• Journal of the Korean Society of Industry Convergence
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• v.25 no.6_2
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• pp.1003-1008
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• 2022

This paper proposes a method related to fault tolerance operation and characteristic analysis of asymmetric 6-phase permanent magnet synchronous motor. In general, motor drive systems with multi-phase structures can be continuously operated despite a reduction of power and speed by using a phase changeover or control techniques according to the failures. As a result, it is widely used in industrial fields such as aviation and defense, which require high efficiency and high reliability. In this paper, the second order ripple of the electrical fundamental freuqnecy occurs in the dq-axis currents of the synchronous coordinate system through mathematical analysis according to the switch open of the dual 3-phase inverter. Therefore, the fault tolerant operation method is presented by applying the fault detection method with a constant cycle for continuous operations. The effectiveness of the proposed fault tolerance operation method is verified through the several experiments.

• The Journal of Korea Robotics Society
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• v.13 no.2
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• pp.103-112
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• 2018

In this paper, a high performance underwater vehicle which can be manufactured at low cost is designed and fabricated, and its performance is verified through experiments. To improve efficiency, the Myring equation is used to design the appearance and the duct structure including the thruster is planned to increase the propulsion efficiency while reducing the drag force. Through various methods, it is secured stable waterproof performance, and also is devised to have high speed movement and turning performance. The developed underwater vehicle is equipped with a high output BLDC motor to achieve a linear speed of up to 2 m/s and can change direction rapidly with stability through four rudders. The rudders are driven by coupling a timing belt and a pulley by extending the axis of a servo motor, and are equipped at the end of the body to turn heading. In addition, for stable posture control, the roll keeps its internal center of gravity low and maintains its stability due to restoring force. By controlling the four rudders, pitch and yaw are handled by the PID controller and show stable performance. To investigate the horizontal turning performance, it is confirmed that the yaw rate controller is designed and stable yaw rate control is performed.

• 제어로봇시스템학회:학술대회논문집
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• 1991.10a
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• pp.504-510
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• 1991

SAMSUNG Electronics has developed a SCAR.A robot system, SM3, which is applicable to several assembly, inspection, and adjustment tasks. This robot system drives by AC servo motors has attained a .theta.1 and .theta.2 axis maximum composite speed of 5.4 m/sec, a repeatability of .+-.05 mm, and a cycle time of 1.2 sea. The robot controller based on three 8086 and one 8087 processors consists of the main controller, the joint position controller, and the motor controller. The robot controller has plentiful self-diagnosis and control capabilities, and can be interfaced to other external device. The robot language FARAL Is designed such that every task is easily programmed. In this paper, the main features of the body, controller, and FARAL of SM3 will be described. In particular, the control method designed for a stable and fast robot motion will be explained. Finally, the future development will be addressed.

• Journal of the Semiconductor & Display Technology
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• v.2 no.3
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• pp.31-36
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• 2003

On this study, an E.E(End-Effector) for the 300 mm wafer transfer robot system is newly suggested. It is a mechanical type with $180^{\circ}$ rotating ranges and is composed of 3-point arms, two plate springs and single-axis DC motor controlled by microchip. To design, relationship between the gripping force and the wafer deformation is analyzed by FEM. By analytic results, the gripping force for 300 mm wafer is confirmed as 255~274 gf. From experimental results on gripping force, repeatable position accuracy and gripping cycle times in a wafer cleaning system, we confirmed that the suggested E.E was well designed to satisfiy on the required performance for 300 mm wafer transfer robot system.

• Journal of the Institute of Electronics and Information Engineers
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• v.50 no.1
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• pp.254-260
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• 2013

This paper deals with electromagnetic characteristics of IPMSM (Interior Permanent Magnet Synchronous motor) caused by field weakening current control. In order to extend operation speed, field weakening current control is generally used in IPMSM operation. During field weakening, distorted linkage fluxes are resulted by saturation of core material. Therefore, distorted input voltage waveform is required for sinusoidal current input. As the current vector angle increases for field weakening, distortion of linkage flux and back-emf becomes significant. This situation is analyzed by 2-dimensional finite element analysis and verified by experiment. With the results, it is concluded that motor parameters, such as linkage flux by permanent magnet, phase resistance, d-q axis inductance, are insufficient for estimating required voltage for given speed especially in field weakening and additional considerations for increased harmonics of voltage are required.

