무게 변동이 존재하는 자기부상 시스템에 대한 외란관측기 제어기의 Q-Filter 설계방법에 관한 연구

초록

The disturbance observer (DOB) controller has been very popular since it has provided robust stability and disturbance rejection. In this paper, we propose a new Q-filter in DOB controller for Electro-Magnetic suspension (EMS) systems. While the standard binominal Q-filter is not able to deal with large mass uncertainties, the proposed one is capable of achieving robust stability against large mass uncertainties. The control performance was compared between the two Q-filters in terms of the robust stability against parameter uncertainties, disturbance rejection, and noise suppression. The computer simulation was performed to evaluate the performance of robust stability and noise suppression. It was confirmed that robust stability ability of the proposed Q-filter is much superior to that of the standard one while the noise suppression becomes somewhat degraded for some frequencies.

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