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The problem of controlling load perturbed induction motors is tackled by means of an observer based robust discrete-time control. In this scheme, model uncertainties and external disturbances are included in a general additive disturbance input which is to be on-line estimated and subsequently rejected via the controller actions. The observer carries out the disturbance estimation, thus reducing the...
This paper presents an active control method that suppresses structural vibrations caused by wind and earthquakes. It is based on an equivalent-input-disturbance approach, which estimates a disturbance and produces an equivalent signal on the control input channel. We apply this approach by taking the vibrations to be a disturbance. This yields better vibration suppression performance than others...
In this paper, the application of the Sliding Mode Theory, in terms of observer and control design, to the DC-DC Single-Ended Primary Inductor Converter (SEPIC) is investigated. The choice and influence of the sliding surface regarding the state vector is presented. Usual sliding surfaces chosen to control other high order DC-DC converters are found not to work on the SEPIC. Thus, other surfaces are...
A simple method of for observer-based design of pulse-frequency modulated (PFM) control systems is presented. The method consists of first designing a conventional observer-based control system, and then placing a pulse-frequency modulator in the control path, feeding back the PFM signal to the observer. The stability of systems designed by this method is discussed, and the method is illustrated by...
An integral observer with a compensator based on orthogonal neural networks is proposed for a class of chaotic systems when the output of the system is perturbed and the nonlinear portion of the system is unknown. The designed method achieves chaos synchronization using integral observer theory and the nonlinear approximation ability of the orthogonal neural networks based on the linear portion of...
The paper discusses the problem of rotor flux position estimation for the induction motor (IM) drive and presents a full-order nonlinear observer that is developed based on the motor's stationary reference frame model. In the method, the IM speed is treated as a slowly time varying parameter and nonlinear control methods are used to design the observer. In the initial development, the speed of the...
The paper presents an EMF and speed estimator for the nonsalient permanent magnet synchronous motor (PMSM). The method uses two cascaded sliding mode (SM) observers and is realized using only the measured voltages and currents of the motor. A first SM observer estimates the EMFs of the machine in the stationary reference frame. These EMFs are passed as inputs to a second SM observer that estimates...
Currently, most plastic products are manufactured using injection molding machines. The quality of plastic products depends largely on the injection force. In a typical force control system of an injection molding machine, force information from the machine environment is obtained by a force sensor. However, force sensors have a few disadvantages in terms of signal noise, sensor cost, narrow bandwidth,...
Two methods of extracting the rotor position and speed for a sensorless single phase BLDC-PM motor drive by measuring only the phase current are presented here. Both methods are based on a generated orthogonal flux system. The first method extracts the position information by using the tan-1 function and then an improved observer is created by adding a 4th order harmonic term in the estimated position,...
During the last years the applications for material processing and transportation based on linear motors increased in many industrial fields. A highly modular topology of a linear servo-drive system based on permanent magnet synchronous linear motors is presented here. The proposed system topology differentiates itself from other linear drive topologies through its scalability, so that the system...
This paper proposes a neural based MRAS (Model reference Adaptive System) speed observer suited for linear induction motors (LIM). Starting from the dynamical equation of the LIM in the synchronous reference frame in literature, the so-called voltage and current models of the LIM in the stationary reference frame, taking into consideration the end effects, have been deduced. Then, while the inductor...
Sensorless vector control applied to the Permanent Magnet Synchronous Motors (PMSMs) is a very challenging subject. It permits obtaining high dynamical performance by exploiting increased reliability and also reduced cost. Among the different methodologies proposed in literature, a model based approach has been proposed here. In particular, the space vector equations of the PMSM have been re-elaborated...
Peltier device is a thermoelectric element which can generate a heat transfer. The device is considered a suitable tool for transmission of thermal sensation recently, because it has a relatively fast response among thermal devices. To transmit the thermal sensation, temperature control of the device is thought to be important. However, several elements such as joule heat, parameter identification...
Recently, haptic information is studied as the third type of multimedia information. In order to control haptic information, the bilateral control is used widely. It is desirable to use the haptics in a training system as one of the proper examples of haptics. In the training system, the movement of the trainer is transmitted to the trainee and the trainee will be influenced. If plural haptic information...
In this paper, the channel characteristic of communication disturbance observer (CDOB) based bilateral teleoperation system is analyzed. It is pointed out that this method is a tradeoff between the 4-channel and the 3-channel algorithm. By the analysis, it is visible that the CDOB based approach expresses a 3-channel dynamic characteristic, because the position channel gains are seriously weakened,...
Haptic technology has been attracting widespread attention in the fields of robotics and medicine. The bandwidth of force sensing is vital to reproduce the vivid force sensation. This paper proposes a method to enlarge the bandwidth of force sensing. In this paper, the force sensing operation is constructed by a combination of a Kalman-filter and a disturbance observer for multi-sensor. In order to...
Recently, the study of real-world haptics is taken place actively. Haptics is scholarship about tactile sensation. Among them, the realization of high accuracy micro manipulation is demanded from many industrial fields such as medical treatment and manufacturing. In micro region, high accuracy positioning system and multi-degree of freedom system are needed for precise manipulation. However, operator...
This paper presents a delay compensation technique for nonlinear teleoperators by developing a predictor type sliding mode observer (SMO) that estimates future states of the slave operator. Predicted states are then used in control formulation. In the proposed scheme, disturbance observers (DOB) are also utilized to linearize nonlinear dynamics of the master and slave operators. It is shown that utilization...
This paper presents design of a robust hovering controller for a quad tilt-wing UAV to hover at a desired position under external wind and aerodynamic disturbances. Wind and the aerodynamic disturbances are modeled using the Dryden model. In order to increase the robustness of the system, a disturbance observer is utilized to estimate the unknown disturbances acting on the system. Nonlinear terms...
This paper discusses novel structure of communication disturbance observer (CDOB) to deal with time delayed controlled system. CDOB works based on the concept of network disturbance which considers the effect caused by time delay as one kind of force disturbance and estimate its value using disturbance observer (DOB). From estimated network disturbance force, time delay is compensated to maintain...
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