• Proceedings of the KIEE Conference
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• 1993.07b
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• pp.784-786
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• 1993

Recently, in the industrial applications, the sensorless system is developed, but the sensorless system is required to have robustness for the measurement noise and disturbance. In this paper, for the sensorless system, the method of designing a robust sliding mode observer taking account of the ability of disturbance and noise attenuation is presented. Also, the strategy for the estimation of rotor flux using the sliding mode observer, which is robust to the measurement noise, is described. Robustness are achieved by assigning the pole of the the system during the sliding motion in such a way as to minimize the effects of the disturbances on the rotor flux estimation error. Finally, using worst case desist and LQC(least square error design), the sliding mode absolver is verified by computer simulations.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.41 no.10
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• pp.967-974
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• 2017

In this paper, a differential-braking-based yaw moment control system was developed to guarantee robust performance against road bank angle. A new target yaw rate model was established by combining the signal from a lateral acceleration sensor and 2-DOF single track model. In addition, a disturbance observer was utilized to take into account parameter uncertainties in yaw dynamics and to improve robust performance of the controller. CARSIM, which is a multi-DOF vehicle dynamic simulation tool, was used to verify the performance of the proposed controller in various driving scenarios. The simulation results indicate that the stability of the vehicle was robustly maintained by the controller, which is characterized by the reflection of the signal of a lateral acceleration sensor signal and by the compensation of the errors in the model parameters via the disturbance observer.

• Transactions of the Korean Society of Automotive Engineers
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• v.15 no.6
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• pp.120-127
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• 2007

This paper describes the development of a nonlinear observer for four wheel steer (4WS) vehicle. An observer is designed to estimate the vehicle variables difficult to measure directly. A brake yaw motion controller (BYMC), which uses a PID control method, is also proposed for controlling the brake pressure of the rear and inner wheels to enhance lateral stability. It induces the yaw rate to track the reference yaw rate, and it reduces a slip angle on a slippery road. The braking and steering performances of the anti-lock brake system (ABS) and BYMC are evaluated for various driving conditions, including straight, J-turn, and sinusoidal maneuvers. The simulation results show that developed ABS reduces the stopping distance and increases the longitudinal stability. The observer estimates velocity, slip angle, and yaw rate of 4WS vehicle very well. The results also reveal that the BYMC improves vehicle lateral stability and controllability when various steering inputs are applied.

• Journal of Power Electronics
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• v.10 no.5
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• pp.498-504
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• 2010

The output power fluctuations of renewable energy power plants such as wind turbine generators and photovoltaic systems result in frequency deviations and terminal voltage fluctuations. Furthermore, these power fluctuations also affect the turbine shaftings of diesel generators and gas-turbine generators which are the main power generation systems on isolated islands. Therefore, it is important to achieve torsional torque suppression. Since the measurement of torsional torque is technically difficult, and there is an uncertainty in the mechanical constants of the shaft torsional system. This paper presents an estimation system that estimates torsional torque by using a developed $H_{\infty}$ observer. In addition to the above functions, the proposed shaft torque observer incorporates a parameter identification system that aims to improve the estimation accuracy. The simulation results validate the effectiveness of the proposed $H_{\infty}$ observer and the parameter identification.

• The Journal of Korea Robotics Society
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• v.7 no.1
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• pp.20-28
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• 2012

In spite of the difficulties and uncertain characteristic of cable driven method, surgical robot instrument has adopted it as driving mechanism for various reasons. To overcome the problem of cable system, previous research applied SMCSPO (sliding mode control with sliding perturbation observer) algorithm as robust controller to control the instrument and found that the value of SPO (sliding perturbation observer) followed force disturbance, reaction force loaded on the tip very similarly. Thus, this paper confirms that the perturbation observer is sufficient estimator which finds out the mount of loaded force on the surgical robot instrument. To prove the proposition, simulation using the similar model with an actual instrument and experimental evaluation are performed. The results show that it is possible to substitute SPO for sensors to measure the reaction force. This estimated reaction force will be used to realize haptic function by sending the reaction force to a master device for a surgeon. The results will contribute to create surgical benefit such as shortening the practice time of a surgeon and giving haptic information to surgeon by using it as haptic signal to protect an organ by making force boundary.

