• Journal of Advanced Marine Engineering and Technology
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• 제9권1호
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• pp.61-73
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• 1985

The induction motor is widely used in the power equipments of the ship and the various industrial drive applications because it is robust and relatively simple and cheap to manufacture, but it has a disadvantage that the speed of induction motor is not controlled in wide range such as d.c motor. In this paper, the characteristics relating to the Kramer system that the speed of three phase wound type induction motor is controlled by changing the exciting e.m.f. of the secondary circuit is described. In order to analyze the characteristics, a new simplified and approximated T-type equivalent circuit from the Kramer circuit with three phase graetz connection and d.c machine is proposed. The stator current, motor torque and mechanical output power are computed by the current, torque and power equations derived by its equivalent circuit. Through the experiments, the $I_f-N$, torque-slip and current-slip characteristic curves of the tested motor are obtained and the various needed constants are determined. The numerical values obtained from the above method are compared with experimental values under the same conditions. As a result of the above investigation, it is found that the induction motor speed by the Kramer system is controlled by 28 per cent under the rated speed by changing the field current of d.c motor and the values computed by the current and torque equations derived by the simplified and approximated T-type equivalent circuit generally come to approach the experimental values.

• 전기의세계
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• 제26권4호
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• pp.41-53
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• 1977

With the equivalent series circuit analyzed aby revolving field theory and drawn by using the equivalent circuit constant ratios in capacitor motor with windings not in quadrature having space harmonics in its magnetic field (the above ratios are the equivalent circuit constants for the fundamental flux to the magnetizing reactance of the circuit), the equation for the alternating torque with twice line freequency in the motor is directly derived, and the alternating torque is measured with the self-made stator vibration angle amplitude measuring apparatus that is composed of a pickup, filter, photoelectric pickoff etc. The measured values satisfactorily compared with computed values. The properties of the alternating torque characteristics for respective harmonic fluxes and the r5esultant alternating torque characteristic, the effects of the alternating torque characteristics for respective harmonic fluxes on the resultant alternating torque characteristic, the effects of the variation in the motor constants and the equivalent circuit constant ratios for the fundamental flux on the alternating torque characteristics for respective harmonic fluxes and the resultant alternating torque characteristic, are made clear, applying the equation. There exist the optimum values of the motor constants and the equivalent circuit constant ratios for the fundamental flux for decreasing the alternating torque, and the value could be determined in design by the method presented in this paper.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1997년도 하계학술대회 논문집 A
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• pp.21-23
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• 1997

The analysis of the permanent type synchronous motor is performed by using the finite element method (FEM). The optimal design of the permanent magnet is presented for minimizing cogging torque in this paper. The cogging torque is expressed in terms of scalar potential computed by the virtual work formula. The minimization of cogging torque is achieved by using the ( ${\mu}$ + ${\lambda}$ ) Evolution Strategy (ES) and the selected flux densities are used to a constraint.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1993년도 한국자동제어학술회의논문집(국내학술편); Seoul National University, Seoul; 20-22 Oct. 1993
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• pp.889-894
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• 1993

This paper presents a robust adaptive control scheme based on the Lyapunov design for robot manipulators subjected to inertial parameter uncertainties and bounded torque disturbances. The scheme is a modified version of the adaptive computed torque method which adopts a dead zone into the adaptation mechanism so as to avoid parameter drifts by disturbances. It is shown via stability analysis and computer simulations that all the signals in the overall adaptive system are bounded and tracking errors lie within a prespecified bound.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.1972-1977
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• 2005

In this work, an inverse dynamic control method is developed to enhance tracking performance of industrial robots, which effectively deal with the nonlinear dynamic interferential forces. In general, the DFF (Dynamic Feed-Forward) controller and the CTM (Computed-Torque Method) controller are used for dynamic control for industrial robots. We study on the practical issues for implementing these inverse dynamic controllers via simulations and experiments. We develop the dynamic models in two different ways. One is a model designed through Newton-Euler method for real time computation and the other is a model designed through SimMechanics for evaluating the developed controller via simulations. We evaluate the nominal performance and robustness of the controller via simulations and experiments using serial 4-DOF HyRoHILS (Hyundai Robot Hardware-In-the-Loop Simulation) system. The results show that the inverse dynamic controller is effective and practically useful for a real control structure.

