평판 모터 상태 관측을 위한 비선형 관측기A Nonlinear Observer for the Estimation of the Full State of a Sawyer Motor
- Other Titles
- A Nonlinear Observer for the Estimation of the Full State of a Sawyer Motor
- Authors
- 김원희; 정정주
- Issue Date
- Dec-2010
- Publisher
- 대한전기학회
- Keywords
- Sawyer motor; Nonlinear observer; Lyapunov method; Sawyer motor; Nonlinear observer; Lyapunov method
- Citation
- 전기학회논문지ABCD, v.59, no.12, pp 2292 - 2297
- Pages
- 6
- Journal Title
- 전기학회논문지ABCD
- Volume
- 59
- Number
- 12
- Start Page
- 2292
- End Page
- 2297
- URI
- https://scholarworks.bwise.kr/hanyang/handle/2021.sw.hanyang/193858
- DOI
- 10.5370/KIEE.2010.59.12.2292
- ISSN
- 1229-2443
- Abstract
- To improve the performances of Sawyer motors and to regulate yaw rotation, various feedback control methods have been developed. Almost all of these methods require information on the position, velocity or full state of the motor. Therefore, in this paper, a nonlinear observer is designed to estimate the full state of the four forcers in a Sawyer motor. The proposed method estimates the full state using only positional feedback. Generally, Sawyer motors are operated within a yaw magnitude of several degrees; outside of this range, Sawyer motors step out. Therefore, this observer design assumes that the yaw is within ±90º. The convergence of the estimation error is proven using the Lyapunov method. The proposed observer guarantees that the estimation error globally exponentially converges to zero for all arbitrary initial conditions. Furthermore, since the proposed observer does not require any transformation, it may result in a reduction in the commutation delay. The simulation results show the performance of the proposed observer.
- Files in This Item
-
Go to Link
- Appears in
Collections - 서울 공과대학 > 서울 전기공학전공 > 1. Journal Articles
Items in ScholarWorks are protected by copyright, with all rights reserved, unless otherwise indicated.