• Title/Summary/Keyword: 속도외란

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Design of a Speed Controller for Vertical One-Link Manipulator Using Internal Model-based Disturbance Observer (내부 모델 기반 외란 관측기를 이용한 수직 1축 머니퓰레이터의 속도 제어기 설계)

  • Lee, Cho-Won;Kim, In Hyuk;Son, Young Ik
    • The Transactions of The Korean Institute of Electrical Engineers
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    • v.64 no.5
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    • pp.751-754
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    • 2015
  • This paper deals with a robust speed control problem of a vertical one-link manipulator in the presence of parameter uncertainties and unknown input disturbance. Uncertain load weight causes an additional sinusoidal disturbance in the rotation of the link. In order to improve the robustness against parameter uncertainties and external input disturbances, this paper employs an internal model-based disturbance observer approach. Comparative computer simulations are performed to test the performance of the proposed controller. The simulation results show the enhanced performance of the proposed method.

Precision Speed Control of PMSM Using Neural Network Disturbance observer and Parameter compensation (신경망 외란관측기와 파라미터 보상기를 이용한 PMSM의 속도제어)

  • Ko Jong-Sun;Lee Yong-Jae;Kim Kyu-Gyeom
    • Proceedings of the KIPE Conference
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    • 2001.07a
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    • pp.389-392
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    • 2001
  • This paper presents neural load disturbance observer that used to deadbeat load torque observer and regulation of the compensation gain by parameter estimator. As a result, the response of PMSM follows that of the nominal plant. The load torque compensation method is compose of a neural deadbeat observer. To reduce of the noise effect, the post-filter, which is implemented by MA process, is proposed. The parameter compensator with RLSM (recursive least square method) parameter estimator is suggested to increase the performance of the load torque observer and main controller. The proposed estimator is combined with a high performance neural torque observer to resolve the problems. As a result, the proposed control system becomes a robust and precise system against the load torque and the parameter variation. A stability and usefulness, through the verified computer simulation, are shown in this paper.

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The Position Control of DC Servo System by the Pole Placement (극배치법에 의한 직류 서어보 시스템의 위치 제어)

  • 서기영;고태언
    • The Proceedings of the Korean Institute of Illuminating and Electrical Installation Engineers
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    • v.7 no.4
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    • pp.34-41
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    • 1993
  • The dc servo motor has been often used as the driver for a position control system, because the performance of the control is excellent on the speed and position control. When the unknown disturbance and/or the varying quantity of load is imposed on the position control system, the response of the system has the steady and/or the transient state error.The objective of this work is to demonstrate the principles, design methodologies and implementation of a servo controller for reducing the error in the position control system using the dc servo motor. The coefficients of a servo controller are computed by the pole placement.

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Track-Following Control for High-Speed Optical Disk Drives (고배속 광 디스크 드라이브 시스템의 트랙 추종 제어)

  • Cho, Seong-Il;Jin, Ju-Hwa;Jung, Soo-Yul;Seo, Joong-Eon;Shin, Dong-Ho
    • Proceedings of the KIEE Conference
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    • 2001.07d
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    • pp.2008-2010
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    • 2001
  • 최근에 광 디스크 기기의 고배속화에 따라서 디스크의 재생 속도는 점차로 증가하고 있다. 이러한 경향에 따라 트랙킹 제어 루프에서 나타나는 디스크의 편심에 의한 외란의 영향은 더욱 커지게 되므로 기존의 선형 제어기만으로는 디스크의 편심량이 큰 경우에 고배속에서 원하는 트랙 추종 성능을 얻을 수가 없다. 본 논문에서는 이러한 문제점을 해결하기 위해서 반복 학습 제어 알고리즘과 드라이브 시스템의 액츄에이터의 주파수 응답 특성을 이용한 새로운 트랙 추종 제어 방법을 제안한다. 또한, 제안된 트랙 추종 제어 시스템의 제어 성능을 실험을 통하여 검증하여 본다.

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Nonlinear Friction Compensation using the Information of Integral Controller (적분 제어기 정보를 이용한 비선형 마찰보상)

  • 송진일;최용훈;유지환;권동수
    • Journal of the Korean Society for Precision Engineering
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    • v.17 no.1
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    • pp.110-119
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    • 2000
  • This paper presents simple and effective nonlinear friction compensation methods. When the direction of position command reverses, the integrator output of the PID controller does not change the sign of its output instantaneously, due to friction at zero velocity, i.e. stiction resulting tracking errors, that results in continuous push even though the command direction has been changed. To overcome this problem, we attempt to reverse the sign of the integrator output as the sign of velocity changes. The effectiveness of this approach is demonstrated by experiments on a 3-PRPS (Prismatic-Revolute-Prismatic-Shperical joints) in-parallel 6-D.O.F manipulator. The control strategy has been analyzed for stability. Also discussed are disturbance observer and velocity observer approaches for friction compensation.