• 한국산업융합학회 논문집
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• 제20권1호
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• pp.34-48
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• 2017

This study proposes a new approach to control a trajectory control of vertical type articulated robot arm with six revolution joints by computed torque method for manufacturing process automation. The proposed control scheme takes advantage of the properties of the fuzzy controllers. The proposed method is suitable to control of the trajectory and path control in cartesian space for vertical type articulated robot manipulator for forging manufacturing process automation. The results is illustrated that the proposed fuzzy computed torque controller is more stable and robust than the conventional computed torque controller. This study is included with an analytical methodology of inverse kinematic computation for 6 DOF manipulators. And an intelligent PID based on feed forward fuzzy control structure is applied to control the working path control with disturbances caused by uncertainty parameters of the manipulator dynamic model. Lastly, the validity of proposed is verified by simulations and experiments.

• 한국산업융합학회 논문집
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• 제19권4호
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• pp.206-215
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• 2016

Delta parallel robots are now widely used for high-speed applications. However, typical Delta robots, such as ABB Flexpicker suffer from rotating axis with passive prismatic joint subjected to critical speed and so requiring careful maintenance. In this paper, a novel 4-DOF high-speed parallel robot with four legs is presented, which consists of three legs with 90 degree arrangement for translational motions and one remaining leg with rack & pinion gears for rotational motion. The inverse kinematics, velocity, acceleration, statics, and inverse dynamics have been analyzed. From the workspace analysis and inverse dynamics simulation for 0.43 sec cycle time, the 4-axis parallel robot prototype with 12kg payload has been designed. In the future research, computed torque control methods will be developed for the prototype.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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• pp.573-576
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• 1996

We propose robust control scheme for flexible joint manipulator in the presence of nonlinearity and mismatched uncertainty. The control is designed based on Lyapunov approach. The robust control which is based on the computed torque scheme and state transformation via implanted control is introduced. The design procedure starts with the construction of linearized subsystems via the computed torque method and then uses state transformation. With this approach we do not impose an upper-bound constraint on the inertia matrix in case it is known. Thus, this control can be applied to arbitrary manipulators. The resulting robust control guarantees practical stability for both the transformed system and the original system. The transformation is only based on the possible bound of uncertainty.

• 한국생산제조학회지
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• 제8권2호
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• pp.73-79
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• 1999

Most of mechanical structures are combined of substructures such as beams and/or plates. There are few systems with unibody structures but are many systems with united body structures. Generally the dynamic a nalysis of whole structures is performed under alternation load. In the structure design, the analysis of each bolted joint is more important than others for zero severity. This paper presents the analysis method of contact stress distribution factor in the bolted joint with variable fastening torque on joints in the structure. At first, a static vibration test was performed to find out a nominal stress of bolt jointed plates from the relationship between natural frequency and nominal stress. Then a contact stress was computed at contact point between bolt and plate in the structure. It is believed that the proposed method has promisiong implications for safer design with index of contact stress distribution factor and has merits for cost-down and saving time at the beginning of vehicle development.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2001년도 하계학술대회 논문집 B
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• pp.974-976
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• 2001

This paper presents a method to reduce commutation torque ripples occurred during commutation in brushless do motor drives using a single DC-link current sensor. In brushless dc motor drives with a single dc current sensor instead of 3-phase line current sensors, it is noted that dc-link current sensor cannot give any information corresponding to the motor currents during line current commutation intervals. A new technique to resolve such a problem is dealt with based on a deadbeat current control in which motor armature voltage command is computed from a dc-link current reference, an actual current and counter emf voltage. The simulation results show that the proposed method reduces the torque ripple significantly.