南开大学机器人与信息自动化研究所 天津市智能机器人技术重点实验室
Institute of Robotics and Automatic Information System Tianjin Key Laboratory of Intelligent Robotics
2015年秋季先进机器人与MEMS技术系列学术讲座
Seminar Series：Advanced Robotics & MEMS

题目：Disturbance Torque Estimation in Motor Drive Systems with Application to Automotive Control

报告人：Xiang Chen
温莎大学电子与计算机工程系教授

时间：2015-12-24 周四 上午10:00-11:30.
地点：信息东楼105教室

Abstract: In this study, design of a robust optimal observer is presented for estimating the total unmodeled disturbance torque posed on a motor drive system. In particular, an H-infinity Gaussian filter is developed for this purpose to address both motor model uncertainty and concerned system noise. The design results have been validated on a real-time hardware-in-loop platform. It is shown that this filter returns satisfied estimation even for variable disturbance torque. This is in contrast with the popular Luenberger observer which can only handle the case of constant (or very slowly variable) disturbance torque. In the application part, an advanced control of electric power steering (EPS) system is first presented. Then it is shown that the said disturbance estimator can be applied to add the fault tolerant function to the developed control of the EPS system when the connection between the torsion bar torque sensor and the main controller fails.

Prof. Xiang Chen (陈翔教授)：南开大学讲座教授。1998年在路易斯安那州立大学获得博士学位。现为加拿大温莎大学(University of Windsor)电子与计算机工程系教授。他的研究方向集中在鲁棒控制，以及控制与优化方法在工业中的应用，如汽车发动机控制、视觉传感网络优化与控制等。围绕这些研究方向，他获得了大量的政府以及工业界项目资助，并发表了100余篇学术论文。他目前担任重要国际期刊SIAM Journal on Control and Optimization的Associate Editor，以及IEEE/ASME Transaction on Mechatronics的Technical Editor。他是加拿大安大略省的注册工程师registered Professional Engineer。