• Journal of international Conference on Electrical Machines and Systems
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• v.3 no.3
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• pp.289-297
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• 2014

This paper proposed a novel high performance sensorless control scheme for IPMSM based on an extended nonlinear state observer. The gain-matrix of the observer has been derived by using state linearization method. Steady state errors in estimated rotor position and speed due to parameter inaccuracy have been analyzed, and an equivalent flux error is defined to represent the overall effect of parameter errors contributing to the wrong convergence of the estimated rotor speed as well as rotor position. Then, an online compensation strategy was proposed to limit the estimation errors in rotor position and speed. The effectiveness of the extended nonlinear state observer is validated through simulation and experimental test.

• Journal of Power Electronics
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• v.15 no.3
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• pp.763-774
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• 2015

This study investigates the inherent influence of a DC-link voltage controller on both DC-link voltage control and the compensation performance of a three-phase, four-wire shunt active power filter (APF). A nonlinear variable-parameter DC-link voltage controller is proposed to satisfy both the dynamic characteristic of DC-link voltage control and steady-state compensation performance. Unlike in the conventional fixed-parameter controller, the parameters in the proposed controller vary according to the difference between the actual and the reference DC-link voltages. The design procedures for the nonlinear voltage controller with variable parameters are determined and analyzed so that the proposed voltage controller can be designed accordingly. Representative simulation and experimental results for the three-phase, four-wire, center-spilt shunt APF verify the analysis findings, as well as the feasibility and effectiveness of the proposed DC-link voltage controller.

• Journal of Power Electronics
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• v.16 no.6
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• pp.2150-2161
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• 2016

Mechanical and electrical parameter uncertainties cause dynamic and static estimation errors of the rotor speed and position, resulting in performance deterioration of sensorless control systems. This paper applies an extended nonlinear observer to interior permanent magnet synchronous motors (IPMSM) for the simultaneous estimation of the rotor speed and position. Two compensation methods are proposed to improve the observer performance against parameter uncertainties: an on-line rotational inertia adjustment approach that employs the gradient descent algorithm to suppress dynamic estimation errors, and an equivalent flux error compensation approach to eliminate static estimation errors caused by inaccurate electrical parameters. The effectiveness of the proposed control strategy is demonstrated by experimental tests.

• Journal of Electrical Engineering and Technology
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• v.12 no.3
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• pp.1166-1176
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• 2017

Estimation errors of the rotor speed and position in sensorless control systems of Permanent Magnet Synchronous Motors (PMSM) will lead to low efficiency and dynamic-performance degradation. In this paper, a parallel-type extended nonlinear observer incorporating the nominal parameters is constructed in the stator-fixed reference frame, with rotor position, speed, and the load torque simultaneously estimated. The stability of the extended nonlinear observer is analyzed using the indirect Lyapunov's method, and observer gains are selected according to the transfer functions of the speed and position estimators. Taking into account the parameter inaccuracies issue, explicit estimation error equations are derived based on the error dynamics of the closed-loop sensorless control system. An equivalent flux error is defined to represent the back Electromotive Force (EMF) error caused by the inaccurate motor parameters, and a compensation strategy is designed to suppress the estimation errors. The effectiveness of the proposed method has been validated through simulation and experimental results.

• Journal of Power Electronics
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• v.19 no.3
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• pp.655-664
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• 2019

In order to analyze the nonlinear phenomena of the bifurcation and chaos caused by the switching of nonlinear switching devices in inductively coupled power transfer (ICPT) systems, a Jacobian matrix model, based on discrete mapping numerical modeling, is established to judge the system stability of the periodic closed orbit and to study the nonlinear behavior of Hopf bifurcation in a system under full resonance. The general flow of the parameter design, based on the stability principle for ICPT systems, is proposed to avoid the chaos and bifurcation phenomena caused by unreasonable parameter selection. Firstly, based on the state equation of SS-type compensation, a three-dimensional bifurcation diagram with the coupling coefficient as the bifurcation parameter is established with a numerical simulation to observe the nonlinear phenomena in the system. Then Filippov's method based on a Jacobian matrix model is adopted to deduce the boundary of stable operation and to judge the type of the bifurcation in the system. Then the general flow of the parameter design based on the stability principle for ICPT systems is proposed through the above analysis to realize stable operation under the conditions of weak coupling. Finally, an experimental platform is built to confirm the correctness of the numerical simulation and modeling.

