• Title/Summary/Keyword: 엔코더

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Anti-windup PID Control of Engine Throttle Actuator in Autonomous ATV (무인 ATV 엔진 스로틀 액츄에이터의 안티 와인드업 PID 제어)

  • Kim, Soon-Tae;Jung, Jin-Gu;Chwa, Dong-Kyoung;Hong, Suk-Kyo
    • Proceedings of the KIEE Conference
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    • 2007.10a
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    • pp.295-296
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    • 2007
  • 본 논문에서는 무인화 ATV 엔진 액츄에이터의 시스템 특수성을 고려한 PID 제어기의 설계를 통하여 종방향 구동을 담당하는 DC 모터의 위치제어 성능을 향상시켰다. DC 모터의 문턱 전압과 마찰력으로 인한 데드존(Dead zone)을 고려하였으며, DC 모터에 연결된 액츄에이터 와이어에 의한 복원력에 대한 영향을 최소화 시켰다. 또한 DC모터의 위치를 판별하는 엔코더의 분해능을 감안하여 제어기 설계에 반영하였고, 실험을 통하여 성능을 검증하였다.

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Path-tracking of free-ranging AGV using encorders and gyroscope (엔코더와 자이로스코프를 사용한 무궤도 AGV의 위치 제어)

  • Choi, Kwang-Sup;Park, Tae-Hyoung
    • Proceedings of the KIEE Conference
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    • 2007.10a
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    • pp.327-328
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    • 2007
  • This paper is to develop the path-tracking of free-ranging AGV(Autonomous Guided Vehicle). Encorders are used to trace the location of the AGV. A gyroscope is used to complement encorders that have the error accumulation problem by increasing the distance covered. A sensor fusion technique is applied to correct the error. The path of the AGV is controlled by kinematics and PID which is obtained the data from the sensor fusion. Experimental results are presented to verify the efficiency of proposed method.

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A Study on Ultra Precise Position Control of Servomotor using Analog Quadrature Encoder (정현파 엔코더를 이용한 서보전동기 초정밀 위치 제어에 관한 연구)

  • Kim, Ji-Chan;Kim, Jang-Mok;Kim, Cheul-U;Choi, Cheol;Cho, Han-Ik
    • Proceedings of the KIPE Conference
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    • 2005.07a
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    • pp.237-239
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    • 2005
  • This paper describes the ultra precise position estimation of a servomotor using sinusoidal encoder based on Arcsine Interpolation Method. The amplitude and offset errors of the sinusoidal encoder output signals are effectively compensated and on-line tuned by utilizing a low cost programmable differential amp without any special expensive equipments. To theoretically evaluate the practical resolution of this system, the relationship between the amplitude of A/D converter input signal errors and the anticipated resolution is briefly dealt with. The performance of the proposed method is verified by the experiments, by comparing it with position and speed control characteristics of the servomotor driving system using a digital incremental 50,000ppr encoder.

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Sensorless Control for Three Phase Surface Mounted Permanent Magnet Synchronous Motor Drive System (3상 표면부착형 영구자석 동기전동기 센서리스 속도제어)

  • Son, Myeongsu;Moon, Jaeeun;Hong, Yeonjoo;Jeong, Yongjae;Cho, Younghoon
    • Proceedings of the KIPE Conference
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    • 2018.07a
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    • pp.420-421
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    • 2018
  • 본 논문에서는 표면부착형 영구자석 동기전동기(SPMSM)를 위한 센서리스 제어방법을 실험을 통해 검증하고자 한다. 동기전동기의 벡터제어를 위하여 엔코더나 레졸버를 이용하면 비용이 증가할 뿐만 아니라 유지 보수가 필요하기 때문에 동기전동기의 센서리스 모터제어 기법이 요구되고 있다. 또한, 동기전동기의 센서리스 모터 제어를 위해서는 정확한 회전자의 위치와 속도가 필요하므로 본 논문에서는 영구자석 동기전동기의 수학적 모델을 통하여 위치와 속도를 추정한다. 회전 중 발생하는 역기전력을 통해 추정 위치 오차를 얻으며, 추정 오차가 0이 되도록 추정기를 구성하여 이를 실험을 통해 검증하였다.

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High Performance Reluctance Resolver Design for Motor Control (전동기 제어를 위한 고성능 릴럭턴스 레졸버 설계)

  • Lee, Taeyeon;Nam, Kwanghee
    • Proceedings of the KIPE Conference
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    • 2019.11a
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    • pp.108-109
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    • 2019
  • 현대 산업기기의 큰 비중을 차지하는 전동기는 벡터 제어를 위해 각도 정보를 필수적으로 요구한다. 따라서, 엔코더와 권선형 레졸버 그리고 릴럭턴스 레졸버와 같은 많은 각도 센서가 활발히 사용되고 있다. 센서리스와 같이 센서를 이용하지 않고 각도를 추정하는 연구도 많이 진행되고 있지만, 높은 안정성을 요구하는 시스템에서는 여전히 각도 센서가 주를 이루고 있다. 각도 센서 중에서 높은 정확도와 안정성 그리고 내구성을 가지는 레졸버가 각광받고 있으며, 특히 릴럭턴스 레졸버(Variable Reluctance Resolver)가 많이 사용된다. 본 논문은 전동기의 제어 성능과 안정성을 높이기 위한 고성능 레졸버 설계의 내용을 담고 있으며, 기존의 릴럭턴스 레졸버와 달리 레졸버 고정자의 치폭을 변조하여 각도 오차를 줄이는 내용을 다루고 있다.

