• 대한전자공학회논문지
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• 제27권2호
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• pp.55-64
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• 1990

직류 전동기의 위치 및 속도 제어를 위해 그동안 주로 사용해 왔던 고전적인 선형 PID 제어 알고리듬을 사용하여 왔으나, 주위환경의 변화나 부하의 변경 또는 외란과 같은 비션형 요소들로 인해 실제 시스템의 모델링에는 많은 제한이 따랐다. 이 문제를 해결하기 위해 시스템의 모델링 없이 매개변수들을 온라인으로 추정하여 식별할 수 있는 PID 자기 동조기의 설계 방법을 제안하였다. 본 논문에서는 극 배치 PID 자기 동조 제어기의 설계 기법을 제안하고, 각각의 제어기 매개변수들을 추정하기 위하여 순환 최소자승 알고리듬을 사용하야T으며, Diophantine 방정식의 도입으로 인한 4개의 추가매개 변수들을 추정된 제어기 매개변수들을 이용하여 새롭게 유도된 방정식에서 구하였다. 제안된 제어기의 성능을 평가하기 위하여 최소, 비최소 위상 시스템에 대한 시뮬레이션을 하였고 실제 로보트 매니플레이터용 DC 서어보 전동기에 대하여 무부하와 부하 실험을 거쳐 그 특성이 양호함을 검증하였다.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2003년도 춘계학술대회 논문집
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• pp.988-991
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• 2003

In this paper, we try to develop the controller which uses the block diagrams of SIMTool and internal functions CEMTool for planning the global driving controller for high efficiency AGV. We acquire the control efficiency by controlling the motor used each part of AGV driving controller. The block diagram structures provided with SIMTool is easily designed by the controller, and the monitoring and analysis of the results is researched by simulation. We expect to control AGV. robot and various plant using Ziegler-Nichols auto-tuning method and external I/O board

• 대한전기학회:학술대회논문집
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• 대한전기학회 2003년도 학술회의 논문집 정보 및 제어부문 A
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• pp.55-58
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• 2003

A LQ-servo PI controller is proposed to deal with the uncertainty caused variations of load inertia of direct drive do motor by using loop shaping technique.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1989년도 추계학술대회 논문집 학회본부
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• pp.29-32
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• 1989

This paper proposes new position control method for DC servo motor by PI controller adopting sliding mode control. By adding sliding mode controller to conventional PI controller good robustness is obtained with good transient response and no steady state error which are merits in PI controller. In order to use microprocessor for digital control the principles of sliding mode control conventionally explained in continous-time system are extended to discrete-time system.

• 한국조명전기설비학회지:조명전기설비
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• 제6권4호
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• pp.60-68
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• 1992

In this paper, an implementation approach of Fuzzy Position Controller for DC servo motor which requires the faster and more accurate dynamics is presented. Fuzzy position controller implemented with 80286 microprocessor and DT 2801 board consists of an adjustment routine of optimal scale factors and a Fuzzy inference routine of optimal control signals. Comparison to conventional PD controllers, the control performances of proposed Fuzzy controller such as reaching time, overshoot, and disturbance adaptability are substantially improved.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1988년도 추계학술대회 논문집 학회본부
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• pp.414-417
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• 1988

This paper presents a study on the operation of a digitally controlled DC servo motor drive at low speed region. Two schemes aiming to improve the transient behavior of the speed control system are considered. The first scheme is the current positive feedback scheme to reduce the sensitivity of the system with respect to the load torque variations. The second one is the speed observer based on a motor model. Finally, the two schemes are studied by simulation and then verified experimetally using a prototype DC motor drive.

• 전기의세계
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• 제30권8호
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• pp.501-508
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• 1981

A novel and simple method of designing the current feedback loop for the velocity controller of an armature controlled dc servo motor is presented. Instead of constructing the usual tight current feedback loop, a loose current feedback loop is suggested in this paper. More specifically, the armature current is not limited to a fixed constant value, but instead the upper bound value is allowed to be variable along with the present motor speed. The control system designed in this manner shows that the motor under control is robust to a wide range of loading conditions and yields a more rapid transient characteristics which is verified experimentally by applying the method in the design of the controller for an Industrial robot.

• 한국정밀공학회지
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• 제15권8호
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• pp.60-70
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• 1998

A harmonic drive is compact torque transmission device with no backlash which is widely applied in industrial field to transmit torque precisely. However, one of the disadvantages of harmonic drives is the existence of mechanical flexibility caused by its structural properties, which imposes great limitation on designing precise controller This paper proposes a nonlinear controller for synchronous operation of DC servo-motors with harmonic drive, using Integrator Backstepping method. Furthermore, an alternative algorithm for serial type synchronous operation of multiple DC servo-motors is proposed. Simulation results by SIMULINK for proposed controller shows considerably small error and rapid approach to reference input, which can be adapted to industrial applications.

• 조명전기설비학회논문지
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• 제20권9호
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• pp.24-31
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• 2006

This study developed a human robot mast arm, which has a structure similar to the human arm, with the objective of taking over human works. The robot arm was structured to reproduce human actions using three axes on each of the shoulder and the wrist based on mechanics, and the actuator of each axis adopted an ordinary DC motor. The servo system of the actuator is a one body type employing an amp for electric power, and it was designed to be small and lightweight for easy installation. We examined the posture control characteristics of the developed robot mast arm in order to test its interlocking, continuous motions and reliability.

• 한국정밀공학회지
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• 제17권1호
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• pp.21-26
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• 2000

This paper describes a positioning system for ultra-precision that will be utilized in semiconductor manufacturing field and precision machinery. This system is composed with laser scale unit with 10nm resolution, ball screw with LM guide, brushless DC servo motor, vibration isolator and is equipped in chamber for continuous measuring environment. The dynamic of table, the problem of servo control and the traceability for micro step motion are described. These data will be applied for getting more stable system with 50nm resolution.