• International Journal of Aeronautical and Space Sciences
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• v.14 no.4
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• pp.379-386
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• 2013

The hemispherical resonator gyroscope is a type of vibratory gyroscope, which can measure angle or angular rate, based on its operating mode. This paper deals with the case when the hemispherical resonator gyroscope is operated in angle measurement mode. In angle measurement mode, the resonator pattern angle precesses, with respect to the external rotation input, by the principle of the Coriolis effect, so that the external rotation can be estimated, by measuring the amount of precession angle. However, this pattern angle drifts, due to the manufacturing error of the resonator. Since the drift effect causes degradation of the angle estimation performance of the resonator, the corresponding drift compensation control should be performed, to enhance the estimation performance. In this paper, a mathematical model of the hemispherical resonator gyro is first introduced. By using the mathematical model, a nonlinear observer for imperfection parameter estimation, and the corresponding compensation controller are designed to operate hemispherical resonator gyros, as angle measurement sensors.

• Transactions on Control, Automation and Systems Engineering
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• v.4 no.4
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• pp.311-318
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• 2002

Two adaptive nonlinear friction compensation schemes are proposed for second-order nonlinear mechanical systems with a partially known nonlinear dynamic friction model to achieve asymptotic position and velocity tracking. The first scheme has auxiliary filtered states so that a simple open-loop observer can be used. The second one has a dual-observer structure to estimate two different nonlinear aspects of the friction state. Conditions for the parameter estimates to converge to the true parameter values are presented. Simulation results are utilized to show control performance and to demonstrate the convergence of the parameter estimates to their true values.

• Journal of the Korean Society for Nondestructive Testing
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• v.35 no.4
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• pp.251-257
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• 2015

In ultrasonic nonlinear parameter measurement using the fast Fourier transform(FFT) of tone-burst signals, the side lobe and leakage on spectrum because of finite time and non-periodicity of signals makes it difficult to measure the harmonic magnitudes accurately. The window function made it possible to resolve this problem. In this study, the effect of the Hanning and Turkey window functions on the experimental measurement of nonlinear parameters was analyzed. In addition, the effect of changes in tone burst signal number with changes in the window function on the experimental measurement was analyzed. The result for both window functions were similar and showed that they enabled reliable nonlinear parameter measurement. However, in order to restore original signal amplitude, the amplitude compensation coefficient should be considered for each window function. On a separate note, the larger number of tone bursts was advantageous for stable nonlinear parameter measurement, but this effect was more advantageous in the case of the Hanning window than the Tukey window.

• Journal of the Korean Society of Industry Convergence
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• v.18 no.3
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• pp.157-166
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• 2015

In this paper, we proposed a new robust control scheme to implement stable control of robot manipulators including nonlinear perameters The proposed robust controller is composed of a nonlinear controller and linear compemsation controller. It shows a good robust performance in reaching mode which does not possess invariance property. Thus, the proposed nonlinear controller showed a good robust performance in the whole region, It was illustrated that the proposed control showed a good transient response and trajectory tracking performance for robot manipulator with four joint by experiments.

• Journal of Institute of Control, Robotics and Systems
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• v.13 no.4
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• pp.335-343
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• 2007

This paper deals with the method to estimate the friction in a system. We study a nonlinear friction model to estimate the friction in an inverted pendulum and approximate the friction model using fuzzy basis functions expansion. To demonstrate the friction observer using FBFs, we derive a update rule based on the error term that is formed by the output from a real system and observer output with a friction estimate. And two compensation algorithms to improve the response of an inverted pendulum are proposed. The first method that a observer parameter is updated in on-line and the friction is compensated at the same time. The second method is to compensate the friction with observer parameter estimated priori. The two methods is compared through the experimental results.