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Study on the Linear, Encoder for high Performance On Off control of SRM (SRM의 고정도 온, 오프 각 제어를 위한 선형 엔코더에 관한 연구)

  • Hong, Jeng-Pyo;Park, Sung-Jun;Hong, Sun-Ill;Kim, Cheul-U
    • Proceedings of the KIEE Conference
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    • 2000.07b
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    • pp.984-987
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    • 2000
  • In switched reluctance motor(SRM) drive, it is necessary to synchronize the stator phase excitation with the rotor position. Therefore the rotor position information is an essential. Usually optical encoders or resolvers are used to provide the rotor position information. These sensors are expensive and are not suitable for high speed operation. In the paper, the low cost linear encoder suitable for the practical and stable SRM drive is proposed and the control algorithm to provide the switching signals using the simple digital logic circuit is also presented in this paper. It is verified from the experiments that the proposed encoder and logic controller can be a powerful candidate for the practical low cost SRM drive.

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A Study on the thermal behaviors of a machine tool with linear motors (리니어 모터를 적응한 공작기계의 열변형 특성에 관한 연구)

  • 김종진;조동우
    • Proceedings of the Korean Society of Machine Tool Engineers Conference
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    • 2002.10a
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    • pp.36-40
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    • 2002
  • The development of feed drive system with high speed and accuracy has been a major issue in the machine tool industry. Linear motors can be used as the efficient tool to achieve fast feed mechanism and high accuracy. However. a high speed feed drive system with linear motors can generate heat problems such as the variation of temperature distribution and the resultant thermal stress. In this paper, the important heat sources and the resultant thermal errors are presented. The thermal deformation characteristics of the machine tool with linear motors were identified, which are thermal expansion of linear scale, shrinkage, expansion and bending in the machine tool structure.

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A study on Development of Auto Steel-Plate Pile System Using Measurement System (계측시스템을 이용한 자동 강재 적치 관리 시스템 개발에 관한 연구)

  • Yu, Ji-Hun;Kim, Ho-Kyoung;Kim, Rea-Soo;Sin, Hun-Joo
    • Proceedings of the SAREK Conference
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    • 2008.11a
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    • pp.424-428
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    • 2008
  • On processing of the shipbuilding, Various steel plates are used as the important material in many fields including the shell plate, a structure, etc. Therefore, the proper steel plate management system like a warehousing, pile, delivery is very important. Presently Operators manage the steel plate by using the software program, but they manage many parts manually, so many problems are generated on the steel plate check, management, and operator safety. In order to solve this problem, we developed Auto Steel-Plate Piling System. Also this system automatically manages and traces the steel-plate from warehousing to delivery.

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An Encoder Fault Detection Scheme using Parity Equation for Vector Controlled Induction Motor Drives (벡터제어 유도전동기 구동장치를 위한 패리티 관계식을 이용한 엔코더 고장검출 기법)

  • Park, Tae-Geon;Ryu, Ji-Su;Lee, Kee-Sang
    • Proceedings of the KIEE Conference
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    • 2001.07d
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    • pp.2014-2017
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    • 2001
  • In induction motor control systems driven by the indirect vector control scheme, the errorneous measurement of rotor speed results in incorrect flux angle estimate and consequently deteriorates the overall control performance. In this paper the effect of encoder fault on motor variables and control performance is analyzed by both theoretical approach and experimental study. A parity equation based on the power is suggested and applied to detect the incipient fault of encoder.

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Feasibility Verification of a Non-Contact Vibration Sensor for Rotating Shafts Endowed with Rotational-Encoder Capability (회전속도 측정기능을 갖춘 비접촉 축 진동센서의 가능성 검증)

  • Lee, Ho-Cheol;Kim, Myong-Ho;Park, Jung-Yang
    • Transactions of the Korean Society of Mechanical Engineers A
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    • v.30 no.12 s.255
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    • pp.1596-1602
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    • 2006
  • In this paper, a hybrid sensor is proposed that has two capabilities: the first is to sense longitudinal or flexural transient vibration signals selectively which are transmitted along the target shaft, and the second to measure the rotating speed of the shaft. All measurements are made in a non-contact manner since this sensor uses magnetostriction as its measuring principle. The signal selection between two vibration modes requires only electrical switching operations and the switching between these two sensing capabilities-vibrations and rotational speed-are accomplished by a very simple mechanical operation. To verify the capabilities of the proposed sensor, a prototype sensor is fabricated and the experiments are made. The results show this sensor can embody two sensing capabilities in one sensor configuration.