
Saunder January 22, 2014 10:43 K15053˙Book
228 Disturbance Observer-Based Control: Methods and Applications
(a)
0 0.1 0.2 0.3 0.4 0.5
–5
0
5
10
15
t/s
i
q
, i
q
*
i
q
of speed ESOC
i
q
* of speed ESOC
i
q
of current ESOC
i
q
* of current ESOC
(b)
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4
0
200
400
600
800
1000
t/s
Speed/rpm
Current ESOC
Speed ESOC
(c)
1 1.2 1.4 1.6 1.8 2
970
980
990
1000
1010
t/s
Speed/rpm
Current ESOC
Speed ESOC
Figure 13.8 Response curves of system when the reference speed is 1000 rpm.
(a) i
q
, i
∗
q
. (b) Speed in the absence of load. (c) Speed in the presence of load.