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Simple Field Weakening Control for Permanent Magnet Stepper Motors without DQ Transformation
Youngwoo Lee,Wonhee Kim,Donghoon Shin,Chung Choo Chung 제어로봇시스템학회 2011 제어로봇시스템학회 국제학술대회 논문집 Vol.2011 No.10
In this paper, a simple field weakening control (FWC) without direct quadrature (DQ) transformation is proposed for position tracking of permanent magnet stepper motors (PMSMs). The proposed method consists of the PID controller for a torque modulation and a commutation scheme to achieve FWC without DQ transformation. In proposed commutation scheme, the desired negative direct current is designed to cancel the back-emf so that the required inputs can decreased. The commutation scheme is equivalent to microstepping where currents have time-varying amplitude over 0.5π electrical phase advance. For simple implementation, proportional integral (PI) current feedback was used to guarantee the desired current. Simulation results validate the performance of the proposed method.
Position Control of Active Magnetic Bearings using Linear Parameter Varying Synthesis
Youngwoo Lee,Seung-Hi Lee,Donghoon Shin,Wonhee Kim,Chung Choo Chung 제어로봇시스템학회 2013 제어로봇시스템학회 국제학술대회 논문집 Vol.2013 No.10
In this paper, gain scheduling linear parameter varying (LPV) controller is proposed to regulate position of active magnetic bearings (AMBs). To regulate the position error of AMB rotor, H∞ optimal control method is used. The gain scheduling LPV system is developed based on rotating velocity of AMB. Simulation results validate the effectiveness of the proposed method.
PID controller with Feedforward Low Pass Filters for Permanent Magnet Stepper Motors
Youngwoo Lee,Donghoon Shin,Chung Choo Chung 제어로봇시스템학회 2012 제어로봇시스템학회 국제학술대회 논문집 Vol.2012 No.10
In this paper, PID controller with feedforward low pass filters (FLPFs) is developed to guarantee desired currents for a permanent magnet stepper motor (PMSM). The proposed method consist of position controller and FLPFs. The position controller consists of a PID controller, a commutation scheme, and a Lyapunov based controller. To generate the desired torque, the PID controller is incorporated. Commutation scheme is developed to generate the desired currents. Lyapunov based controller is used to guarantee the desired currents. The FLPFs are developed to filter out high frequency noises of measured state and compensate for the phase lag caused by the conventional LPFs. Using the Lyapunov theory, we prove that globally asymptotical stability of currents errors is ensured by the proposed method. Experimental results validate the effectiveness of the proposed method.
Youngwoo Lee,Jun Moon,Wonhee Kim,Chung Choo Chung,Masayoshi Tomizuka 대한전기학회 2020 Journal of Electrical Engineering & Technology Vol.15 No.4
Over the past decades, various control methodologies have been studied to improve the performance of motion control systems. However, such methods have no general guidelines for controller gain tuning or performance optimization in the presence of nonlinearities and/or uncertainties. Linear parameter-varying (LPV) control methods have recently been studied to improve the performance of motion control systems by treating the nonlinearities as parameter variations. By contrast, with motion control systems, the plant, microprocessors, controllers, actuators, and sensors are interconnected using a communication network, where the network inherently induces communication delays while sending and receiving information. Hence, when designing an LPV control system, it is necessary to consider both communication delays and nonlinearities. In this study, we address an LPV-approach based H∞ control problem for motion control systems under communication delays between the actuator and plant, and between the sensor and plant. We obtained a linear matrix inequality (LMI) condition under which a closed-loop system using the proposed controller satisfes the H∞ control performance and stability when subjected to a communication delay. The main technique applied to obtain the corresponding LMI condition for an LPV system is interpolating the scheduling variables of the nonlinear parameter variations at each vertex. Finally, we applied the proposed control method to the driver set of a permanent magnet synchronous motor and verifed the H∞ control performance under a communication delay.
Proximate In-Phase Current Estimator to Reduce Torque Ripple in Permanent-Magnet Stepping Motor
Youngwoo Lee,Donghoon Shin,Wonhee Kim,Chung Choo Chung IEEE 2016 IEEE transactions on industrial electronics Vol.63 No.3
<P>This paper proposes microstepping via a proximate in-phase current estimator (PIpCE) to improve position control performance with reduced torque ripples in permanent-magnet (PM) stepping motors. In conventional microstepping control, low-pass filters (LPFs) are used to filter out measurement noise resulting from the implemented current feedback loops. However, the phase lag caused by LPFs can degrade position control performance. In this paper, we propose a current tracking controller with PIpCE. The globally uniformly ultimately bounded current tracking error is proved via the Lyapunov theory. The proposed PIpCE also enhances current tracking performance over that of the conventional method. The proposed controller not only reduces the torque ripple caused by the phase lag but also increases the operational range of microstepping by pushing the electromechanical resonance frequency to a high-frequency region. We experimentally validated the effectiveness of the proposed method and observed that this method provides uniform position tracking performance without step-out or speed reversal, even in high-speed operation.</P>
Lee, Youngwoo,Shin, Donghoon,Kim, Wonhee,Chung, Chung Choo IEEE 2017 IEEE/ASME transactions on mechatronics Vol.22 No.3
<P>We have designed a nonlinear H-2 controller for permanent magnet stepper motors. The proposed method consists of a new torque modulation scheme, a passive nonlinear observer, and a nonlinear H-2 controller. The nonlinear torque modulation is incorporated to generate desired torque. The H-2 controller and a passive nonlinear observer are independently designed. The use of the passive nonlinear observer allows operation based on only angular position without requiring an additional sensor. The nonlinear H-2 controller is developed to improve transient response in the position control. Tracking performance is evaluated in the view point of a linear system. The control gains are linearly scheduled by using interpolation parameters based on a linear matrix inequality approach. A stability of the passive nonlinear observer is proven by using a passivity theorem. The proposed method improves transient response in position tracking and allows evaluation of performance criteria. The performance of the proposed method was validated by means of experimental comparison with a previous method.</P>
Lee, Youngwoo,Lee, Seung-Hi,Chung, Chung Choo Institute of Electrical and Electronics Engineers 2018 IEEE transactions on industrial electronics Vol.65 No.1
<P>This paper presents an <TEX>$\mathcal {H}_\infty$</TEX> controller with an <TEX>$\mathcal {H}_\infty$</TEX> state estimator using a linear parameter-varying (LPV) model of permanent magnet synchronous motor (PMSM). The proposed control method comprises a nonlinear torque modulation, an LPV <TEX>$\mathcal {H}_\infty$</TEX> state estimator, and an LPV <TEX>$\mathcal {H}_\infty$</TEX> state feedback controller. The use of nonlinear torque modulation enables formulation of the electromechanical dynamics of the PMSM in the form of an LPV system. The LPV <TEX>$\mathcal {H}_\infty$</TEX> state estimator is designed to estimate the velocity, currents, and disturbance based solely on position measurement. We introduce a vertex expansion technique to cover all operating points of an LPV system. A velocity tracking controller is designed in the frame work of <TEX>$\mathcal {H}_\infty$</TEX> control to be robust against disturbance. The proposed controller was implemented and validated with a motor generator set consisting of two PMSMs. Experimental results are presented to validate the effectiveness of the proposed method compared to conventional field-oriented control. These results show improved transient responses to velocity reference in the presence of disturbance.</P>