• Proceedings of the KIEE Conference
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• 2004.07d
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• pp.2423-2425
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• 2004

Mobility of an indoor wheeled robot is affected by adhesion force that is related to various floor conditions. When the adhesion force between driving wheels and the floor decreases suddenly, the robot has slip state. First of all, this paper models adhesion characteristics and slip in wheeled robot. Secondly, the paper proposes estimation method of adhesion force coefficient(AFC) according to slip velocity. In order to overcome this slip problem, optimal slip velocity must be decided for stable movement of wheeled robot. The paper proposes an anti-slip control system based on an ordinary disturbance observer, that is, the re-adhesion control is achieved by reducing the driving torque enough to give maximum adhesion force coefficient. fuzzy logic controller(FLC) is petty useful with slip through that compare fuzzy with PI control for the controller performance. These procedure is implemented using a Pioneer 2-DXE parameter.

• Proceedings of the KIPE Conference
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• 2002.07a
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• pp.175-178
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• 2002

In a conventional speed sensorless Stator Flux Oriented(SFO) induction machine drive system, the estimated speed is delayed in transients by the use of a low pass filter(LPF). To prevent extreme overshoot caused by this delay, PI controller gains should be small, which consequently is greatly affected by disturbance torque. In this paper, by taking advantage of disturbance torque observer and feedforward control, robust speed controller is designed for speed sensorless SFO system. The proposed method is verified by the simulation results.

• Proceedings of the KIPE Conference
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• 2018.07a
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• pp.408-409
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• 2018

본 논문에서는 BLDC와 PI 제어기를 사용하여 전동기의 속도를 제어할 때 전차원 관측기를 적용하여 부하 토크를 추정 및 보상함으로써 속도 리플을 줄일 수 있는지를 검증하고자 하였다. 모터 구동 시에는 필연적으로 부하 토크가 외란으로 포함되며 그로 인해 제어대상인 속도에 리플을 야기하게 된다. 따라서 보다 안정적인 제어를 위해서는 이 외란을 보상해주는 것이 필요한데, 관측기를 이용하면 별도의 장비나 센서 없이 이 부하 토크를 효과적으로 보상해 줄 수 있다.

• Journal of the Korean Institute of Illuminating and Electrical Installation Engineers
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• v.25 no.8
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• pp.48-59
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• 2011

This paper presents a new gain scheduling speed controller of permanent magnet synchronous generators(PMSG) for MW-class direct-driven wind turbine systems. The proposed gain scheduling speed controller performs the speed tracking at more than one operating point, and the first-order torque observer estimates the turbine torque which is needed to precisely control the speed of PMSG. The proposed speed controller verifies that the PMSG can successfully follow the reference speed which is determined via the maximum power point tracking(MPPT) control and pitch control under turbulent wind conditions. The proposed speed control algorithm is simulated using Simulink and its performance is confirmed through comparison with the results by PI control method.

• 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.

• The Transactions of the Korean Institute of Power Electronics
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• v.9 no.6
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• pp.635-642
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• 2004

In electric motor coaches. the rolling stocks move by the adhesive effort between rail and driving wheel. Generally, the adhesive effort is defined by the function of both the weight of electric motor coach and the adhesive effort between rails and driving wheel. The characteristics of adhesive effort is strongly affected by the conditions between rails and driving wheel. When the adhesive effort decreases suddenly, the electric motor coach has slip phenomena. This paper proposes a re-adhesion control based on disturbance observer and sensor-less vector control. The numerical simulation and experimental results point out that the proposed readhesion control system has the desired driving wheel torque response for the tested bogie system of electric coach. Based on this estimated adhesive effort, the re-adhesion control is performed to obtain the maximum transfer of the tractive effort.

• The Transactions of the Korean Institute of Power Electronics
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• v.8 no.4
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• pp.366-374
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• 2003

In electric motor coaches, the rolling stocks move by the adhesive effort between rail and driving wheel. Generally, the adhesive effort is defined by the function of both the weight of electric motor coach and the adhesive effort between rails and driving wheel. The characteristics of adhesive effort is strongly affected by the conditions between rails and driving wheel. When the adhesive effort decreases suddenly, the electric motor coach has slip phenomena. This paper proposes a re-adhesion control algorithm which uses the maximum adhesive effort by instantaneous estimation of adhesion force using load torque disturbance observer. Based on this estimated adhesive effort, the re-adhesion control Is peformed to obtain the maximum transfer of the tractive effort.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.7 no.6
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• pp.1064-1071
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• 2006

In electric motor coaches, the rolling stocks move by the adhesive effort between rail and driving wheel. Generally, the adhesive effort is defined by the function of both the weight of electric motor coach and the adhesive effort between rails and driving wheel. The characteristics of adhesive effort is strongly affected by the conditions between rails and driving wheel. When the adhesive effort decreases suddenly, the electric motor coach has slip phenomena. This paper proposes a re-adhesion control based on disturbance observer and sensor-less vector control. The numerical simulation and experimental results point out that the proposed readhesion control system has the desired driving wheel torque response for the tested bogie system of electric coach. Based on this estimated adhesive effort, the re-adhesion control is performed to obtain the maximum transfer of the tractive effort.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.13 no.8
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• pp.3634-3641
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• 2012

This paper introduced a previous study which suggest ways to improve problems of drive control system of Ropeless Elevator when developing prior to commercialization of Ropeless Elevator. In particular, this study also manufactured motor, linear speed sensor and the miniature systems to study the implementation of the Ropeless Elevator drive. This study examined the problem of conventional PI controller through the speed control test and focused on the advanced controller based on disturbance observer for Ropeless Elevator drive. The results of this study confirmed the feasibility of the Ropeless Elevator and showed the satisfactory results of drive control techniques. This study also extracted many more problems that still need to be improved in the future for commercializing such as the sensor, high-performance controller, precision structures, safety devices and so on.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• v.9 no.1
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• pp.959-962
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• 2005

Servomotors are used as key components of automated system by performing accurate positioning, accurate speed regulation, and precise motion control in response to commands from computers and sensors. Especially linear brushless servomotors have numerous advantages over ball screws, timing belts, rack/pinion drives and friction drives compared with rotary servomotors. This paper proposes the estimation of unknown parameters from the linear brushless DC motor which is operated by sinusoidal commutation. The estimated parameters are used to tune the controller gain and disturbance observer. In order to agree with this purpose, Digital Signal Processor(TMS320F240), developed for implementation of a speed Field Oriented Control(FOC), adopted in this study. The processor playing an important role in controller has A/D converters, PWM generators, riched I/O port internally.