• Journal of IKEEE
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• v.26 no.2
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• pp.265-270
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• 2022

This paper proposes the detection algorithm for switch open fault of asymmetric 6-phase PMSM based on stationary reference frame dq-axis currents. In this paper, target motor has an asymmetric structure in which two upper three windings have an electrical phase difference of 30° and a neutral point is separated. As a result, dual 3-phase PWM inverters and the detection techniques due to open failures of switch are definitely required. In this paper, the dual dq-axis current control method is used for driving the asymmetric 6-phase PMSM and the open fault switch should be detected by using variable all pass filter and low pass filter in order to detect the current amplitude. The effectiveness and usefulness of the proposed method is verified by several experiments.

• The Transactions of the Korean Institute of Power Electronics
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• v.5 no.5
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• pp.459-466
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• 2000

A new control method for precision robust speed control of a PMSM(Permanent Magnet Synchronous Motor) using load torque observer is presented. Using this system, we can more precisely evacuate of vestibular function. Until now a rotating chair system, so called 2D-stimulator, which has vertical rotate axis is used to make dizziness. However, an inclined rotating chair system witch is called 3D-stimulator is needed to obtain the precise dizziness data. This 3D-stimulator include unbalanced load caused by unbalanced center of mass. In this case, new compensation method is considered to obtain robust speed control using load torque observer. To reduce the effect of this disturbance, we can use dead-beat observer that has high gain. The application of the load to torque observer is published in for position control. However, there is a problem of using speed information such as amplifying effect of noise. Therefore, we can reduce a noise effect by moving average process. The experimental results are depicted in this paper to show the effect of this proposed algorithm.

• KIISE Transactions on Computing Practices
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• v.21 no.3
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• pp.173-182
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• 2015

Motion control systems are widely deployed in various industrial automation processes. The motion controller, which is a key element of motion control systems, has stringent real-time constraints. The controller must provide a short and deterministic control message transmission cycle, and minimize the actuation deviation among motor drives. To meet these requirements, hardware-based proprietary controllers have been prevalent. However, since it is becoming difficult for such an approach to meet increasing needs of system interoperability and scalability, nowadays, software-based universal motion controllers are regarded as their substitutes. Recently, embedded motion controller solutions are gaining attention due to low cost and relatively high performance. In this paper, we designed and implemented an embedded motion controller on an ARM-based evaluation board by using Xenomai real-time kernel and other open source software components. We also measured and analyzed the performance of our embedded controller under a realistic test-bed environment. The experimental results show that our embedded motion controller can provide relatively deterministic performance with synchronized control of three motor axis at 2 ms control cycle.

• Proceedings of the KIEE Conference
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• 2003.07d
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• pp.2489-2491
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• 2003

In this study, we implement the laser pattern controller using function generator IC. Overall system consists of : (1) laser excitation circuit and laser tube, (2) two small mirrors to reflect laser beam on the screen, (3) two small motors for X, Y axis enabling each attached mirrors to rotate, (4) controller for motor control and user interface, (5) system power. We explain the architecture of the system and required theory to implement the system. Finally, experimental results are illustrated to show the performance of the system.

• International Journal of Precision Engineering and Manufacturing
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• v.6 no.2
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• pp.19-25
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• 2005

In this paper, the feedforward control with least mean square (LMS) adaptive algorithm is proposed and examined to reduce rotating error by runout of an active magnetic bearing system. Using eddy-current type gap sensors for control, the electrical runout caused by non-uniform material properties of sensor target produces rotational error amplified in feedback control loop, so this runout should be eliminated to increase rotating accuracy. The adaptive feedforward controller is designed and examined its tracking performances and stability numerically with established frequency response function. The designed feedforward controller was applied to a grinding spindle system which is manufactured with a 5.5 kW internal motor and 5-axis active magnetic bearing system including 5 eddy current gap sensors which have approximately 15∼30㎛ of electrical runout. According to the experimental results, the error signal in radial bearings is reduced to less than 5 ,Urn when it is rotating up to 50,000 rpm due to applying the feedforward control for first order harmonic frequency, and corresponding vibration of the spindle is also removed.

