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A Robust Emulation of Mechanical Loads Using a Disturbance-Observer

Department of Electrical and Information Engineering, Seoul National University of Science and Technology, 232 Gongneung-ro, Nowon-gu, Seoul 01811, Korea
School of robotics, Kwangwoon University, 20 Kwangwoon-ro, Nowon-gu, Seoul 01897, Korea
Author to whom correspondence should be addressed.
Energies 2019, 12(12), 2236;
Received: 11 May 2019 / Revised: 6 June 2019 / Accepted: 8 June 2019 / Published: 12 June 2019
(This article belongs to the Section Electrical Power and Energy System)
PDF [1571 KB, uploaded 12 June 2019]


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. View Full-Text
Keywords: dynamic load emulation; disturbance-observer; performance; PMSM; dynamometer dynamic load emulation; disturbance-observer; performance; PMSM; dynamometer

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This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited (CC BY 4.0).

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Lee, K.; Lee, J.; Back, J.; Lee, Y.I. A Robust Emulation of Mechanical Loads Using a Disturbance-Observer. Energies 2019, 12, 2236.

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