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A Robust Emulation of Mechanical Loads Using a Disturbance-Observer

Author

Listed:
  • Kooksun Lee

    (Department of Electrical and Information Engineering, Seoul National University of Science and Technology, 232 Gongneung-ro, Nowon-gu, Seoul 01811, Korea)

  • Jeongju Lee

    (Department of Electrical and Information Engineering, Seoul National University of Science and Technology, 232 Gongneung-ro, Nowon-gu, Seoul 01811, Korea)

  • Juhoon Back

    (School of robotics, Kwangwoon University, 20 Kwangwoon-ro, Nowon-gu, Seoul 01897, Korea)

  • Young Il Lee

    (Department of Electrical and Information Engineering, Seoul National University of Science and Technology, 232 Gongneung-ro, Nowon-gu, Seoul 01811, Korea)

Abstract

This paper deals with a new control strategy for the programmable dynamometer to emulate dynamic loads. The main idea is to employ the disturbance-observer-based design and take the nominal model involved in the disturbance-observer design as the desired dynamics to be emulated. Compared to previous approaches, the proposed approach does not require exact system parameters of the motor under test, and the range of emulation parameters is wider than previous results. A rigorous stability analysis, as well as a constructive design incorporating system uncertainty and the steady state error bound are presented. An experimental system is developed to verify the performance of the proposed method, and it is demonstrated that up to 20-times of inertia emulation with relatively small emulation error (speed error less than 6 % ) is achieved and that various loads such as friction can be emulated.

Suggested Citation

  • Kooksun Lee & Jeongju Lee & Juhoon Back & Young Il Lee, 2019. "A Robust Emulation of Mechanical Loads Using a Disturbance-Observer," Energies, MDPI, vol. 12(12), pages 1-14, June.
    • Handle: RePEc:gam:jeners:v:12:y:2019:i:12:p:2236-:d:239039
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    Citations

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    Cited by:

    1. In Hyuk Kim & Young Ik Son, 2020. "Design of a Low-Order Harmonic Disturbance Observer with Application to a DC Motor Position Control," Energies, MDPI, vol. 13(5), pages 1-17, February.
    2. Mehmet Onur Gulbahce, 2023. "Neuromodel of an Eddy Current Brake for Load Emulation," Energies, MDPI, vol. 16(9), pages 1-14, April.
    3. Yahya Danayiyen & Kyungsuk Lee & Minho Choi & Young Il Lee, 2019. "Model Predictive Control of Uninterruptible Power Supply with Robust Disturbance Observer," Energies, MDPI, vol. 12(15), pages 1-22, July.

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