• The Transactions of the Korean Institute of Power Electronics
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• v.15 no.5
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• pp.361-368
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• 2010

This paper presents high speed position controller using stepping motor. The proposed position controller has close loop and open loop mode. In the high speed region, torque angle which is controlled by PI controller and memory based look-up table, is used to keep the reference position. The memory based look-up table produces a torque angle according to motor speed, and the PI controller can compensate the torque angle error. So, the fast dynamic response can be expected in the same position error. The open loop control mode which is divided by 3-modes control the actual position in the low speed and small position error. Each open loop modes are designed to reduce position error and dynamic brake in the stop command. The proposed position control scheme is verified by the practical stepping motor.

• Proceedings of the KIPE Conference
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• 2011.07a
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• pp.208-209
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• 2011

본 논문은 SRM의 센서리스 속도제어를 위한 슬라이딩 모드 자속관측기법을 적용하고, 동일한 센서리스 추정방식으로 초기 기동에서 센서리스 영역까지의 천이 구간에서 오픈루프 속도리플을 억제할 수 있는 방식을 제안한다. 제안된 방식에서 센서리스 위치추정은 슬라이딩으로 자속관측기를 적용하고 있지만, 자속 계산에서 위치오차를 감소하기 위한 오차 성분을 고려하였으며, 특히 초기기동에서 동일한 관측기와 계산된 자속의 오차 성분으로 오픈루프 상태에서의 전류제어를 수행함으로써 천이구간에서의 속도리플을 억제할 수 있다. 제안된 방식은 컴퓨터 시뮬레이션을 통하여 타당성을 검증하였다.

• Journal of the Korean Institute of Illuminating and Electrical Installation Engineers
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• v.24 no.1
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• pp.145-151
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• 2010

This paper presents the design and implementation of direction controllers by microstep control and dc servo control for material transport system. The perfomances of direction control systems are compared in position responses and motor power consumptions between microstep control of a step motor and dc servo control.

• Journal of Aerospace System Engineering
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• v.16 no.3
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• pp.93-98
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• 2022

The purpose of this paper was to propose a method for improving the performance of the open-loop control of single-phase permanent magnet synchronous motor (SP-PMSM), based on a square wave voltage injection. Generally, the SP-PMSM driving systems cmprise a full-bridge inverter and asymmetric air-gap structure of magnetic circuit, because a zero torque occurs on the symmetrical air-gap. As a result, it cannot be started at a specific rotor position. Thus, it is possible to cause the start-up failure at an open-loop control for sensorless operation of SP-PMSM. In this paper, the method with square wave voltage injection considering the nonlinearity of the inverter is presented to resolve the problem. The effectiveness of the proposed algorithm is verified through several experiments.

• Proceedings of the KIPE Conference
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• 2019.11a
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• pp.152-153
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• 2019

본 논문에서는 캐패시터-분할 타입 능동전력 디커플링 회로를 위한 전압제어 방법을 제안한다. 능동전력 디커플링 회로는 시스템에 필요한 커패시턴스를 낮추어 전해커패시터를 필름 커패시터로 대체하여 시스템 수명과 전력밀도를 높일 수 있는 장점이 있다. 그러나 일반적으로 오픈 루프 제어방식의 전압제어 방식을 사용하여 파라미터 값의 변화에 민감하다는 단점을 가지고 있다. 이에 본 논문에서는 커패시터-분할 타입 능동전력 디커플링 회로를 위한 폐루프 제어 방법을 제안한다.

• Journal of Aerospace System Engineering
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• v.12 no.3
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• pp.45-52
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• 2018

This paper deals with the analysis of the inner-loop algorithm of the Pixhawk which is a representative multi-copter open source. The algorithm is based on flight control-law structure. The inner-loop algorithm of the Pixhawk can be divided into a position controller and an attitude controller. The position controller generates the attitude of the multi-copter to move to the destination The position controller also generates the demand force and moment acting on each actuator. We confirm that the position controller saturates the desired acceleration and speed by using a proper relational expression. The expression can be used in order to prevent the sudden change in the attitude of a multi-copter.

• Journal of IKEEE
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• v.23 no.3
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• pp.1020-1026
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• 2019

In this paper, a rotor polarity detection algorithm is proposed to control the single-phase permanent magnet synchronous motors(SP-PMSMs) for high speed sensorless operation. Generally, the sensorless control of a SP-PMSM is switched to the sensorless operation in a specific speed region after the open loop startup. As a result, it is necessary to detect the rotor polarity to maintain a constant rotational direction of the SP-PMSM at the starting process. There, this paper presents a novel rotor polarity detection method using a high frequency voltage signal and offset current which is generated by current regulator. The proposed algorithm verified the effectiveness and usefulness of the rotor polarity detection through several experiments.

• Proceedings of the Korean Society of Computer Information Conference
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• 2019.07a
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• pp.259-260
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• 2019

4차산업이 본격화되면서 드론의 경제적 활용에 대하여 많은 관심이 집중되고 있다. 본 논문에서는 드론의 효율적 제어를 위하여 비행제어시스템의 운용프로그램인 비행제어 프로그램에 대하여 분석한다. 현재 오픈소스 비행 스택들을 다양한 비행제어기에 적용하기 위하여 다양한 기능들을 포함하고 있어 그 크기가 방대하다. 본 연구에서는 공개된 비행제어시스템을 분석하여 소형 무인 비행체인 드론에서 사용할 비행제어프로그램을 설계하고 구현하고자 한다. 제안한 비행제어프로그램은 구조가 간단하여 제어주기에 해당하는 루프타임을 줄일 수 있고, 특정 기능의 추가와 변경이 용이할 것으로 예상한다.

• 대한공업교육학회지
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• v.31 no.2
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• pp.364-380
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• 2006

This paper presents a procedure for designing command to maneuver flexible structure with very little residual vibration, even in the presence of modeling errors. For the open loop maneuver, the various shaped profiles using multiple step inputs delayed in time are considered for robustness and compared with the responses of rigid body and flexible body in virtue of simulations and experiments. Input shaping generates vibration-reducing shaped commands through convolution of an impulse sequence with the desired command. A flexible model with a cylindrical hub and four symmetric appendages is considered to examine the responses to real plant, and to illustrate the effectiveness of the proposed shapers. The appendages are long and flexible, leading to low frequency vibration under any control action. It is shown by a series of simulation that a properly designed feedback controller with input shaper performs well, as compared with open loop controller with input shaper. The control objective is to achieve a fast settling time of residual vibration to flexible structure and robustness (insensitivity)to plant uncertainty, to eliminate residual vibration.

• Journal of the Korean Institute of Illuminating and Electrical Installation Engineers
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• v.14 no.1
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• pp.38-46
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• 2000

This study have established proper mathematical equivalent model of Brushless DC (BLDC) motor and estimated the motor parameter by means of the back-emf measurement as being the step input to the controlled target BLDC motor. And the validity of proposed estimation method is confirmed by the test result of step response. As well, we have designed the reasonable digital controller as a consequence of the root locus method which is obtained from the open-loop transfer function of BLDC motor with hall sensor, and the determination of control gain for variable speed control. Here, revised Ziegler-Nichols tuning method is applied for the proper digital gain establishment, and the system stability is verified by the frequency domain analysis with Bode-plot and experimentation.