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최세범,김종화,조광현 제어·로봇·시스템학회 2016 International Journal of Control, Automation, and Vol.14 No.5
In this paper, an extended Kalman filter is designed and applied to a feed-forward based lumped disturbancecompensator which consists of position dependent functions for a permanent magnet linear synchronousmotor system. In our previous research, a lumped disturbance model including the force ripple and the Coulombfriction force was developed and utilized as a feed-forward controller. To improve the performance of that model,following two studies are conducted. First, an initial position estimator is designed to create synchronization betweenthe model and real disturbance. This step is necessary because almost all linear motor systems are equippedwith an incremental encoder for position measurement. Second, to cancel out a slight variation in real disturbance,an adaptive controller in the form of coefficients adaptation is designed. These two studies are combined by a sixthorder extended Kalman filter. To make a comparison, a recursive least squares filter and disturbance observer andits modified version are prepared. The effectiveness of the proposed scheme is verified by the overall disturbanceshape, RMS position error and FFT analysis on the position error.
SENSORLESS ADAPTIVE SPEED CONTROL OF A PERMANENTMAGNET DC MOTOR FOR ANTI-LOCK BRAKE SYSTEMS
최세범 한국자동차공학회 2011 International journal of automotive technology Vol.12 No.2
An adaptive control algorithm was developed for the sensorless speed control of a permanent-magnet DC motor directly connected to the hydraulic pump of an antilock brake system. Due to the severe cost and reliability constraints of the application, the motor speed was controlled by a very simple on-off switching method, in which the only measurement required is the voltage across the control switch. The motor speed was calculated solely from the back-EMF voltage during the period of the control cycle when the switching controller is in the switch-off mode. The stability of the developed adaptiveswitching control algorithm was proven mathematically and confirmed experimentally in several vehicle tests over a wide range of target speeds and pump-load conditions. The accuracy and the response time of the controller can easily be tuned by adjusting a single tuning parameter. The switching frequency of the controller can also easily be tuned by adjusting the overand undershoot thresholds independently from the accuracy of the speed-tracking control.