• The Journal of the Korea institute of electronic communication sciences
• /
• v.15 no.2
• /
• pp.273-284
• /
• 2020

This paper proposes a method of designing and controlling delta robots with low-cost DC motors, which are widely used in the automation process. Simulation was performed by interpreting the mechanics and dynamics of the delta robot, and based on this analysis, low-cost DC motor was selected. Experiments were conducted to obtain characteristic values of motors and the current-position cascade control system was designed and implemented. In order to verify the feasibility of the proposed system, the experiment to check that the end-effector of the delta robot follows the target path was progressed. Through the experiment, the limitations of using low-cost motors were overcome by designing compensation algorithms and the performance of the position control was verified.

• Proceedings of the KIPE Conference
• /
• 2001.10a
• /
• pp.395-399
• /
• 2001

In this paper, various reduced parts converter topologies and control strategies for power factor correction and motor control are reviewed and systematic design methodology is developed. From this investigation, the converter topologies could be mainly categorized into cascade type and unified type. The detailed operational principles are examined and the performance comparison is derived to illustrate merits and limitations of the converters. Simulation results are provided to help the better understanding of the theoretical description and several experimental results are presented on prototype induction motor better brush less dc (BLDC) motor drives, along with cascade and unified type converters.

• Journal of international Conference on Electrical Machines and Systems
• /
• v.1 no.3
• /
• pp.354-359
• /
• 2012

A transformerless converter suitable for multiphase drive application is presented in this paper. The topology employs a cascaded H-bridge rectifier as the interface between the grid and multi inverters which drive the multiphase motor. Compared with the conventional structure, the new topology eliminates the input transformer and also has the advantages such as four quadrant operation, simple configuration, low cost, high efficiency, and so on. The control strategies for the grid-side cascade H-bridge rectifier and the motor-side inverter are studied accordingly. Based on the multi-rotational reference frame, modular control scheme is developed to regulate the multiphase drive system. Simulation results show the proper operation of the proposed topology and the corresponding control strategy.

• Journal of Power Electronics
• /
• v.6 no.3
• /
• pp.235-244
• /
• 2006

Recently, speed sensorless vector control for synchronous reluctance motors (SYRMs) has deserved attention because of its advantages. Although rotor angle calculation using flux estimation is a straightforward approach, the DC offset can cause an increasing pure integrator error in this estimator. In addition, this method is affected by parameter fluctuation. In this paper, to control the motor at the low speed region, a modified programmable cascaded low pass filter (MPCPLF) with sensorless online parameter identification based on a block pulse function is proposed. The use of the MPCLPF is suggested because in programmable, cascade low pass filters (PCLPF), which previously have been applied to induction motors, the drift increases vastly wl)en motor speed decreases. Parameter identification is also used because it does not depend on estimation accuracy and can solve parameter fluctuation effects. Thus, sensorless speed control in the low speed region is possible. The experimental system includes a PC-based control with real time Linux and an ALTERA Complex Programmable Logic Device (CPLD), to acquire data from sensors and to send commands to the system. The experimental results show the proposed method performs well, speed and angle estimation are correct. Also, parameter identification and sensorless vector control are achieved at low speed, as well as, as at high speed.

• The Transactions of the Korean Institute of Power Electronics
• /
• v.24 no.1
• /
• pp.49-55
• /
• 2019

This study proposes a robust control of a fin position servo system using the H-infinity loop-shaping method. The fin position control system has a proportional (P) position controller and a proportional-integral (PI) controller. In this work, the position control loop requires a wide bandwidth. No current control loop exists due to the compact design of the system. Hence, the controller parameters are difficult to determine using the traditional cascade design method. The $H_{\infty}$ controller design method is used to design the controller's gain to achieve good performance and robustness. First, the transfer function of the system, which can be divided into tunable and fixed parts, is derived. The tunable part includes the position P controller and speed PI controller. The fixed part includes the rest of the system. Second, the optimized controller parameters are calculated using Matlab $H_{\infty}$ controller design program. Finally, the system with optimized controller is tested by simulation and experiment. The control performance is satisfactory, and the $H_{\infty}$ controller design method is proven to be valid.