• Journal of the Korean Society for Precision Engineering
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• v.33 no.2
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• pp.157-163
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• 2016

The empirical evaluation of grid-connected tidal current generation system is presented in this paper. The Ul-dol-mok in Jin-do has been estimated to have tidal power of 1GW. In order to experiment, HAT (Horizontal Axis Turbine) 3-blade and 20kW grid-connected tidal current generation system was established at Ul-dol-mok in Jin-do. To generate power of generator, the speed reference of the PMSG is generated from the Cp curve and TSR (Tip Speed Ratio) of the designed turbine. The control of the converter connected to the grid is controlled to regulate unity power factor. The result showed that the turbine efficiency and system efficiency is 37 % and 31 %. This was achieved that target rate is 30 %, 20 %, respectively.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.11 no.9
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• pp.3161-3167
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• 2010

Hall sensors of BLDC(brushless DC) motor are used to detect a position information for a control mechanism, which implements an algorithm for velocity and position control. Actual azimuth and altitude were measured to evaluate a control precision. The measurement revealed comparatively good accuracy that the measured values were $2.02^{\circ}$ and $1.01^{\circ}$ respectively, and the maximum error falls within $1.86^{\circ}$. The developed monitoring system of photovoltaic generation plants is a LCU(Local Control Unit) based on an integrated monitoring system which supports 1:N method for multiple simultaneous connections, remote control and real-time system state monitoring.

• Journal of the Korean Society of Industry Convergence
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• v.19 no.2
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• pp.81-87
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• 2016

This paper presents a new approach to control of stable motion of single wheel driving robot system of a pitch that is controlled by an in-wheel motor and a roll that is controlled by a reaction wheel. This robot doesn'thave any actuator for a yaw axis control, which makes the derivation of the dynamics relatively simple. The Lagrange equations was applied to derive the dynamic equations of the one wheel driving robot to implement the dynamic speed control of the mobile robot. To achieve the real time speed control of the unicycle robot, the sliding mode control and optical regulator are utilized to prove the reliability while maintaining the desired speed tracking performance. In the roll controller, the sigmoid-function based robust controller has been adopted to reduce the vibration by the situation function. The optimal controller has been implemented for the pitch control to drive the unicycle robot to follow the desired velocity trajectory in real time using the state variables of pitch angle, angular velocity, angle and angular velocity of the driving wheel. The control performance of the control systems from a single dynamic model has been illustrated by the real experiments.

• Journal of Power Electronics
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• v.2 no.3
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• pp.220-229
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• 2002

In this paper, maximum efficiency operation of two types of permanent magnet synchronous motor drives, namely; surface type permanent magnet synchronous machine (SPMSM) and interior type permanent magnet synchronous motor(IPMSM), are investigated. The efficiency of both drives is maximized by minimizing copper and iron losses. Loss minimization is implemented using flux weakening. A neural network controller (NNC) is designed for each drive, to achieve loss minimization at difffrent speeds and load torque values. Data for training the NNC are obtained through off-line simulations of SPMSM and IPMSM at difffrent operating conditions. Accuracy and fast response of each NNC is proved by applying sudden changes in speed and load and tracking the UC output. The drives'efHciency obtained by flux weakening is compared with the efficiency obtained when setting the d-axis current component to zero, while varying the angle of advance "$\vartheta$" of the PWM inverter supplying the PMSM drive. Equal efficiencies are obtained at diffErent values of $\vartheta$, derived to be function of speed and load torque. A NN is also designed, and trained to vary $\vartheta$ following the derived control law. The accuracy and fast response of the NN controller is also proved.so proved.

• Journal of the Institute of Convergence Signal Processing
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• v.21 no.1
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• pp.21-28
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• 2020

In this paper, a new type of electric wheelbarrow is proposed and developed. The developed electric wheelbarrow is equipped with an attitude reference system(ARS) sensor, which consists of 3-axis acceleration sensor and 2-axis Gyro sensor so that it can estimate pitch angle and roll angle. When an operator tilts the wheelbarrow up and down, the pitch angle is detected. The sign of the pitch angle is interpreted as the operator's intention for moving the wheelbarrow forward or backward and the controller drives the wheel of the wheelbarrow with the velocity according to the magnitude of the detected pitch angle. A cargo box of the wheelbarrow is designed to rotate and is controlled to maintain level always, so an operator can handle the electric wheelbarrow easily and safely. The wheelbarrow consists of an in-wheel motor, a DC motor, motor drives, an ARS sensor considering economical use in industrial field. Three experiments are performed to verify the feasibility and stability of the electric wheelbarrow.