• 제어로봇시스템학회:학술대회논문집
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• 2002.10a
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• pp.108.5-108
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• 2002

Recently, the more advanced control technologies are required to deal with the fast and accurate motion in manipulators. For these requirements, many manipulator control methods have been developed such as a computed torque method. This paper proposes a design method, a two-degrees-of-freedom internal model control (TDOF IMC), of the manipulator position control based on combination of the one-degree-of-freedom internal model control (ODOF IMC) system and the disturbance observer. The proposed control scheme is implemented for the position control, which leads the slave manipulator to the desired location by the master arm. The experimental results are presented and discussed through the imp...

• Journal of Drive and Control
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• v.17 no.1
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• pp.44-50
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• 2020

For the requirement of accurate tracking control and the safety of physical human-robot interaction, torque control is basically desirable for humanoid robots. Because of the complexity of humanoid robot dynamics, the TDC (time-delay control) is practical because it does not require a dynamic model. However, there occurs a considerable error due to discontinuous non-linearities. To solve this problem, the TDC-FLC (fuzzy logic compensator) is applied to humanoid robots. The applied controller contains three factors: a TDE (time-delay estimation) factor, a desired error dynamic factor, and FLC to suppress the TDE error. The TDC-FLC is easy to execute because it does not require complicated humanoid dynamic calculations and the heuristic fuzzy control rules are intuitive. TDC-FLC is implemented on the whole body of a humanoid, not on biped legs even though it is performed by a virtual humanoid robot. The simulation results show the validity of the TDC-FLC for humanoid robots.

• Journal of Power Electronics
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• v.16 no.2
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• pp.564-571
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• 2016

This study proposes an adaptive neuro-fuzzy inference system (ANFIS)-based rotor position controller for brushless direct current (BLDC) motors to improve the control performance of the drive under transient and steady-state conditions. The dynamic response of a BLDC motor to the proposed ANFIS controller is considered as standard reference input. The effectiveness of the proposed controller is compared with that of the proportional integral derivative (PID) controller and fuzzy PID controller. The proposed controller solves the problem of nonlinearities and uncertainties caused by the reference input changes of BLDC motors and guarantees a fast and accurate dynamic response with an outstanding steady-state performance. Furthermore, the ANFIS controller provides low torque ripples and high starting torque. The detailed study includes a MATLAB-based simulation and an experimental prototype to illustrate the feasibility of the proposed topology.

• KIEE International Transaction on Electrical Machinery and Energy Conversion Systems
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• v.2B no.3
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• pp.125-132
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• 2002

PMSMS (permanent magnet synchronous motors) are widely used in industrial applications and home appliances because of their high torque to inertia ratio, superior power density, and high efficiency. For high performance control, accurate informations about the rotor position is essential. Sensorless algorithms have lately been studied extensively due to the high cost of position sensors and their low reliability in harsh environments. A novel position sensorless speed control for PMSMs uses indirect flux estimation and is presented in this paper. Rotor position and angular velocity are estimated by the proposed indirect flux estimation. Linkage flux and magnetic field flux are calculated by the voltage equations and the measured phase current without any integration. Instead of linkage flux calculation with integral operation, indirect flux and differential magnetic field are used for the estimation of rotor position. A proper rejection technique fur current noise effect in the calculation of differential linkage flux is introduced. The proposed indirect flux detecting method is free from the integral rounding error and linkage flux drift problem, because differential linkage flux can be calculated without any integral operation. Furthermore, electrical parameters of the PMSM can be measured by the proposed TCM (time compression method) for soft starting and precise estimation of rotor position. The position estimator uses accurate electrical parameters that are obtained from the proposed TCM at starting strategy. In the operating region, a proper compensation method fur temperature effect can compensate fir the estimation error from the variation of electrical parameters. The proposed novel position sensorless speed control scheme is verified by the experimental results.

• Journal of Advanced Marine Engineering and Technology
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• v.29 no.7
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• pp.713-721
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• 2005

A marine diesel engine should realize optimal operation efficiency while reducing NOx, PM (Particulate Matters) and other emissions. Fuel injection systems that use electronic control can become an effective means of achieving that objective. However. it still needs some accurate and instant information in order to bring its ability into full potential while sailing on the sea. The important information of them are a shaft torque and continuous combustion pressures of all cylinders. The shaft torque and the propeller thrust described in this paper are measured at an intermediate shaft by using a unique principle that one of two electromagnet coils oscillates a vibrating strip which the length changes with force and the other coil picks up the change of the frequency of the vibrating strip. For further reference, the shaft power meter multiplied the torque by the shaft revolution has already had about 750 sets of sales performance. The research presented in this paper started about ten years ago and is concerned with the development of a combustion pressure sensor that uses the same principle. Recently, the pressure sensor which bears continuous operation has been developed after a hard struggle, that is, the system that consists of a shaft horsepower meter, a propeller thrust meter and a combustion pressure sensor has been completed and has been shown to be reliable. This paper describes the configuration of this system, the material of the combustion pressure sensor, the principle of that, and the improving point of the sensor, and, we finally consider the use of this system.

