A persistent problem of surface mounted permanent magnet (SMPM) motors
is the non-uniformity of the developed torque. Either the motor design or
the motor control needs to be improved in order to minimize the periodic
disturbances. This paper proposes a new control technique for reducing
periodic disturbances in permanent magnet (PM) electro-mechanical
actuators, by advancing a new observer/estimator paradigm. A recursive
estimation algorithm is implemented for online control. The compensating
signal is identified and added as feedback to the control signal of the servo
motor. Compensation is evaluated for different values of the input signal, to
show robustness of the proposed method.

제 1편 : SIMULINK 기본편
1.1 SIMULINK의 시작 1
블록의 연결 5
블록 파라미터의 설정 7
시뮬레이션 파라미터 (Configuration Parameters)의 설정 8
시뮬레이션의 수행 9
블록 파라미터의 표시 9
복수 데이터의 표시 11
2.2 동적 시뮬레이션 13
이차 미분방정식 17
선형 상태변수 모델 23
DC 모터의 시뮬레이션 24
함수 블록의 사용 29
차분방정식(difference equation)의 모델링 34
Subsystem(부시스템)의 구성 37
제 2편 : 연구논문
An Online Observer for Minimization of Pulsating
Torque in SMPM Motors
1. Introduction 41
2. Literature Overview 42
3. Overview of the Proposed System 45
4. Frequency Domain Analysis 48
5. Recursive Estimation Algorithm 54
6. Experimental Results 57
7. Conclusions 58
8. References 61