• 제어로봇시스템학회논문지
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• 제12권7호
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• pp.637-643
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• 2006

Generally, the tracking performance of optical disk drive(ODD) system can be improved using a disturbance observer(DOB). However, a DOB is not easily applied in an ODD system because an additional microprocessor, such as a digital signal processor(DSP), is needed. This paper shows how a DOB system can be replaced by the error-based modified disturbance observer(EM-DOB) when two mathematical conditions are satisfied. Due to the simplified structure of EM-DOB, the algorithm is easily implemented as an analog circuit, which is suitable for the ODD servo system. Additionally, in these algorithms, disturbances rejection performances can be tuned as Q filter parameters. Similar to a DOB system, three design guidelines of a Q filter can be applied. Experimental results of DOB and EM-DOB are evaluated under forced disturbances.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2004년도 학술대회 논문집 정보 및 제어부문
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• pp.738-740
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• 2004

The disturbance observer is effective in enhancing the performance of position control in high speed optical disk drive systems(ODDS). It is known that error based modified disturbance observer (EM-DOB) is more effective structure than general DOB. It has a simple structure and realization, but it loses robustness. We propose a dual modified disturbance observer(Dual mDOB). It consists of internal loop EM-DOB and external loop DOB. Those loops are designed for different objects. We see that the dual mDOB is an effective method for tracking performance.

• 한국산업융합학회 논문집
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• 제22권4호
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• pp.435-445
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• 2019

Ball screw drives are widely used in industry, and many studies have been devoted on precise, fast and robust control of ball screw drives. In this study, a novel position control algorithm for ball screw drives is proposed, which consist of a PD controller, a friction feedforward and a disturbance observer. The dynamics and the position error of such controller are analyzed to establish an error model, which can be used to predict the resulting position error of the given desired trajectory. Using the proposed error model, the desired trajectory can be modified so that the predicted position error can be compensated in a feedforward manner. The proposed algorithm does not require the model of the system for the error prediction, and thus can be easily applied to conventional control systems. The performance of the system is verified through simulations and experiments.

• 대한전기학회논문지:시스템및제어부문D
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• 제54권6호
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• pp.372-375
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• 2005

The tracking performance of optical disk drive(ODD) system can be improved using disturbance observer(DOB). But, DOB was not easily applied in the ODD system because the additional microprocessor was needed. In this paper, we propose an error-based modified disturbance observer(EM-DOB) for ODD system. Due to the simplified structure of EM-DOB, the system is easily implemented to the digital control algorithm or the analog circuit. In these algorithms, disturbances rejection performance of system can be tuned as Q filter parameters are selected. Based on analysis of sensitivity function, three guidelines of Q filter design are suggested. Experimental results of DOB and EM-DOB are evaluated under the forced disturbances.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2002년도 하계학술대회 논문집 D
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• pp.2031-2033
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• 2002

고 배속 광디스크 드라이브(ODD) 시스템에서 위치제어 성능을 향상시키기 위해서는 디스크의 면 진동과 수평 진동과 같은 외란에 의한 오차를 감소 시켜야만 한다. 따라서 하드디스크를 포함한 여러 분야에서 뛰어난 외란 제거 성능을 보이고 있는 외란 관측기는 좋은 대안이 될 수 있다. 그러나 ODD 같은 양산용 전자제품에 외란 관측기를 구현하기 위해서는 별도의 계산 장치가 필요하고, 출력신호를 직접 Feedback 신호로 활용해야 하는 경우가 발생한다. 본 논문에서는 ODD 시스템의 외란을 제거하기 위한 수정된 구조를 가지는 오차를 기초로 한 외란관측기(Error Based Modified Disturbance Observer, EM-DOB)를 제안한다. EM-ROB 시스템은 DOB 시스템에 비해 그 구조가 더욱 간편하고 쉽게 구현 할 수 있다는 장점을 가진다. 그리고 제안한 EM-DOB 시스템의 특성을 연구하고 실험을 통해서 EM-DOB의 효용성을 입증하였다.

• 제어로봇시스템학회논문지
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• 제14권10호
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• pp.991-997
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• 2008

A new RMRAC scheme far the PMSM current regulation is proposed in a synchronous frame, which is completely free from the parameter's uncertainty. A current regulator of PMSM is the inner most loop of electromechanical driving systems and plays a foundation role in the control hierarchy. When the PMSM runs in high speed, the cross-coupling terms must be compensated precisely for large system BW. In the proposed RMRAC, the input signal is composed of a calculated voltage defined by MRAC law and an output of the disturbance compensator. The gains of feed forward and feedback controller are estimated by the proposed modified gradient method, where the system disturbances are assumed as filtered current regulation errors. After the compensation of the system disturbance from error information, the corresponding voltage is fed forward to control input to compensate for real disturbances. The proposed method robustly compensates the system disturbance and cross-coupling terms. It also shows a good realtime performance due to the simplicity of control structure. Through real experiments, the efficiency of the proposed method is verified.

• 제어로봇시스템학회논문지
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• 제4권1호
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• pp.45-55
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• 1998

In this paper, a robust path tracker and depth controller of Autonomous Underwater Vehicle based on sliding mode control is presented. We have also designed augmented equivalent control inputs by analyzing the sliding mode with the reaching mode. This can enhance the reaching rate, and improve chattering problems, that is, noise caused by the control plane actuator of the vehicle, which is one of the problems that occur when sliding mode control is used. Also to resolve the steady state error generated in the path tracker under current effect, a modified sliding plane is constructed. Also a redesigned sliding plane and control input using transformation matrix is proposed to do easy design of MIMO depth controller. For state variables that cannot be measured directly, reduced order sliding mode control is used to design an observer. The performance of designed path tracker and depth controller is investigated by computer simulation. The results show that the proposed control system has robust performance to parameter variation, modelling error and disturbance.