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축소 차수 모델 기반 제어기와 결합한 PI 관측기 기반 제어 시스템의 안정성 해석
손영익(Young Ik Son),아마레 네비옐레울 다니엘(Nebiyeleul Daniel Amare) 대한전기학회 2021 전기학회논문지 Vol.70 No.11
System model order reduction is a popular technique employed by control systems engineers due to its ability to reduce model complexity. However, control systems designed based on reduced-order model may cause closed-loop system instability when applied to the full-order model. In addition, conventional control system improvement methods such as increasing the controller gains or using robust control techniques in particular disturbance observers can further deteriorate system performance. In order to shade light on this phenomena, this paper presents an analytical study of the effects of high observer gain on the stability of observer compensated control systems whereby both the controller and the observer are designed using the reduced-order system model. The analysis is performed by carrying out stability analysis of the closed-loop system through root locus method and Routh-Hurwitz stability criterion. The paper also presents a comparative analysis between placing all the closed-loop poles of the controller at a single location or multiple locations using LQR technique for the aforementioned class of controller. The results obtained from the analysis have been validated through a DC motor position control system application.
측정잡음에 강인한 강화학습 기반의 적응형 외란 관측기 설계
양선직(Sun Jick Yang),아마레 네비옐레울 다니엘(Nebiyeleul Daniel Amare),손영익(Young Ik Son) 대한전기학회 2021 대한전기학회 학술대회 논문집 Vol.2021 No.7
본 논문은 1기 무한모선 계통의 운전 중에 발생할 수 있는 3상 단락과 같은 고장으로 인한 외란을 추정하기 위한 관측기를 제안한다. 내부 모델 원리를 기반으로 하여 설계한 제안하는 강화학습(RL; Reinforcement Learning) 기반의 외란 관측기(DOB; Disturbance Observer)가 측정잡음 하에서도 외란을 강인하게 추정할 수 있음을 모의실험을 통해서 확인한다.
DC 모터 속도 제어시스템을 위한 내부모델 원리 기반 제어기와 외란 관측기 기반 제어기의 등가 조건
손영익(Young Ik Son),양선직(Sun Jick Yang),아마레 네비옐레울 다니엘(Nebiyeleul Daniel Amare) 대한전기학회 2022 전기학회논문지 Vol.71 No.1
Asymptotic tracking of a reference model and nonlinear disturbance rejection are two of the most important attributes of an effective control system. A DOB-based controller, which is designed based on an augmented system model including the disturbance dynamics, relies mainly on the disturbance estimation to provide robust reference tracking performance. While IMP-based controller design technique achieves the same result by including a dynamic model of the reference and disturbance in the control system model. However, the similarity of these two control techniques extends beyond basic design consideration. This paper presents an analytical study that reaches an equivalent condition between the two classes of controllers for a DC motor speed control problem. Based on the obtained condition, it is proposed that the DOB-based controller can be designed such that it shows the same performance as the IMP-based controller. This has been further verified through a simulation which shows the same robust performance in both cases.