• 제목/요약/키워드: Disturbance Observer(DOB)

검색결과 80건 처리시간 0.033초

가속도 센서기반의 변형된 외란 관측기를 이용한 로봇 매니퓰레이터의 위치 제어의 보상 (Compensation for Position Control of a Robot Manipulator Using a Modified Disturbance Observer (DOB) based on an Accelerometer)

  • 배영걸;정슬
    • 제어로봇시스템학회논문지
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    • 제19권5호
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    • pp.462-467
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    • 2013
  • This paper presents a modified disturbance observer (MDOB) for controlling two arms of a manipulator designed for a home service robot. The MDOB is slightly different from the original DOB in that it uses an accelerometer to measure acceleration of the robot arm. Then it uses the acceleration to estimate the disturbance to cancel out in the control loop. Relying on the acceleration information of the robot arm, a partial model-based control structure is formed. Experimental studies of position control of 2 DOF robot arm are conducted to evaluate the performance of the proposed position control by an MDOB method.

이득의 자유도와 주파수 적응성을 가진 외란 관측기를 사용한 새로운 트랙 추종 제어 기법 (A New Track-following Control Method Using Disturbance Observer with the Freedom of Gain and Frequency Adaptation)

  • 정우민;김은태
    • 대한전기학회:학술대회논문집
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    • 대한전기학회 2006년 학술대회 논문집 정보 및 제어부문
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    • pp.360-362
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    • 2006
  • This paper proposes a new track-following control method using disturbance observer with the freedom of gain and frequency adaptation in optical disk drive system. Recent ODDs use smaller track pits, higher rotation speed and broader rotational speed variations to increase the data capacity and data transfer rate. This cause the degradation of track-following performance by increasing the disturbance of the rotary system. In this paper, we discussed on a DOB structure that efficiently attenuate the disturbance without effecting the overall feedback loop characteristics on CLV type ODD which uses a higher and broader range of rotational speed. DOB structure uses two band pass filter. We analyzed the track-following performance sensitivity on rotational frequency variance and gain changes. This analysis is done on a computer simulation environment and actual ODD product.

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외란관측기 기반한 2 자유도 제어계의 설계 (Design of control system with two degrees of freedom based on the disturbance observer)

  • 하홍곤
    • 융합신호처리학회논문지
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    • 제11권1호
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    • pp.74-79
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    • 2010
  • 많은 제어기법들이 제어계의 제어성능을 개선하기 위해 제안되고 있다. 제어계에서 제어에 대한 자유도는 독립적으로 조정할 수 있는 폐루프 전달함수의 수로 결정된다. 목표치 추종 및 외란억제에 대해 2자유도 제어기법이 많이 이용되고 있다. 본 논문에서는 외란을 제거하기 위해 외란관측기를 갖는 제어계를 2자유도 제어계로 변환시켰으며, 기동 및 부하변동 시 과도응답의 제거를 용이하게 하였다. 그리고 외란관측기의 설계법이 주파수 영역으로 제안하였으며, 이 방법으로 설계된 외란관측기를 이용하여 2자유도 제어계를 구성하였다. 시뮬레이션 결과를 통하여 제안한 알고리즘의 유효성을 확인 하였다.

차량 정속주행 시스템의 성능향상에 관한 연구 : 외란관측기 기법 (A Study on Performance Improvement of Automobile Cruise Control System : Disturbance Observer Approach)

  • 양은지;조남훈
    • 조명전기설비학회논문지
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    • 제28권5호
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    • pp.15-22
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    • 2014
  • The automobile cruise control system tries to maintain a constant velocity in the face of disturbance mainly caused by mass changes or changes in the slope of a road. The controller should compensate for such disturbances and model uncertainties. In this paper, we study on the disturbance observer based controller for cruise control system. In the presence of disturbances and model uncertainties, we carry out computer simulations in order to compare the performance of the conventional PI controller and DOB controller. From the simulation results, we found that the performance of DOB controller is superior to that of the conventional PI controller.

상태 공간 외란관측기 기반의 임피던스 제어와 ISMC를 이용한 메카넘 휠 AGV의 강인 궤도 추적 제어 (Robust Trajectory Tracking Control of Mecanum Wheeled AGV Using State Space Disturbance Observer Based Impedance Control and ISMC)

  • 천효석;박승규
    • 로봇학회논문지
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    • 제18권2호
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    • pp.155-163
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    • 2023
  • Auto Guided Vehicle (AGV) equipped with mecanum wheels can move in all directions, unlike ordinary wheeled AGVs. In this paper, we propose a robust trejectory tracking control method for the mecanum wheeled AGVs in the presence of disturbances. It is constructed by combining impedance control with Integral Sliding Mode Control (ISMC), which shows robust performance against disturbances, and adding a disturbance observer (DOB) that estimates and removes disturbances. Simulation result using MATLAB/SIMULINK shows that the proposed control method has robust performance in tracking the reference trajectory under the circumstance with disturbance. The control performance is further improved when the disturbance observer is additionally used. In addition, the performance of the proposed control method was verified through experiment. It shows the result of tracking the set trajectory well.

