• Journal of the Korean Institute of Telematics and Electronics S
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• v.35S no.2
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• pp.58-69
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• 1998

A contrp; suste, fpr SCARA robot is designed for implememting a robust dynamic control algorithm. this study forcuses on the use of DSPs in the design of joint controllers and interfaces in between the host cotroller and four joint controllers and in between the joint controllers and four servo drives. The mechanical body of SCARA robot and the servo drives are selected from the commercially available ones. The four joint controllers, assigned to each joint one by one, are combined into a common system through a mother board hardwarewise and through the global memeory softwarewise. The mother board is designed to connect joint controllers onto the board through the slots adopting PC/104 bus structures. And, the global memory stores the common data which can be shared by joint controllers and the host computer directly, which virtually combines the whole system into one. To demonstrate the performance and efficienty of the sytem, a robust inverse dynamic algorithm is proposed and implemented for a faster and more precise control. The robust inverse dynamic algorithm is basically derived from an inverse dynamci algorithm and a PID compensator. Based upon the derived dynamic equitions of SCARA robot, the inverse dynamic algorithm is intitially implemented within 0.3 msec of the control cycle in this system. The algoithm is found to be not accurate enough for the high speed and precision tasks due to inherent modelling errors and time-varying factors. Therefore, a variable PID algorithm is combined with the inverse dynamic algorithm to support robustness of control performance. Experimental datfor the proposed algorithm are presented and compared with the result obtained from PID and inverse dynamic algorithm.

• Journal of the Korean Society for Precision Engineering
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• v.26 no.2
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• pp.109-117
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• 2009

This paper presents a linear air bearing stage with compensated motion errors by active control of preloads generated by magnetic actuators with combination of permanent and electromagnets. A 1-axis linear stage motorized with a linear motor with 240mm of travel range is built for verifying this design concept and tested its performances. The three motions of the table are controlled with four magnetic actuators driven by current amplifiers and a DSP based digital controller. Three motion errors were measured combined method with laser interferometer and two-probe method with $0.085{\mu}m$ of repeatability for straightness error. The measured motion errors were modeled as functions of the stage position, and compensation were carried out with feedforward control because the characteristics of the motion control with magnetic actuators are linear and independent for each degree-of-freedoms. As the results, the errors were reduced from $1.09{\mu}m$ to $0.11{\mu}m$ for the vertical motion, from 9.42 sec to 0.18 sec for the pitch motion and from 2.42 sec to 0.18 sec for roll motion.

• Journal of Institute of Control, Robotics and Systems
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• v.6 no.2
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• pp.207-216
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• 2000

This paper introduces an effective system design method to develop a customer oriented product using a design optimization process and to select a set of critical design paramenters,. The process results in the development of a successful product satisfying customer needs and reducing development risk. The proposed scheme adopted a five step QFD(Quality Function Deployment) in order to extract design parameters from customer needs and evaluated their priority using risk factors for extracted design parameters. In this process we determine critical design parameters and allocate them to subsystem designers. Subsequently design engineers develop and test the product based on these parameters. These design parameters capture the characteristics of customer needs in terms of performance cost and schedule in the process of QFD, The subsequent risk management task ensures the minimum risk approach in the presence of design parameter uncertainty. An application of this approach was demonstrated in the development of weld quality monitoring system. Dominant design parameters affect linearity characteristics of weld defect feature vectors. Therefore it simplifies the algorithm for adopting pattern classification of feature vectors and improves the accuracy of recognition rate of weld defect and the real time response of the defect detection in the performance. Additionally the development cost decreases by using DSP board for low speed because of reducing CPU's load adopting algorithm in classifying weld defects. It also reduces the cost by using the single sensor to measure weld defects. Furthermore the synergy effect derived from the critical design parameters improves the detection rate of weld defects by 15% when compared with the implementation using the non-critical design parameters. It also result in 30% saving in development cost./ The overall results are close to 95% customer level showing the effectiveness of the proposed development approach.

• Journal of Electrical Engineering and Technology
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• v.4 no.2
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• pp.219-228
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• 2009

The growing application and the numerous qualities of induction motors (1M) in industrial processes that require high security and reliability levels has led to the development of multiple methods for early fault detection. However, various faults can occur, such as stator short-circuits and rotor failures. Traditionally the diagnosis machine is done through a sinusoidal power supply, in the present paper we study experimentally the effects of the rotor failures, such as broken rotor bars in function of the ac supplying, the load and show the impact of the converter from diagnosis of the machine. The technique diagnosis used is based on the spectral analysis of stator currents or stator voltages respectively according to the types of induction motor ac supplying. So, four different ac supplying are considered: ${\odot}$ the IM is directly by the balanced three-phase network voltage source, ${\odot}$ the IM is fed by a sinusoidal current source given the controlled by hysteresis, ${\odot}$ the IM is fed (in open loop) by a scalar control imposing through ratio V/f=constant, ${\odot}$ the IM is controlled through a vector control using space vector pulse width modulation (SVPWM) technique inverter with an outer speed loop.

