• The Transactions of the Korean Institute of Power Electronics
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• v.6 no.2
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• pp.202-208
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• 2001

A Switched Reluctance Motor(SRM) has double salient poles structure and the phase windings are wound in stator. SRM hase more simple structure that of other motor, thus manufacture cost is low, mechanically strong, reliable to a poor environment such as high temperature, and maintenance cost is low because of brushless. SRM needs position detector to get rotator position information for phase excitation and tachometer or encoder for constant speed operation. But, this paper doesn\`s use an encoder of high cost for velocity measurement of rotator. Instead of it, the algorithm for position detection and velocity estimation from simple slotted disk has been proposed and developed. To implement variable speed digital control system with velocity estimation algorithm, the TMS320F240-20MIPS fixed point arithmetic processor of TI corporation is used. The experimental results of the developing system are enable to control speed with wide range, not only single pulse, hard chopping mode and soft chopping, ut also variable speed control, and advance angle control.

• The Transactions of the Korean Institute of Power Electronics
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• v.9 no.4
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• pp.311-318
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• 2004

Generally, PM BLDC drive system is necessary that the three Hall-ICs evenly be distributed around the stator circumference and encoder installed in case of the 3 phase motor. The Hall-ICs are set up in this motor to detect the main flux from the rotor. So the output signal from Hall-ICs is used to drive a power transistor to control the stator winding current. Instead of using three Hall-ICs and encoder, this paper uses only two Hall-ICs for the permanent magnet rotor position and for the speed feedback signals, and uses a micro controller of 16-bit type(80C196KC) with the 3 phase PM BLDC whose six stator and two rotor designed. Two Hall-IC Hc and $H_B$ are placed on the endplate at 120 degree phase difference. With these elements, we estimate information of the other phase in sequence through a rotating rotor.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.20 no.2
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• pp.385-393
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• 2016

This paper presents the new position estimation method which contains the optical displacement sensor and the dead reckoning based position estimation algorithm for automation of hull cleaning robot. To evaluate feasibility of the proposed position estimation method on the hull cleaning robot, it was applied on the small scale robot model which has an identical drive method with the hull cleaning robot and then a set of the position estimation experiments were performed. The experimental results of the position estimation demonstrate that the estimated results with the optical displacement sensors is more accurate than used rotary encoder method. In addition, it continuously calculated the robot position quite close to the real robot driving path. In a follow-up study, the proposed position estimation method will be complemented and exploited on the actual hull cleaning robot by adding additional sensor modules that correct measurement errors.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.13 no.7
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• pp.1437-1443
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• 2009

This paper is presented an simultaneous localization and mapping (SLAM) algorithm using ultrasonic for robot and electric compass, encoder, and gyro. Generally, localization based upon electric compass, encoder, and gyro can be measured just local position in workspace. However, actual robot must need an information of the absolute position in workspace to perform its mission, Absolute position in workspace could be calculated using SLAM algorithm. To implement SLAM in this paper, a map is built using ultrasonic sensor and hierarchical map building method. And then, we the map will be transformed into a feature map. The absolute position could be calculated using the feature map and map mapping method. As a test bed, we designed and construct an autonomous robot and showed the experimental performance of the proposed SLAM algorithm based on feature map. Experimental result, we verified that robot can found all absolute position on experiments using proposed SLAM algorithm.

• Proceedings of the KIEE Conference
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• 2002.07b
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• pp.1003-1005
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• 2002

In general, to get the accurate switching point of power electronic components is dependent on a given rotor position by the encoder. However, a conventional encoder may not be used to detect position and speed of the developed motor due to the very high speed. Thus, an encoder that uses the hall effect directly was designed and applied. This paper presents the developed encoder that meet requirement of military purpose. To confirm the developed encoder, the experimental results are shown.

• 전자공학회논문지 IE
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• v.43 no.4
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• pp.128-135
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• 2006

This paper proposes the control method of fuzzy based sensor fusion by using the self localization of environment, position data by dead reckoning of the encoder and world map from sonic sensors. The proposed fuzzy based sensor fusion system recognizes the object and extracts features such as edge, distance and patterns for generating the world map and self localization. Therefore, this paper has developed fuzzy based control of mobile robot with experimentations in a corridor environment.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.61 no.2
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• pp.298-302
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• 2012

The linear encoder used in the BLAC driving circuit consists usually analog type sensor, and need signal transform from analog sinusoidal to digital one for application in the PWM algorithm that is used to control motor current. When the motor is driven in low speed, it is required many operations and higher quality DSP to convert the hole sensor signal to digital one with enough resolution. In this paper, the another method to convert that signal with enough resolution without calculation of sine function is proposed. This is very simple and have high resolution even if the motor is driving in low speed. To verify the proposed method, BLAC motor is used, and it is proved that the motor is tracking well the reference step signal in the low speed as well as in the high one.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.27 no.7
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• pp.1179-1184
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• 2003

The technique for measuring the rotational speed of tappet in direct acting type valve train system has been developed. The optic signal monitoring system with laser and optic fiber was designed to follow the signal of tappet rotation. The system was based on ON/OFF signal generation from the additional encoder teeth under the tappet with optic fibers attached photo transistor. The data showed that tappet rotation was affected by offset, oil temperature and cam shaft operating speed. Also it was found that tappet rotation increases with oil temperature. Tappet spin was delayed 10∼s20$^{\circ}$ cam angle after valve opening. The instantaneous rotational speed of tappet was reciprocal to cam shaft speed and the tappet and the cam angle ratio was located in the range of 0.1∼0.3.

• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.241-244
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• 1997

A dead reckoning navigation system is developed for autonomous mobile robot localization. The navigation system was implemented by novel sensor fusion using a Kalman filter. A differential encoder and the gyroscope error models are developed for the filter. An indirect Kalman filter scheme is adopted to reduce the computational burden and to enhance the navigation system reliability. The filter mutually compensates the encoder errors and the gyroscope errors. The experimental results show that the proposed mobile . robot navigation algorithm provides the reliable position and heading angle of the mobile robot without any help of the external positioning systems.

• Journal of Institute of Control, Robotics and Systems
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• v.21 no.6
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• pp.577-582
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• 2015

This paper proposes an efficient detection of absolute position of a robot joint using two incremental encoders. We considers a robot joint comprising a motor, a reducer, two encoders, and a motor drive. An incremental(first) encoder provides motor's rotor position or input position of reducer while another incremental(second) encoder does output position of the reducer. A table is made where the relationship between the first and the second encoder counts is recorded. The key point is placed where the table is constructed: when a pulse occurs in the second encoder, there exists a corresponding unique count value of the first encoder. The absolute position is detected using the table by searching the second encoder position corresponding to the first encoder count value when a pulse occurs in the second encoder. The proposed method needs a small rotation, as just one second encoder's pulse angle, for the initial absolute position detection.