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Observers are used in relation to several controllers: IFOC, sensor-less drives and for fault detection but they have not been used yet for predictive control of drives. This paper shows the benefits of incorporating a rotor current observer to enhance the predictions needed for predictive control of stator currents in VSI driven IM. The new scheme is compared with the standard one in which non-measurable...
This paper presents a direct phase current controller for a two phase synchronous machine. Firstly, the machine is modelled in three domains : the electrical domain, the electromagnetic domain and the mechanical domain. Secondly, a linearised model is deduced for the RS controller coefficient determination. The performance is enhanced with the introduction of a model observer to compensate the system...
An adaptive control scheme based on disturbance observer is proposed in this paper for the bank-to-turn missile autopilot design. In the past, the disturbance observer has been introduced for bank-to-turn missile system to improve system performance in the presence of severe disturbances. However, the disturbance rejection performance is not quite satisfying when considering the fluctuation of the...
This paper proposes a controller design method using modeling-error feedback to improve steady-state performance for a system with time delay. The controller is designed based on the mixed H2/H∞ control assuring the stability condition with Lyapunov-Krasovskii functional. The proposed method resolves the problem of steady-state error due to model error which the conventional method using a communication...
This paper aims to propose a fallback system isolated from man-in-the-middle attack (MITM) for networked control systems. In this paper, fallback is an incident response of the control system in which facilities are preferentially protected and a minimal system operates during MITM. Since the communication contents of the networked control systems can be tampered with by MITM, the proposed system...
This paper proposes a stable force control system to achieve the force control of industrial robots. The proposed stable force control system is designed by using an I-P force control system and a resonance ratio control system considering the required interaction with the environment. To design the resonance ratio control system considering the contact with the environment, this paper analyzes the...
Dead-times are widely utilized for the inverters to prevent short-circuits. In motor drive applications, 6th-order torque pulsations caused by dead-times depend on rotational speeds of motors. A Disturbance OBserver (DOB) approach is effective for the dead-time compensation in low load operations. The performance of the DOB depends on the observer gains. Hence, if we use the conventional constant...
Energy production or critical applications need fault tolerant operation. Six-phase induction machine (SC6PIG) increases the reliability by allowing the loss of up to 3 phases. Associated with a relevant novel control able to adapt itself to the new configuration, operation can keep on under fault. A novel strategy of control is here proposed with sensorless control. This strategy nonetheless focus...
In this paper, a decoupled hybrid control of velocity and tension is applied to cold rolling system with a disturbance observer in simulation. This innovative method controls the strip tension and line speed independently in orthogonally-crossed two modal spaces: the differential mode and the common mode. In the proposed system, even if the operator changes the line speed, the target tension is maintained...
This paper proposed a robust H∞ fault estimation method and a fault-tolerant control(FTC) of vapor compression cycle(VCC) systems. Based on a moving boundary model(MBM), linearization and model reduction were conducted. Actuator faults were estimated by a proportional-integral(PI)-observer and it was designed using a H∞ estimation theory. Robust fault-tolerant controller was designed using a convex...
Conventional methods for storing and reproducing task are based on only the information of the actuators in the robot. However, in these methods, reproducing the stored task is difficult when the environment differs from that in storing phase. This is because these methods consider a meaningful task as just a motion. In this paper, to reproduce a stored task even if the environment differs from that...
In this paper, a model based robust control for three-phase three-level Neutral Point Clamped (NPC) power converters is studied. Based on the continuous averaged model of the system, a Second Order Sliding Mode (SOSM) technique is employed to the control design. The control objectives are to achieve desired dc-link capacitor voltage regulation, voltage balance in the two dc-link capacitors and the...
This paper proposes an approach for observing the link states, i.e. angular position and velocity, of the robotic joints with elasticities, when only the motor-side sensing is available. By separating the state-dependent nonlinearities of the rigid manipulator dynamics a linear sub-model of the elastic joint robot is obtained in an observable state-space form. The standard asymptotic Luenberger state...
In the recent times, the number of amateur farmers has been increasing. Although amateur farmers use tillers, they may find it difficult to drive the tiller along a straight line. There is a need for electric tillers with independent drive wheels. This paper proposes straight control incorporating human driving input by using a disturbance observer. Numerical simulation results and experimental results...
In complex industrial situations, modern permanent magnet synchronous motor (PMSM) servo drive system always face different kinds of disturbances, especially constant or slowly-varying disturbances (load disturbances) and periodic disturbances (torque ripples). Conventional disturbance rejection techniques, e.g., the extended state observer based control (ES-OBC) and the disturbance observer based...
This paper presents a current control method applied to permanent magnet synchronous motors using sliding mode controller and disturbance observer. The current control is carried out at dq synchronous reference frame. The proofs of stability are developed from the Lyapunov analysis requirements. A sliding mode rotor speed observer is combined with the proposed current control scheme. Simulations results...
This study aimed to compare color categorization characteristics of color vision deficient (CVD) observers with those of normal trichromat (NT) observers. In order to investigate the effects of color luminace and the use of perceptual judgements on color categorization properties, the experiment carried out at three luminance levels by using two experimental tasks, a color-naming task (CNT) and a...
This paper proposes an adaptive full-order Sliding Mode Observer (SMO) for the rotor speed and position estimation in the Permanent Magnet Synchronous Generator (PMSG). A full-order terminal SMO is designed to make the estimated stator current track the actual stator current, and eliminate the chattering. Furthermore, A back Electro Motive Force (EMF) observer adopts adaptive control to estimate the...
In this paper, an automatic office-based ear surgical device for the treatment of Otitis Media with Effusion (OME) which overcomes the disadvantages of the conventional surgical treatment is introduced. Since the device carries out the surgery automatically under the guidance of force sensing information, this information must be reliable so that the safety of the device can be ensured. Hence, a force...
In this paper, a robust nonlinear control approach based on a simplified control-oriented model of an engine cooling system for vehicles is presented. An electrically driven radiator fan is considered as a control input. Based on the system description, a second-order sliding mode control is proposed to track desired trajectories of the engine outlet temperature. The second-order sliding mode control...
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