• 센서학회지
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• 제23권2호
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• pp.127-133
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• 2014

This paper describes a design and manufacture of a two-axis force sensor and a single-axis force sensor for the fingers of an intelligent robot's hand. The robot's finger is composed of a two-axis force sensor, a first knuckle, a single-axis force sensor, a second knuckle, a spring, a motor of first knuckle, a motor of second knuckle, and so on. The two-axis force sensor attached to the first knuckle and the single-axis force sensor attached to the second knuckle were designed and manufactured, and the characteristics test of two sensors was carried out. As a test results, the interference error of the two-axis force sensor was less than 0.68%, the repeatability error of each sensor was less than 0.02%, and then the non-linearity was less than 0.03%. It is thought that the sensors can be used for the fingers of the intelligent robot's hand for rehabilitation exercise of finger patients.

• 한국공작기계학회:학술대회논문집
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• 한국공작기계학회 2002년도 춘계학술대회 논문집
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• pp.346-351
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• 2002

Several algorithm applied to single axis feed system with linear motor has been extensively reviewed in order to check the possible applicability to two axis system Among several factors considered, overshoot of the response was the most important one in minimizing position tracking error. Balance between overshoot and settling time has be adjusted to guarantee to best tracking performance.

• 한국공작기계학회:학술대회논문집
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• 한국공작기계학회 2002년도 추계학술대회 논문집
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• pp.405-410
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• 2002

Linear motor food system control algorithm was extended to the two axis system. Among several factors considered, overshoot of the response was the most important one in minimizing position tracking error. Balance between overshoot and settling time has to be adjusted to guarantee to best tracking performance. Tracking route was carefully executed to eliminate the possible error during the machining process. Even though there exists slight discrepancy between desired mute and cutting track at the corner, precision machining could be implemented using the cutting scheme introduced.

• Journal of international Conference on Electrical Machines and Systems
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• 제3권2호
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• pp.148-154
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• 2014

This paper describes problems of the sensorless starting of horizontal axis washing machines with direct drive and suggests solution, which was experimentally verified. Horizontal axis washing machines have very difficult conditions for the drive starting, especially at full load. Inertia of the tub and water, torque from the laundry make load torque at starting higher than rated one and sometimes even higher than the maximum torque of the motor, which makes sensorless starting extremely challenging task. This paper suggests modified open-loop starting, where control system is closed shortly after beginning at low speed and rotates the drum until laundry restructuring. To ensure proper work of the sensorless algorithm at low speed additional measures for increasing of the estimation algorithm performance have been taken. These measures include special algorithm for the drive parameters estimation, which has been developed and verified by the experimental results.

• International Journal of Precision Engineering and Manufacturing
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• 제8권2호
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• pp.49-53
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• 2007

In this study, we investigated experimentally the potential of a planer positioning mechanism with three degrees of freedom using a flexure guide and an electromagnetic linear motor. The goal was to produce a multi-axis positioning system with nanometric resolution over a 1-mm stroke. An $X-Y-\theta$ stage was designed based on previous results from a single-axis prototype and was constructed with a flexure guide mechanism and voice coil motor type linear actuators. We examined the necessity of a driving method and control system to ensure high resolution for multi-axis positioning. Experiments were conducted to evaluate the performance, and the results confirmed the mechanism's potential; fine point-to-point (PTP) positioning was achieved over a 1-mm stroke, with a resolution of 2 nm for translation in X-Y and 0.01 asec for yaw in $\theta$.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1992년도 한국자동제어학술회의논문집(국제학술편); KOEX, Seoul; 19-21 Oct. 1992
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• pp.340-343
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• 1992

Fundamental positioning characteristics of a dual-axis Sawyer linear motor are described. The Sawyer motor is capable of high positional accuracy. An electronic control unit of the motor whose velocity is proportional to the frequency of the electric current was produced in our laboratory. The positioning system was constructed using two Sawyer motors, an air bearings suspension unit and an electronic control unit. The stable motion of the motor was confirmed on the open loop operation. The adjustable operating conditions were the live load of 1 kg, the maximum acceleration of 1.2G and the maximum velocity of 350 mm/s. Absolute positioning accuracy was improved within .+-.5.mu.m, on microstep operating conditions of dividing one pitch of 508.mu.m into 508 steps. The following two conclusions were obtained. An accelerating-cruising-decelerating control is effective for reduction in the travel time required. Also, microstep operation is effective for improving the resolution of position.

