| Title |
A Robust Control Scheme of Linear Induction Machine for Automatic Picking System Using Mass Estimation and Disturbance Force Observer |
| Authors |
Jung-Hyun Choi ; Dong-Sang Yoo ; Kyeong-Hwa Kim |
| DOI |
http://dx.doi.org/10.5207/JIEIE.2013.27.4.062 |
| Keywords |
Linear Induction Motor ; Automatic Picking System ; Disturbance Force Observer ; Mass Estimation |
| Abstract |
To operate an automatic picking system in distribution center with high precision and high dynamics, this paper presents a robust control scheme of a linear induction motor (LIM) using the mass estimation and disturbance force observer. The force disturbance which gives a direct influence on the control performance of LIM is estimated in real-time through the disturbance observer and compensated by a feedforward manner. To get a satisfactory performance even under the mass variation by reducing the disturbance force due to the mismatched mass during the speed transient such as the acceleration and deceleration periods, a mass estimation algorithm is proposed. A Simulink model for LIM is developed and the validity of the proposed scheme is verified through the comparative simulation studies using Matlab - Simulink. |