영구 자석형 동기전동기의 불확실한 부하 관측기 설계 및 백스테핑 위치 제어 기법 (Backstepping Control with Unknown Load Torque Observer of Permanent Magnet Synchronous Motors)

서지정보

· 발행기관 : 제어·로봇·시스템학회
· 수록지 정보 : 제어.로봇.시스템학회 논문지 / 24권 / 6호 / 512 ~ 518페이지
· 저자명 : 원대희, 김소연, 조자양, 신은철, 소병록

초록

We propose a load torque estimator based on the backstepping control of permanent magnet synchronous motors (PMSMs) for robot joints. The load torque estimator is designed to estimate an unknown load torque that include a constant load torque. An auxiliary state variable is proposed to avoid amplifying of the measurement noise in the load torque estimator. The backstepping control method uses a Lyapunov function to compensate for the unknown load torque while tracking the desired rotor angle. The closed-loop stability of the proposed method is studied using the Lyapunov theorem. As a result, the proposed method improves the rotor angle tracking performance in the presence of an unknown load torque. Its performance is validated via simulations.

영어초록

We propose a load torque estimator based on the backstepping control of permanent magnet synchronous motors (PMSMs) for robot joints. The load torque estimator is designed to estimate an unknown load torque that include a constant load torque. An auxiliary state variable is proposed to avoid amplifying of the measurement noise in the load torque estimator. The backstepping control method uses a Lyapunov function to compensate for the unknown load torque while tracking the desired rotor angle. The closed-loop stability of the proposed method is studied using the Lyapunov theorem. As a result, the proposed method improves the rotor angle tracking performance in the presence of an unknown load torque. Its performance is validated via simulations.

참고자료

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