• The Transactions of the Korean Institute of Electrical Engineers D
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• v.54 no.10
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• pp.587-594
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• 2005

An adaptive observer for rotor resistance is designed to estimate rotor flux for the a-b model of an induction motor assuming that rotor speed and stator currents are measurable. A singularly perturbed model of the motor is used to design an Adaptive sliding mode observer which drives the estimated stator currents to their true values in the fast time scale. The adaptive observer on the sliding surface is based on the equivalent switching vector and both the estimated fluxes and the estimated rotor resistance converge to their true values. A speed controller considering the effects of parameter variations and external disturbance is proposed in this paper. First, induction motor dynamic model at nominal case is estimated. based on the estimated model, speed controller is designed to match the prescribed speed tracking specifications. Then a dead-time compensator and a robust controller are designed to reduce the effects of parameter variations and external disturbances. the desired speed tracking control performance can be preserved under wide operating range, and good speed load regulating performance. Some simulated results are provided to demonstrate the effectiveness of the Proposed controller.

• Journal of Power Electronics
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• v.8 no.4
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• pp.354-362
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• 2008

This paper presents neural load torque compensation method which is composed of a deadbeat load torque observer and gains compensation by a parameter estimator. As a result, the response of the PMSM (permanent magnet synchronous motor) obtains better precision position control. To reduce the noise effect, the post-filter is implemented by a MA (moving average) process. The parameter compensator with an RLSM (recursive least square method) parameter estimator is adopted to increase the performance of the load torque observer and main controller. The parameter estimator is combined with a high performance neural load torque observer to resolve problems. The neural network is trained in online phases and it is composed by a feed forward recall and error back-propagation training. During normal operation, the input-output response is sampled and the weighting value is trained multi-times by the error back-propagation method at each sample period to accommodate the possible variations in the parameters or load torque. As a result, the proposed control system has a robust and precise system against load torque and parameter variation. Stability and usefulness are verified by computer simulation and experiment.

• The Transactions of the Korean Institute of Power Electronics
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• v.15 no.5
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• pp.352-360
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• 2010

This paper proposes a precise position control of an automatic door using a disturbance observer. Although the conventional PID controller is usually used for an automatic door system, the demand of the robust controller considering the parameter deviations and disturbances is increasing due to the various size and weight of a door. The linear model for an automatic door system is presented. Based on this model, the LQR controller using a state feedback controller and an observer are suggested. A disturbance observer to compensate the undesirable factors is also proposed. Simulation and Experimental results are presented to illustrate the feasibility of the proposed control strategy.

• Journal of Power Electronics
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• v.14 no.4
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• pp.695-703
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• 2014

In this paper, a fault detection scheme for DC-link voltage sensor and its fault tolerant control strategy for three-phase AC/DC/AC PWM converters are proposed, where the Luenberger observer is applied to estimate the DC-link voltage. The Luenberger observer is based on a converter model, which is derived from the voltage equations of a grid-side converter and the power balance on a DC link. A fault of the voltage sensor is detected by comparing the measured value of the DC-link voltage with the estimated one. When a sensor fault is detected, a fault tolerant control strategy is performed, where the estimated DC-link voltage is used for the feedback control. The estimation error from the observer is about 1.5 V, which is sufficiently accurate for feedback control. In addition, it is shown that the observer performance is robust to parameter variations of the converter. The validity of the proposed method has been verified by simulation and experimental results.

• Transactions of the Korean Society of Mechanical Engineers
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• v.12 no.5
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• pp.1016-1025
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• 1988

A force cancelling observed to control the vibration of a single degree of freedom elastic system subjected to an arbitrary, unmeasurable disturbance is considered in this paper. The main idea of a force cancelling observer is how an estimate of the excitation can be derived and used to generate a control force which reduces the vibration. This control is shown to be robust with respect to the parameters describing the behavior of the system. Experimental and numerical results are presented which show the efficacy of the observer when the system is excited by periodic, random, and impulsive torques.