전동기(Permanent Magnet Synchronous Motor: PMSM)의 비선형 속도 제어 기법이 제안된다. 피드백 선형화 (feedback linearization) 기법을 이용함으로써 비선형 요소가 효과적으로 제거되고 출력 오차 동특성을 선형 제어 기법에 기반 하여 설정할 수 있다. 그리고 파라미터 변동에 의한 비선형 외란을 제거하기 위해 본 논문에서는 외란 관측 기법을 이용한다. 제안한 관측기를 이용한 비선형 속도 제어 알고리즘이 파라미터 변동에 대해 강인한 제어 특성을 가짐을 시뮬레이션으로 확인하였다.

• The Journal of the Korea institute of electronic communication sciences
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• v.15 no.5
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• pp.899-906
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• 2020

Motor control requires robust and precise control performance even in the presence of errors in the mathematical model of the motor and disturbances acting on the motor. For robust and precise control, a disturbance observer was designed to estimate the load fluctuation and applied to a back-stepping controller designed as a nominal system. The control performance of the designed system was verified by applying it to the 120 [W] Brushless Direct Current Motor. As a result of the position control and speed control, the disturbance is overcome from the steady state error converges to zero, and asymptotically stable results can be confirmed.

• The Journal of the Korea institute of electronic communication sciences
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• v.11 no.10
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• pp.955-962
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• 2016

In this paper, we propose a design method for speed controller, current control of a Brushless Direct Current(: BLDC) motor using disturbance rejection techniques. Disturbance assumes a back electromotive force occurring in the electrical system and the variation of the load acting on the rotary shaft from the outside of the motor. And it assumed to be constant during the time interval and the Luenberger's observer design. So that the error of the observer about the system status can converge to zero show how to set the appropriate gain. Further, to stabilize the whole system, and proposes a method for setting the appropriate PI gain control to improve the tracking performance. By applying the proposed controller to 120W BLDC motors were tested for the ability to follow the velocity and current reference. Since the simulation results of the steady state error is within 0.1%, we were able to show the usefulness of the tracking performance of the proposed controller.

• Proceedings of the KIPE Conference
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• 2010.11a
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• pp.292-293
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• 2010

본 논문에서는 센서리스로 구동하는 PMSM의 부하 토크 변동에 대한 속응성 향상 기법을 제안한다. 센서리스 구동의 대표적인 기법으로 전류 기반 모델을 이용하여 역기전력을 관측하고, 이로부터 위치/속도 정보를 검출하는 방식을 들 수 있다. 이 때, 관측기의 수렴 속도가 역기전력을 관측할 수 있을 만큼 충분히 빨라야 하며, 제어기는 관측기로부터 추출된 속도 정보를 이용하므로 전체 제어기의 대역폭은 관측기의 대역폭에 의해 제한된다. 이로 인하여 속도 제어기가 부하 토크 변동에 충분히 빨리 대응하지 못할 수 있다. 본 논문은 외란 관측기를 사용하여 부하 토크를 외란으로 간주하고 그 영향을 보상한다. 모의실험을 통하여 강인성이 향상됨을 보인다.

• The Transactions of the Korean Institute of Power Electronics
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• v.9 no.3
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• pp.253-259
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• 2004

This paper presents a speed controller method based on the disturbance torque observer for high-performance speed control of the brushless DC (RLDC) motor. In case of the speed control of robot arms and tracking applications with lower stiffness, we cannot design the speed controller gain to be very large from the viewpoint of the system stability Thus, the feedforward compensation method using disturbance torque observer was proposed. This method can improve the speed characteristic without increasing the speed controller gain. The speed characteristic against disturbance torque can be improved when the bandwidth of the speed controller cannot be made large enough. Consequently, the speed control of the BLDC motor for the high-performance application become achieved.

• Journal of the Korean Society of Fisheries and Ocean Technology
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• v.36 no.3
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• pp.257-265
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• 2000

Brushless DC(BLDC) motors are widely used as AC servo motors in factory automation fields because of their quick instantaneous mobility, good energy saving efficiency and easiness of design for control system comparing with induction motors. Recently, a Two-Degree-of-Freedom(2DOF) PI control law has been adopted to some application parts to accomplish an advanced speed control of BLDC motors. The method can treat the two conflicting performances, minimum tracking errors versus reference inputs without large overshoot and rejection of some disturbances including modeling errors, independently. However, the method can not design the optimal system which is able to minimize tracking errors and energy consumption simultaneously. In this paper, a 2DOF integral type optimal servo control method is investigated to promote the speed control performances of BLDC motors considering energy consumption. In order to applicate the method to the speed servo system of the BLDC motor, the motor is modeled in the state space using the vector control and decoupling technique. To verify the validity of the suggested method, some simulations and experiments are performed.