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Design of a Back-EMF Observer for Current Control of DC Motor (DC 모터의 전류 제어를 위한 역기전력 관측기 설계)

  • Choi, Dae-Sik;Kim, In-Hyuk;Son, Young-Ik
    • Proceedings of the KIPE Conference
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    • 2010.11a
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    • pp.294-295
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    • 2010
  • DC 모터의 전류 제어는 회전에 의해 발생하는 역기전력을 외란으로 취급하여 역기전력을 보상하는 방법이 많이 사용된다. 본 논문에서는 속도 센서를 사용할 수 없는 모터 응용 분야에서 상태 관측기를 사용하여 전류 제어기를 구성하는 문제를 다룬다. 제안된 관측기는 간단한 1차 모델에 대한 PI 관측기로 설계되며 역기전력을 추정하는 형태로 구성된다. 실험을 통해 제안한 관측기가 1차 모델만을 고려하여 설계되었음에도 DC 모터의 불확실성에 강인한 성능을 보임을 확인한다.

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H-infinity controller design for robust speed control against disturbance and model uncertainty of DC motors (외란과 모델 불확실성에 강인한 DC모터의 속도 제어용 H-infinity 제어기 설계)

  • JEONG, Tae-Young;KIM, Dong-Geun
    • Journal of the Korean Society of Fisheries and Ocean Technology
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    • v.58 no.3
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    • pp.241-250
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    • 2022
  • This paper describes the design of H-infinity controller for robust control of a DC motor system. The suggested controller can ensure robustness against disturbance and model uncertainty by minimizing H-infinity norm of the transfer function from exogenous input to performance output and applying the small gain theorem. In particular, the controller was designed to reduce the effects of disturbance and model uncertainty simultaneously by formalizing these problems as a mixed sensitivity problem. The validity of the proposed controller was demonstrated by computer simulations and real experiments. Moreover, the effectiveness of the proposed controller was confirmed by comparing its performance with PI controller, which was tested under the same experimental condition as the H-infinity controller.

A Study on vibration suppression of dual inertia system using controlling Parameter $\alpha$ of PID controller with 2-degree of freedom (2자유도 PID 제어기의 파라미터 $\alpha$ 추종을 이용한 2관성 시스템의 진동억제)

  • 박재현;추연규;김현덕;박연식
    • Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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    • 2004.05b
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    • pp.506-510
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    • 2004
  • A torque transmission system composed of several gears and couplings is flexible. In order to get an exact response of motor, the torsional vibration due to an unexpected change of motor speed must be suppressed. Therefore, it is very important that motor control suppress vibration. Various methods to control it including dual inertia system are proposed. Specially, the method of vibration suppression is that vibration can be suppressed to fee㏈ack the estimated torsion torque via the disturbance observer filter being of normal filter. The suitable Proportional controller and coefficient parameter can be designed using CDM and the torsional vibration also be suppressed, but it has a low degree of adaptability to disturbance. The PID controller can be designed easily, but makes the excessive overshoot and oscillation for system response in the early period. To resolve these problems, simple and practical PID controller with two degree of freedom is proposed recently that it ran improve performance of obeying the reference unconcerned in any disturbance by changing the proportional gain by two degree of freedom parameter. But it has also the defect that parameter a must be changed to obtain the ideal Proportional parameter. On this paper, we design the controller which automatically adjusts parameter u using fuzzy Algorithm to overcome such defects. Also, we compare the proposed method with established one and evaluate them to confirm performance of the designed controller.

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The 3-Phase Induction Motor Speed Control by the MRA-DSM controller (MRA-DSM 제어기를 이용한 3상 유도전동기의 속도 제어)

  • 원영진;한완옥;박진홍;이종규;이성백
    • The Proceedings of the Korean Institute of Illuminating and Electrical Installation Engineers
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    • v.9 no.1
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    • pp.54-62
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    • 1995
  • This paper is a study on a speed control of an induction motor used the MRA-DSM(Mode1 Reference Adaptive-Discrete Sliding Mode) controller. In this paper, when controls motor speed, DSM algorithm is proposed for having Robustness against disturbance and parameter variation. and it is also proposed MRA-DSM including the additional load model reference algorithm, which can be compensated the discontinuous control imputs at sliding mode and followed the model Preference independent of parameter variation of control subjects. The control system is composed of the parallel processing control system using the microprocessor for maximizing the performance of control systems and the real time processing. Also it simplifies the hardware composed of controlling the system by software and improves the reliability of the system. And while MRA-DSM control, faster response characteristics of 27.2 % is obtained than DSM control.

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The Position Control of Induction Motor using Reaching Mode Controller and Neural Networks (리칭모드 제어기와 신경 회로망을 이용한 유도전동기의 위치제어)

  • Yang, Oh
    • Journal of the Institute of Electronics Engineers of Korea SC
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    • v.37 no.3
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    • pp.72-83
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    • 2000
  • This paper presents the implementation of the position control system for 3 phase induction motor using reaching mode controller and neural networks. The reaching mode controller is used to bring the position error and speed error trajectories toward the sliding surface and to train neural networks at the first time. The structure of the reaching mode controller consists of the switch function of sliding surface. And feedforward neural networks approximates the equivalent control input using the reference speed and reference position and actual speed and actual position measured form an encoder and, are tuned on-line. The reaching mode controller and neural networks are applied to the position control system for 3 phase induction motor and, are compared with a PI controller through computer simulation and experiment respectively. The results are illustrated that the output of reaching mode controller is decreased and feedforward neural networks take charge of the main part for the control action, and the proposed controllers show better performance than the PI controller in abrupt load variation and the precise control is possible because the steady state error can be minimized by training neural networks.

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