• Proceedings of the KIEE Conference
• /
• 2005.10c
• /
• pp.214-216
• /
• 2005

IPMSM is necessary to use the accurate values of the inductance for the precise torque control, because of using the reluctance torque of the IPM. This paper presents method to uses the hysteresis loop inclination of the flux and current measured by applying the positive and negative voltage pulse alternately on the each-axis. Moreover, presents algorithm for speed sensorless control based on parameter identification and instantaneous reactive power.

• Proceedings of the KIEE Conference
• /
• 1995.07a
• /
• pp.216-218
• /
• 1995

In this article a neural network adaptive observer is proposed and applied to the case of induction motor control. The high performance vector control drives require exact knowledge of rotor flux. Because rotor time constant is needed to observe rotor flux, the accurate estimation of rotor time constant is important. For these problems, proposed observer which comprises neural network flux observer and neural network torque observer is trained to learn the flux dynamics and torque dynamics and subject to further on-line training by means of a backpropagation algorithem. Therefore it has been shown that the robust control of induction motor neglects the rotor time constant variations.

• Journal of Advanced Marine Engineering and Technology
• /
• v.36 no.5
• /
• pp.694-699
• /
• 2012

This paper proposes a new sensorless speed control scheme of permanent magnet DC motor using a numerical model and hysteresis controller, which requires neither shaft encoder, speed estimator nor PI controllers. By supplying the identical instantaneous voltage to both model and motor in the direction of reducing torque difference, the rotor speed approaches to the model speed, namely setting value and the system can control motor speed precisely. As the numerical model whose electric parameters are the same as those of the actual motor is adopted, the armature rotating speed can be converged to the setting value by controlling torque on both sides to be equalized. And the hysteresis controller controls torque by restricting the torque errors within respective hysteresis bands, and motor torque are controlled by the armature voltage. The experiment results indicate good speed and load responses from the low speed range to the high, show accurate speed changing performance.

• Transactions of the Korean Society of Automotive Engineers
• /
• v.24 no.3
• /
• pp.372-378
• /
• 2016

Clutch torque control is the key to the ride comfort improvement of a vehicle equipped with AMT (automated manual transmission). For such control, the torque transfer starting point, known as the "kiss point," should be indicated or at least estimated to compensate for the clutch torque. The kiss point changes due to wear, high temperature, and fatigue; as such, it should be estimated while the vehicle is being driven. In this study, the method of kiss point active estimation for an AMT vehicle with a dry-type clutch was devised. The kiss point is learned while the engine is in an idle state and while the transmission is at a neutral gear position. It is determined when the input shaft of the transmission starts to rotate by slowly engaging the clutch. The noise of the shaft speed signal during the slow engagement process is filtered for accurate control. The kiss point estimation at various clutch engagement speeds was analyzed via a vehicle test.

• 제어로봇시스템학회:학술대회논문집
• /
• 1996.10b
• /
• pp.948-951
• /
• 1996

High-speed/high-accuracy control of robot manipulator becomes more and more stringent because of the external disturbance and nonlinear characteristics. To meet this ends, lots of control strategies were proposed in the past such as the computed torque control, the nonlinear decoupled feedback control, and adaptive control. These control methods need computations of the inverse dynamics and require much computational effort. Recently, a disturbance observer with unmodeled robot dynamics and simple algorithms to motion control have been widely studied. This paper proposes a motor control strategy based on the disturbance observer which estimate the disturbance of each joint from input-output relationship of the actuator and eliminate the estimated disturbance including the torque due to modeling errors, coupling force, nonlinear friction, and so on. To apply the disturbance observer to closedloop system like velocity servo pack, the modified control structure was constructed and shown that it is equivalent to a disturbance observer in open-loop system. Finally, using the proposed approach, simulation and experiments were carried out for a two-degree-of-freedom SCARA type direct drive robot, and show some results to verify the effectiveness of the proposed algorithms.

• Proceedings of the KIEE Conference
• /
• 2006.04b
• /
• pp.140-142
• /
• 2006

Cogging torque is often a principal source of vibration, noise and difficulty of control in permanent-magnet brushless DC motors. Cogging torque can be minimized by sinusoidal air-gap flux density waveform because it is produced by the interaction of the rotor magnetic flux and angular variation in the stator magnetic reluctance. Therefore, this paper will present a design method of magnetization system of bonded isotropic neodynium-iron-boron(Nd-Fe-B) magnets in ring type with sinusoidal air-gap flux density distribution and low manufacturing cost. An analytical technique of magnetization makes use of two-dimensional finite element method(2D FEM) and Preisach model that expresses the hysteresis phenomenon of magnetic materials in order for accurate calculation.

• Proceedings of the KIEE Conference
• /
• 2004.10a
• /
• pp.18-20
• /
• 2004

An interior permanent magnet synchronous motor (IPMSM) is receiving increased attention for many industrial applications because of its high torque to inertia ratio, superior power density, and high efficiency. IPMSM is necessary to use the accurate information of the inductace for the precise torque control owing to the reluctance torque. This paper presents two method to measure the each-axis inductance. The first method uses the peak current that is measured by applying the pulsewise voltage on the each position of IPMSM. The second uses the hysteresis loop of the flux and current measured by applying the positive and negative pulsewise voltage alternately on the each-axis.

• Proceedings of the KIPE Conference
• /
• 2005.07a
• /
• pp.11-13
• /
• 2005

An interior permanent magnet synchronous motor (IPMSM) is receiving increased attention for many industrial applications because of its high torque to inertia ratio, superior power density, and high efficiency. IPMSM is necessary to use the accurate information of the inductance for the precise torque control owing to the reluctance torque. This paper presents two method to measure the each-axis Inductance. The first method uses the peak current that is measured by applying the pulsewise voltage on the each position of IPMSM. The second uses the hysteresis loop of the flux and current measured by applying the positive and negative pulsewise voltage alternately on the each-axis.

• Transactions of the Korean Society of Mechanical Engineers A
• /
• v.35 no.7
• /
• pp.709-715
• /
• 2011

Harmonic drives have been widely used in combination with joint torque sensors in order to facilitate accurate manipulator control. A harmonic drive causes a torque ripple because of its structural characteristics, and this torque ripple tends to deteriorate the performance of a controller or observer that uses torque sensors. This paper proposes a switching notch filter for reducing the torque ripple caused by a harmonic drive in a joint torque sensor; the functioning of this filter is based on the relationship between the frequency components of the torque ripple and the rotational velocity of the harmonic drive. The proposed switching notch filter is advantageous in that it requires less computational load and does not necessitate additional circuits or structures. Various experiments demonstrate that the proposed filter has good filtering performance, fast response, and good switching stability.

• Transactions of the Korean Society of Automotive Engineers
• /
• v.24 no.3
• /
• pp.294-301
• /
• 2016

This paper discusses about analyzing in-wheel vehicle's dynamic motion and load torque. Since in-wheel vehicle controls each left and right driving wheels, it is dangerous if vehicle's wheels are not in a cooperative control. First, this study builds the main wheel control logic using PID control theory and evaluates the stability. Using Carsim-Matlab/Simulink, vehicle dynamic motion is simulated in virtual 3D driving road. Through this, in-wheel vehicle's driving performance can be analyzed. The target vehicle is a rear-wheel drive in D-class sedan. Second, by using the first In-wheel vehicle's performance results, it derivate the drive motor's dynamic load torque for applying the dynamometer. Extracted load torque impute to dynamometer's load motor, linear experiment in dynamometer can replicated the 3-D road driving status. Also it, will be able to evaluate the more accurate performance analysis and stability, as a previous step of actual vehicle experiment.