• Journal of Institute of Control, Robotics and Systems
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• v.4 no.1
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• pp.134-140
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• 1998

포항제철 2열연공장의 사상압연에 사용되고 있는 DC 모터를 가지는 열간압연 구동기에 대한 견실 H/sup .inf./ 속도제어기 설계방법을 제안한다. 기존에는 PI 재어기법을 이용하여 속도를 제어하고 있으므로 불확실성과 외란등이 존재할 경우 양호한 제어 성능을 얻기 힘들다. 이를 해결하기 위해 주파수 하중 함수를 가지는 혼합감도최소화 문제를 설정하여 견실성을 보장하는 H/sup .inf./ 속도제어기를 설계한다. 이때 주파수 하중함수는 루프쉐이핑기법을 이용하여 주어진 구동기 플랜트에 적합하도록 선택한다. H/sup .inf./ 속도제어기 설계는 Pasek이 제시한 DC 모터의 모델링 방법에 의해 얻어진 모델을 포함하는 구동기 모델에서 속도제어기 부분을 제외한 모델을 대상으로 한다. 제안한 견실 속도제어기 설계방법은 파라미터 변화나 부하토크 변동 등의 외란에 대하여 폐루프 시스템의 견실안정성과 원하는 속도에 좋은 추적 성능을 보인다. 제어 대상인 포항제철 2열연공장의 열간압연 구동기에 대한 시뮬레이션을 통해 기준속도 추적성, 응답속도, 불확실성과 외란에 대한 견실성 등의 성능에 기존의 PI 속도제어기보다 양호함을 확인함으로써 제안한 견실 H/sup .inf./ 속도제어기 설계 방법의 타당성을 보인다.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2007.10a
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• pp.180-184
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• 2007

For driving a sinusoidal type permanent magnet synchronous motor with a maximum continuous torque, a $120^0$ delayed three phase sinusoidal current input which matched with the absolute rotor position is needed at a stator coil. So, the detection of absolute rotor position is required inevitably. Thus the right angle relationship between stator magnetic field and rotor magnetic field has to be preserved at a stator by this commutation action. The detection of a absolute position for the commutation can be made generally by the output signal analysis of the encoder attached at a motor shaft. This study purposes to design signal processing logic circuits which can detect the absolute position of motor with a modem encoder system and generate the three reference wave for making sinusoidal current input at a stator coil.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.41 no.6
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• pp.469-475
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• 2017

Workers in industrial fields are highly exposed to accidents or injuries caused by long working hours. An exoskeleton that is able to support the arm muscles of the worker and thereby reduce the probability of an accident and enhance working efficiency could be a solution to this problem. However, existing exoskeletons demand the use of high-priced sensors and motors, which makes them difficult to use in industrial fields. To solve this problem, we developed an arm assisting exoskeleton that consists only of mechanical components without any electronic sensors or motors. The exoskeleton follows the movement of the human arm by shoulder joint and ankle joint. In addition, counterbalance mechanisms are installed on the exoskeleton to support arm strength. The experimental validation of the exoskeleton was conducted using an EMG sensor, confirming the performance of the exoskeleton.

• The KSFM Journal of Fluid Machinery
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• v.20 no.1
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• pp.5-14
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• 2017

A fan-motor assembly in a vacuum cleaner is analyzed through system-level analysis method. This system consisted of three components, a fan, motor, and the flow resistance of the motor, or of the vacuum cleaner. System-level analysis method is characterized by the combination of torque matching at a constant throttling condition between the fan and the motor and the pressure drop at a constant flow rate due to the flow resistance of the motor, or of the vacuum cleaner. The performance characteristics of the fan-motor assembly and the vacuum cleaner system could be predicted over the whole range of operation, based on the characteristics of each component. The predicted performance of the vacuum cleaner system through system-level analysis agreed well with the experimental results within 4.5% difference of pressure and 6% difference of the efficiency. The effect of flow resistance of a motor is investigated and it is found that the efficiency decrease of fan-motor assembly at the constant flow rate due to the flow resistance of a motor is determined by the flow resistance ratio(FRR), which is defined as a ratio of flow resistance of motor and the flow resistance of a constant throttling condition of a given point. The fan-motor assembly(S2 model) was modified to reduce the FRR from 9.0% to 2.4% and the experimental result shows that the efficiency of S2 model was improved by about 3% at best efficiency point.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.15 no.5
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• pp.1018-1024
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• 2011

For the driving of the sinusoidal type permanent magnet synchronous motor with a maximum continuous torque, the 1200 delayed three phase sinusoidal current inputs which matched with the absolute rotor position are needed at the stator coil. Therefore, the detection of a absolute rotor position is required inevitably. And the right angle relationship between stator magnetic field and rotor magnetic field has to be preserved at a stator by this commutation action. The detection of a absolute position for the commutation can be made generally by the output signal analysis of the encoder attached at a motor shaft. The purposes of this study are to design signal processing logic circuits which could detect the absolute position of motor with a modern encoder system and generate the three reference wave for making sinusoidal current input at a stator coil.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.47 no.4
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• pp.289-299
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• 2019

Attitude control modeling and simulation (M&S) can be extensively applied in overall development process, from simple algorithm design to on-board software verification. This paper introduces CMG-based attitude control M&S software, which consists of 6-DOF modeling (CMG and space environments modeling), and attitude control algorithm. The M&S software is divided into three modules, from an inner CMG motor control module to an outer earth observation mission module. While an application of this developed software is currently limited to the initial-phase attitude controller development, its application area can be extended to the later-phases by considering sophisticated model information in future.

