• The Journal of Korean Institute of Communications and Information Sciences
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• v.18 no.9
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• pp.1376-1385
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• 1993

This paper presents a new dynamic model which is represented by the second order differenatial equation and itcludes the robot arm dynamics as well as the actuator dynamics. The model exhibits excellent performance in the steady state and transient response. In addition the time varing nonlinear and coupled dynamic system has been linearized and decoupled by using nonlinear feedback and linearization method. In this case a pole assignment law is used to improve stability, and the optimal control altorithm is applied to the error equation to minimize the path error. In applying the proposed algorithm to the three joint manipulator with actuators, we obtained very encouraging results.

• Journal of Power Electronics
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• v.1 no.2
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• pp.117-126
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• 2001

A synchronous motor(SM) with q-axis special field winding of which the q-axis field-current compensates and cancels armature reaction can be driven at unity power factor under the conditions of transient state as well as steady state. The motor operates in high efficiency in all conditions. However, in order to obtain maximum performance of the motor, it is required that the time constant of armature circuit corresponds to that of q-axis field circuit. Inverse LQ(ILQ) design method on a basis of the pole assignment is suitable for this problem:(1) The time constants of the output responses can be designed for desired specifications, (2) Relations between feedback gains and response of closed loop system are very clear and (3) Optimal solutions can be given by simple procedure of ILQ method without solving the Ricaati's equation, compared to the usual LQ design method. Accordingly, the ILQ method can make the responses of armature current and q-axis field-current correspond. In this paper, it is proved by numerical simulations and experiments that the ILQ method is very effective for optimal regulator design of this plant and realizes a high-performance motor with unity power factor and high efficiency.