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Nonlinear output-feedback speed servo systems through active damping injection and position filtering approaches without current feedback

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Abstract

This paper proposes a novel current feedback-free speed regulation method for servo systems subject to system parameter and load uncertainties. The proposed solution has two features. First, the position measurement from the rotary encoder constitutes the speed and acceleration estimates for control loops through a position filter with nonlinearly-structured design parameters and without dependence on the system parameters. Second, the proposed controller only requires nominal system parameter information, and stabilizes both the speed and acceleration loops using only position measurements by injecting active damping terms, which leads to pole-zero cancellation. A prototype servo system was built using a 500 W brushless DC-motor-based dynamo. The prototype experimentally validates the effectiveness of the proposed solution in terms of speed tracking and regulation tasks.

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Acknowledgements

This research was supported in part by the National Research Foundation of Korea (NRF) grant funded by the Korea government (Ministry of Science and ICT) (No. NRF-2021R1C1C1004380), and was supported in part by Korea Electric Power Corporation. (Grant number: R21XO01-113).

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Authors and Affiliations

  1. Graduate School of Electrical and Computer Engineering, Ajou University, Suwon, Republic of Korea

    Deog-Ho Lee & Kyo-Beum Lee

  2. Department of Creative Convergence Engineering, Hanbat National University, Daejeon, Republic of Korea

    Seok-Kyoon Kim

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  1. Deog-Ho Lee
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Correspondence to Seok-Kyoon Kim or Kyo-Beum Lee.

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Lee, DH., Kim, SK. & Lee, KB. Nonlinear output-feedback speed servo systems through active damping injection and position filtering approaches without current feedback. J. Power Electron. 22, 1199–1208 (2022). https://doi.org/10.1007/s43236-022-00451-9

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  • DOI: https://doi.org/10.1007/s43236-022-00451-9

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