• Journal of the Korean Institute of Gas
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• v.24 no.6
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• pp.55-60
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• 2020

As research and development of eco-friendly vehicles are expanding worldwide, additional devices of vehicles are reduced or deleted to increase the mileage, or research is being conducted to reduce weight. Among them, the multi-stage transmission that was applied to the internal combustion engine vehicle was deleted and replaced with a reducer, and the initial driving power is secured by increasing the torque through the control of the motor output value. However, since frequent motor speed change can result in a load increase, this study attempts to develop a compact and lightweight manual two-stage reducer with a general reducer structure. Therefore, a two-speed transmission with two gear ratio was designed by inserting a large gear and a small gear in a structure with a parallel shaft to connect the gears with a V-belt in the form of a parallel shaft reducer, and setting the gear ratio of the low and high gears respectively. In addition, power performance according to the rotational speed and load of the transmission was checked through a test, and the heat generation characteristics generated during driving were checked to verify the validity of the transmission.

• Journal of the Korean Institute of Gas
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• v.26 no.2
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• pp.21-26
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• 2022

Since the four-wheel drive transmits the driving force to all four wheels, the traction with the road surface increases, thereby increasing the driving force. However, it has the disadvantage of lowering fuel efficiency. Therefore, four-wheel drive is commonly used as a method of converting to optional four-wheel drive when necessary while driving in two-wheel drive. This selective four-wheel drive converts the driving force by mechanically changing the electric signal sent by the driver in the transfer case. In this study, in order to mechanically change the electrical signal, a reducer is applied to the motor to increase the torque to perform the function. Therefore, in this study, a reduction mechanism applicable to the motor inside the transfer case applied to convert the drive is derived, and the reduction ratio applying the planetary gear type is optimized accordingly. And based on the derived reduction ratio, two sets of planetary gears using a ring gear in common were applied to develop a planetary gear tooth type in which the input shaft and output shaft are decelerated in the same phase. Optimization design was carried out.

• The Journal of the Convergence on Culture Technology
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• v.10 no.5
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• pp.687-692
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• 2024

Recently, electric skateboards have been used as a means of personal transportation due to their convenience and simplicity of operation, but the conventional skateboards driven by timing belts or hub motors have disadvantages such as low driving torque, high current and vibration. Therefore, in this paper, we propose a new type of electric skateboard that can run at high speeds for long periods of time so that it can be used as a auxiliary means of transportation. The planetary gear and motor unit are combined and installed inside one drive wheel, and power is supplied to the wheel through the integrated driving unit to prevent high currents and enable high-speed driving. First, the allowable current and running speed of the electric skateboard were set for efficient personal transportation and the appropriate reduction ratio, modules, and planetary gear dimensions were determined by comparing the torque required for the wheel axis and the maximum output torque of the motor. Additionally, an appropriate suspension device was added to reduce driving vibration for user convenience, and the feasibility of the proposed in-wheel gearbox was experimentally verified through fabrication.

• Proceedings of the KIEE Conference
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• 2008.04a
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• pp.251-252
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• 2008

본 연구는 6축 초중량물 핸들링로봇의 제어 성능을 구현하기 위해 전체적이 로봇의 제어에 가장 중요한 요소인 2축과 3축만을 가진 2축으로 된 실험용 로봇을 설계 제작하고 모션 제어기를 직접 설계하여 드라이브를 토크모드로 설정하고 구동실험을 수행하였다. 제어기로는 DSP를 사용하였으며 이는 초중량물을 핸들링하기 위해서는 샘플링주기를 작게 하기 위함이다. 해 연산 실행 속도가 빠른 DSP를 이용하였다. DSP와 AC 서보모터 드라이브 간의 인터페이스를 설계 제작 하였으며, PI제어기 알고리즘을 설계하여 직선보간 알고리즘에 적용함으로써 최종목적인 가반하중이 600Kg급 부하에도 강한 초중량물 핸들링 지능형 6축 로봇의 실현을 위해 원하는 경로를 부하의 영향에 받지 않는 고속 고응답성을 구현할 수 있는 2축 로봇제어에 대만 실험을 수행하였다. 속도, 위치제어에 대한 알고리즘으로는 PID 제어기를 사용하였다. 본 연구의 의의는 초중량물 핸들링 로봇의 제어에 있어서 로봇의 설계 및 제작이 최적화되어 있다면 작은 부하용 로봇의 제어와 크게 다를 바 없음을 보여주는데 있다.