The Journal of the Korea institute of electronic communication sciences (한국전자통신학회논문지)

Korea Institute of Electronic Communication Science (한국전자통신학회)
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Discrete Time Tracking Control of Motor Based on Disturbance Observer

외란 관측기 기반의 이산시간 전동기 추종제어

  • Received : 2021.04.28
  • Accepted : 2021.06.17
  • Published : 2021.06.30
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Abstract

In order to obtain a good tracking performance of the motor, it is necessary to design a controller that can respond to a disturbance by including a disturbance observer. The disturbance observer of the motor is designed to estimate the load torque and the back electromotive voltage based on the first-order low-pass filter. A PI controller and an IP controller were designed to compare the correlation between the disturbance observer and the controller and to obtain improved control performance. To check the performance of the designed observer and the controller, it was applied to a 120 [W] class BLDC motor. As a result, overshoot is reduced, and it can be seen that the steady-state error converges to zero.

전동기의 좋은 추종 성능을 얻기 위해서는 외란 관측기가 포함되어 외란에 대응할 수 있는 제어기를 설계하는 것이 필요하다. 전동기의 외란 관측기는 1차 저역통과 필터를 기반으로 부하 토크과 역기전압을 추정하도록 설계하였다. 외란 관측기와 제어기의 상호관계를 비교하고, 개선된 제어 성능을 얻기 위하여 PI 제어기와 IP 제어기를 설계하였다. 설계된 관측기와 제어기의 성능을 확인하고자 120 [W]급의 BLDC 전동기에 적용하였다. 그 결과 오버슈트가 줄어들며, 정상상태 오차가 영으로 수렴하는 것을 확인할 수 있다.

Keywords

Acknowledgement

본 논문은 2017년도 미래창조과학부의 재원으로 한국연구재단의 지원을 받아 수행된 기초연구사업임.(No.2017R1E1A1A03070483)

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