• The Transactions of the Korean Institute of Power Electronics
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• v.15 no.3
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• pp.167-178
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• 2010

To diagnose a stator winding fault caused by a short-circuited turn in a permanent magnet synchronous motor (PMSM), an on-line based fault detecting scheme during motor operation is presented. The proposed scheme is based on monitoring the second-order harmonic components in q-axis current obtained through the harmonic analysis and a winding fault is detected by comparing these components with those in normal conditions. The linear interpolation method is employed to determine harmonic data in arbitrary normal operating conditions. To verify the effectiveness of the proposed fault detecting scheme, a test motor to allow inter-turn short in the stator winding has been built. The entire control system including harmonic analysis algorithm and fault detecting algorithm is implemented using DSP TMS320F28335. The proposed scheme does not require any additional hardware and can effectively detect a fault during motor operation so long as the steady-state condition is satisfied.

• IEMEK Journal of Embedded Systems and Applications
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• v.17 no.2
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• pp.123-128
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• 2022

This paper proposes a mobile robot platform for education that can experiment with various autonomous driving algorithms such as obstacle avoidance and path planning. The platform consists of a robot module and a remote controller module, both of which are based on the Arduino Nano 33 IoT embedded board. The robot module is designed as a differential drive type using two encoder motors, and the speed of the motor is controlled using PID control. In the case of the remote controller module, a command to control the robot platform is received with a 2-axis joystick input, and an elliptical grid mapping technique is used to convert the joystick input into a linear and angular velocity command of the robot. WiFi and Zigbee are used for communication between the robot module and the remote controller module. The proposed robot platform was tested by measuring and comparing the linear velocity and angular velocity of the actual robot according to the linear velocity and angular velocity commands of the robot generated by the input of the joystick.

• Journal of Electrical Engineering and Technology
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• v.13 no.2
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• pp.752-760
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• 2018

In this paper, interior permanent magnet synchronous motor (IPMSM) design for sensorless drive, considering magnetic neutral point shift according to magnetic saturation, has been proposed. Sensorless control was divided into a method based on inductance and a method based on back induced voltage. Because induced voltage is very small at zero or low speed, error in rotor initial position estimation may occur. Using the ratio of saliency addresses this problem. When using high-frequency injections at low speed, the rotor's initial position is estimated at the smallest portion of the inductance. IPMSM has the minimum inductance at the d-axis. However, if magnetic saturation leads to magnetic neutral point variation, following the load current change, there is a change in the minimum point of inductance. In this case, it can lead to failure of initial rotor position estimation. As a result, it is essential that the blocking design has an inductance minimum point shift. As such, in this study, an IPMSM design method, by blocking magnetic neutral point change, has been proposed. After determining the inductance profile based on the finite element analysis (FEA), the results of proposed method were verified.

• Journal of the Korean Society for Precision Engineering
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• v.19 no.2
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• pp.213-219
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• 2002

A cone-shaped active magnetic healing spindle system for high speed internal grinding with built-in motor that has 7.5kW power and maximum rotational speed of 50,000 rpm is designed and built. Using cone-shaped AMB(Active Magnetic Bearing) system, the axial rotor dick and magnets of conventional 5-axis actuating design can be eliminated. so this concept of design provides a simple magnetic bearing system. In this paper, the cone-shaped electromagnets are designed by magnetic circuit theory, and a de-coupled direct feedback PID controller is applied to control the coupled magnetic bearings. The designed crone-shaped AMB spindle system is built and constructed with a digital control system, which has TMS320C6702 DSP, 16 bit AD/DA, switching power amplifier and gap sensors. As the AMB system provides high damping ratio eliminating overshoot and resonance speed, this spindle runs up to 40,000 rpm stably with about 5${\mu}{\textrm}{m}$ of runout.

• Journal of the Korean Institute of Illuminating and Electrical Installation Engineers
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• v.13 no.2
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• pp.39-45
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• 1999

In case of field weakening region, torque is directly affected by flux. In this region, the flux reference is cIecreased inversely proportional to the rotor speed. As the flux is decreased, the magnetizing inductance is nonnally increased The increased magnetizing inductance limited voltage for controlling current In this paper, rreasuring q axis voltage in field weakening region, magnetizing inductance in flux calculating can be readjusted. Computer simulation and experiment results demostrate the efficacy of the prqx>sed rrethod. Proposed algorithm is expected to the application of the adjustable drive system in the spinning and weaving field. field.