DOB를 이용한 제철설비용 강인 서보 제어시스템 구현 (Design of the Robust Servo Control System for Steel Making Plant using Disturbance Observer Algorithm)

  • 김동삼;허윤제;정완균
    • 대한전기학회:학술대회논문집
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    • 대한전기학회 2003년도 학술회의 논문집 정보 및 제어부문 B
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    • pp.693-696
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    • 2003
  • Among many servo control systems in steel making plant, AGC system in hot rolling mill is very important to get a accurate strip thickness for good quality. AGC (Auto Gauge Control) system controls the roll gap to maintain the required thickness by using the variation of roll force and the measure of output thickness. In this paper, a simulator of AGC system which unifies both hydraulic servo control system and AGC algorithm is suggested. After proving the concurrence of algorithms between the simulator and real system, main actuator system is added. Instead of usual PI system used in present system, DOB control scheme is applied and shows the effect of disturbance attenuation well.

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모델 불확실성을 갖는 6자유도 원격조종 수중로봇의 외란 관측기 기반 제어 (Disturbance Observer-Based Control for 6-DOF Remotely Operated Underwater Vehicle with Model Uncertainties)

  • 김준식;이동철;최영진
    • 로봇학회논문지
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    • 제18권1호
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    • pp.82-87
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    • 2023
  • This paper proposes a disturbance observer-based control for 6-DOF remotely operated underwater vehicles with model uncertainties. The sum of external disturbance and the forces generated from model parameters except for the inertial matrix of the hydrodynamic model is defined as a lumped disturbance in this paper. Then, the lumped disturbance caused by model uncertainties and the external forces is estimated using the disturbance observer. Fortunately, the disturbance observer is constructed as a linear form because all the elements of the inertial matrix of the hydrodynamic model are constants. To verify the proposed control scheme, we show that the actual lumped disturbance is similar to the estimated lumped disturbance obtained by the disturbance observer. Finally, the position tracking performance in the disturbance environment is confirmed through the comparative study with a traditional inverse dynamics PD controller.

HIV 감염 환자에 대한 약물 치료기법 설계: 외란관측기 기반 제어기 기법 (Design of Drug Treatment for HIV Infected Patients: Disturbance Observer based Control Technique)

  • 이범진;조남훈
    • 전기학회논문지
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    • 제63권7호
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    • pp.950-955
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    • 2014
  • In this paper, we propose a drug treatment protocol for the three state HIV infection model that explicitly includes the concentration of healthy T cells, infected T cells, and HIV. While most of the previous methods are not able to achieve the treatment goal in the presence of modelling errors, the proposed method is designed so as to compensate for the model uncertainties. Based on the Jacobain linearization of nonlinear HIV infection model, disturbance observer(DOB) based control is employed to design the drug treatment for the HIV patients. Computer simulation is carried out for nonlinear model in order to compare the performance of the proposed method with that of the conventional technique. The simulation results show that, in the presence of parameter uncertainties, the substantial improvement in the performance can be achieved by the proposed DOB controller.

Disturbance Observer based Boundary Tracking for Environment Monitoring

  • Kim, Jung-Su;Menon, Prathyush P.;Back, Juhoon;Shim, Hyungbo
    • Journal of Electrical Engineering and Technology
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    • 제12권3호
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    • pp.1299-1306
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    • 2017
  • This paper presents a boundary tracking control of an agent. To this end, it is shown that the boundary tracking problem can be reformulated into a robust control of uncertain double integrator first. Then, a disturbance observer (DOB) based control is proposed solving the robust control problem. Unlike the existing results in the literature, the proposed DOB based control requires only the local position measurement of the boundary (not the gradient information). The performance of the proposed control is demonstrated for two cases: the measurement of the boundary is given in a continuous or discrete manner. Finally, it is shown that the proposed control can be used for environmental monitoring as well by showing that the agent follows a level curve of real environmental monitoring data.

입력 시간지연이 존재하는 소형 1축 로봇 팔 위치제어를 위한 강인 제어기 설계 (Design of a Robust Controller for Position Control of a Small One-Link Robot Arm with Input Time-Delay)

  • 정구종;김인혁;손영익
    • 전기학회논문지
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    • 제59권6호
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    • pp.1179-1185
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    • 2010
  • This paper deals with a robust controller design problem for a small one-link robot arm system subject to input time delay and load variations. The uncertain parameters of the system are considered as a disturbance input. A disturbance observer(DOB) has been designed to alleviate disturbance effects and to compensate performance degradation owing to the time-delay. This paper employs a new DOB structure for non-minimum phase systems together with the Smith predictor. We propose a new controller for reducing the both effects of disturbance and time-delay. In order to test the performance of proposed controller, four different other control laws are compared with the proposed one by computer simulations. The simulation results show the effectiveness of the proposed control method.