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필터 삽입에 의한 외란 관측기의 성능 향상과 하드디스크 장치에의 적용
하종수,박경훈,심형보,Ha, Jongsoo,Park, Gyunghoon,Shim, Hyungbo 제어로봇시스템학회 2015 제어·로봇·시스템학회 논문지 Vol.21 No.9
In this paper, we present a new control structure which is obtained by adding an appropriately designed filter to a conventional disturbance observer. The proposed controlled system preserves advantages of a system with the conventional disturbance observer; disturbance rejection and nominal performance recovery. In particular, by embedding the filter, the disturbance rejection performance is enhanced compared with that of the classical disturbance observer-based controlled system. Moreover, we suggest a condition for the robust internal stability of the considered system in this paper. Simulation results regarding an effect of relatively high-frequency disturbance on hard disk drive are also presented.
필터 삽입에 의한 외란 관측기의 성능 향상과 하드디스크 장치에의 적용
하종수(Jongsoo Ha),박경훈(Gyunghoon Park),심형보(Hyungbo Shim) 제어로봇시스템학회 2015 제어·로봇·시스템학회 논문지 Vol.21 No.4
In this paper, we present a new control structure which is obtained by adding an appropriately designed filter to a conventional disturbance observer. The proposed controlled system preserves advantages of a system with the conventional disturbance observer; disturbance rejection and nominal performance recovery. In particular, by embedding the filter, the disturbance rejection performance is enhanced compared with that of the classical disturbance observer-based controlled system. Moreover, we suggest a condition for the robust internal stability of the considered system in this paper. Simulation results regarding an effect of relatively high-frequency disturbance on hard disk drive are also presented.
주파수 추정 기법을 통해 미지의 정현파 외란을 완벽하게 제거하는 외란 관측기 설계
김현태(Hyun-Tae Kim),박경훈(Gyunghoon Park),김형종(Hyungjong Kim) 대한전자공학회 2015 대한전자공학회 학술대회 Vol.2015 No.6
In this paper, we present a disturbance observer (DOB) for second order systems with a sinusoidal disturbance whose frequency, phase, and bias are unknown. The proposed controller is designed by estimating the unknown parameter via a frequency identifier, and by embedding an adaptive internal model, which is built with the estimated frequency, into the DOB structure. This embedding consequently ensures the asymptotic rejection of the sinusoidal disturbance, while the conventional DOB just attenuate the disturbance approximately. In addition, our approach also maintain the inherent robustness of the DOB against plant uncertainty. We verify the validity of the proposed method with a numerical simulation.