• KIEE International Transaction on Electrical Machinery and Energy Conversion Systems
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• 제5B권2호
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• pp.189-195
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• 2005

This paper presents a new velocity estimation strategy for a non-salient permanent magnet synchronous motor drive without high frequency signal injection or special PWM pattern. This approach is based on the d-axis current regulator output voltage of the drive system, which contains the rotor position error information. The rotor velocity can be estimated through a rotor position tracking PI controller that controls the position error at zero. For zero and low speed operation, the PI gain of the rotor position tracking controller has a variable structure according to the estimated rotor velocity. Then, at zero speed, the rotor position and velocity have sluggish dynamics because the varying gains are very low in this region. In order to boost the bandwidth of the PI controller during zero speed, the loop recovery technique is applied to the control system. The PI tuning formulas are also derived by analyzing this control system by frequency domain specifications such as phase margin and bandwidth assignment.

• 한국정보통신학회:학술대회논문집
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• 한국정보통신학회 2017년도 추계학술대회
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• pp.232-234
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• 2017

본 연구에서는 BLDC 모터 2축 동시 제어를 위해 듀얼코어 프로세서를 이용하여 제어기를 설계하였다. 제어기의 중앙처리 장치로는 TI사의 최신 듀얼코어 DSP인 TMS320F28377D를 사용하였고, BLDC 모터는 고신뢰성을 가지고 있는 레졸버(Resolver) 위치 및 속도센서 내장형 모터로 선정하였다. 구동기는 IPM(SCM1245MF)을 이용하여 설계하였다.

• 한국소음진동공학회논문집
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• 제22권11호
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• pp.1042-1048
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• 2012

A 2-axis gimbal system is one of main disturbance sources affecting image jitter response of a satellite. The gimbal system comprises azimuth stage and elevation stage, and these pointing mechanism can be rotated by stepping motors about its azimuth and elevation axes simultaneously. Because of the complex and coupled dynamic motion of the gimbal system, its moment of inertia and structural modes can be changed according to the system configuration, and thus the gimbal system generates complicated and non-linear disturbance characteristics. In order to improve the jitter response of a spacecraft, it is an indispensable process to reduce the micro-vibration disturbance level of the antenna system. In the present research, a 2-axis gimbal system was manufactured and then its micro-vibration test was performed in terms of two types of stepping motors(2-phase and 5-phase). The test results show that the disturbance level of the gimbal system can be reduced by replacing the 2-phase stepping motor with the 5-phase one, and the average disturbance attenuation ratio is 56 % in peak level and 48 % in standard deviation level. The experimental results confirm that it is an efficient jitter reduction method to adopt a high-phase stepping motor.

• 전력전자학회논문지
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• 제12권4호
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• pp.310-317
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• 2007

본 논문에서는 평형 2상유도전동기에 대한 시스템 방정식을 유도하고 해석하였으며, 동기좌표계에서 평형 2상유도전동기의 속도제어 특성을 분석하였다. 3상 교류 전동기의 속도제어에 범용적으로 적용하는 벡터제어이론을 "2상 인버터 구동 2상 유도전동기 시스템"에 수정하여 적용하였으며, 이 때 2상 유도전동기 시스템은 수정된 간접 벡터제어이론에 의해 속도 제어하였다. 2상 유도기의 벡터제어의 특성과 근사함을 보여주기 위해 제안 시스템을 시뮬레이션하였다. 최종적으로 실험을 통해서 제안 시스템이 벡터제어에 확실히 적응하는 것을 확인하였다.