• 제어로봇시스템학회:학술대회논문집
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• 1999.10a
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• pp.185-188
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• 1999

An estimation algorithm for vehicle driving load has been proposed in this paper. Driving load is an important factor in a vehicle's longitudinal motion control. An approach using an observer is introduced to estimate driving load based on inexpensive RPM sensors currently being used in production vehicles. Also, a torque estimation technique using nonlinear characteristic functions has been incorporated in this estimation algorithm. Using a nonlinear full vehicle simulation model, we study the effect of the driving load on longitudinal vehicle motion, and the performance of the estimation algorithm has been evaluated. The proposed estimation algorithm has good performance and robustness over uncertainties in the system parameters. An accurate estimate of the driving load can be very helpful in the development of advance vehicle control systems such as intelligent cruise control systems, CW/CA systems and smooth shift control systems.

• The Journal of Korea Robotics Society
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• v.12 no.3
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• pp.356-364
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• 2017

This paper presents a force control based on the observer without taking any force or torque measurement from the robot which allows realizing more stable and robust human robot interaction for the developed multi-functional upper limb rehabilitation robot. The robot has four functional training modes which can be classified by the human robot interaction types: passive, active, assistive, and resistive mode. The proposed observer consists of internal disturbance observer and external force observer for distinctive performance evaluation. Since four training modes can be quantitatively identified as impedance variation, position-based impedance control with feedback and feedforward controller was applied to the assistive training mode. The results showed that the proposed sensorless observer estimated cleaner and more accurate force compared to the force sensor and the impedance controller embedded with the proposed observer completed the assistive training mode safely and properly.

• International Journal of Precision Engineering and Manufacturing
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• v.2 no.4
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• pp.54-60
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• 2001

This paper deals with control design method having anticipation delay which is proposed for the discrete nonlinear engine where system dynamics is not accurate. Due to the induction-to-power delay in internal combustion(IC) engine having abrupt torque loss, underdamping and chattering in engine idle speed becomes a serious problem and it could make drivers uncomfortable. For this reason, Three types of the closed-loop controller are developed for the stable engine idle speed control. The inputs of the controllers are an engine idle speed and air conditioning signal. The output of the controllers is an duty cycle to operate the idle speed control valve(ISCV). The proposed controllers will be useful for improving actual vehicles since these shows good test

• Proceedings of the KIEE Conference
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• 1992.07b
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• pp.1228-1230
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• 1992

The permanent magnet synchronous motor(PMSM) is receiving Increased attention for servo drive applications in recent years because of its high torque to inertia ratio, superior power density and high efficiency. By vector-controll method, PMSM has the same operating characterics as seperately excited dc motor. The drive system of servo motor is requested to have an accurate response for the reference input and a quick recovery for the disturbance such as load torque. However, when the unknown disturbances and parameter variations are imposed on the permanent magnet synchronous motor(PMSM), the drive system is significantly effected by them. As a result, the drive system with both a fast compensation and a robustness to a parameter variations is requested. This paper investigates the possibility of applying the fuzzy logic controller(FLC) using Multi-Rule Base In a servo motor control system. In this paper, The five Rule Bases(1 to 5) are selected to recover the state error caused by the disturbance in steady state. In the initial operating mode. Rule Base 0 is used. To show the validity of the proposed fuzzy logic controll system, the computer simulation results are provided.

• The Journal of Korean Academy of Prosthodontics
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• v.49 no.3
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• pp.197-205
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• 2011

Purpose: This study was to evaluate the accuracy of the implant torque controller used in dental clinics and to investigate whether it was applied appropriately. Materials and methods: Fifty dentists who work in dental clinics were enrolled in this study. Dental (implant) practice career, experience frequency of implant screw loosening and fracture, education of implant torque controller application and infection control methods were included in the survey. 25 Ncm and 30 Ncm of the tightening torque applied to the implant screw were measured by 50 clinicians. After measuring the torque value by using the torque controller, the torque mean according to where education about the implant torque controller was received was analyzed with independent t-test at the significance level of 0.05. Results: The torque controller used in private dental clinics showed 4.78% error ratio. When 50 dentists applied 25 Ncm to the implant screw was $29.0{\pm}8.4$ Ncm, and that in 30 Ncm was $34.3{\pm}9.1$ Ncm. Statistical significance was found between the group that was educated about implant torque application and the group that was not educated. Conclusion: During the prosthodontic treatment with implant, there was difference between actual applied torsion force and the amount torque controller indicated. Clinicians have to not only be well-informed about the accurate usage method of the torque controller, but also keep and manage the torque controller so as to maintain continuous and accurate torque values. Through this, it is considered to achieve clinical results to minimize problems of screw loosening or fracture.