• The Transactions of the Korean Institute of Power Electronics
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• v.17 no.4
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• pp.306-314
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• 2012

In case of the conventional DC-AC inverter using two DC-DC converters with unipolar output capacitor voltages, for generating the AC output voltage, the output capacitor voltages of its each DC-DC converter must be higher than the DC input voltage. To solve this problem, this paper proposes a single-phase DC-AC inverter using two embedded Z-source converters with bipolar output capacitor voltages. The proposed inverter is composed of two embedded Z-source converters with common DC source and output AC load. The AC output voltage is obtained by the difference of the output capacitor voltages of each converter. Though the output capacitor voltage of converter is relatively low compared to the conventional method, it can be obtained the same AC output voltage. Moreover, by controlling asymmetrically the output capacitor voltage, the AC output voltage of the proposed system is higher than the DC input voltage. To verify the validity of the proposed system, a DSP(TMS320F28335) based single-phase embedded Z-source DC-AC inverter was made and the PSIM simulation was performed under the condition of the DC source 38V. As controlled symmetrically and asymmetrically the output capacitor voltages of each converter, the proposed inverter could produce the AC output voltage with sinusoidal waveform. Particularly, in case of asymmetric control, a higher AC output voltage was obtained. Finally, the efficiency of the proposed system was measured as 95% and 97% respectively in case of symmetric and asymmetric control.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.63 no.3
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• pp.358-366
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• 2014

This paper proposes a quasi Z-source AC-AC converter with the low DC voltage distribution capability operating as a power electronic transformer. The proposed system has configuration that the input terminals of two quasi Z-source AC-AC converters are connected in parallel, also their output terminal are connected in series. Simple control method of duty ratio was proposed for the in phase buck-boost AC voltage mode and the DC output voltage control. DSP based experiment and PSIM simulation were performed. As a result, the PSIM simulation results were same with the measured results. By controlling the duty ratio under the condition of 100 [${\Omega}$] load, quasi Z-source AC-AC converter could buck and boost the AC output voltage in phase with the AC input voltage, and the same time, the constant DC voltage could be output without affecting the AC output characteristics. And, the DC output voltage 48[V] was constantly controlled in dynamic state in case while the load is suddenly changed ($50[\Omega]{\rightarrow}100[\Omega]$). From the above result, we could know that the quasi Z-source AC-AC converter can act as a power electronic transformer with a low DC voltage distribution capability.

• The Transactions of the Korean Institute of Power Electronics
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• v.7 no.4
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• pp.366-376
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• 2002

A sensor fault detection and isolation scheme(SFDIS) is adopted to improve the reliability of direct torque controlled induction motor drives and the experimental results are discussed. Major contributions include: experimental analysis of a few important sensor faults. design and implementation of the proposed SFDIS, and the fault tolerant control system(FTCS). Although the adopted SFDIS employs only one observer for residual generation, the system has the function of fault isolation that only multiple observer schemes can have. To verify the performance of the proposed scheme, the speed control system is designed for the 2.2kW direct torque controlled Induction motor. Hardware of the control system consists of a control board using TMS320OVC33 and a power stack using IPM. Experimental results for various type of sensor faults show the effectiveness of the SFDIS and the FTCS.

• The Transactions of the Korean Institute of Power Electronics
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• v.7 no.4
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• pp.332-338
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• 2002

High current coil power supply for superconductivity coil of tokamak requires fast dynamics performance of di/dt and smooth change over of current direction. To meet the specification high performance DSP-based controller Is designed for 12-pulse thyristor dual converter with interphase transformer(IPT). Not only the total current of Y and $\Delta$ converter units but also the difference for those should be regulated fast and accurately. Proportional and integral controller is designed for current difference control and the controller output is compensated to $\Delta$ converter. The source voltage phase angle detection and gate pulse generation algorithm are implemented in software for higher reliability of current control. The current error Is reduced by selection of appropriate initial gating angle during the transient of change over of current direction between thyristor converters.

• International Journal of Highway Engineering
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• v.16 no.3
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• pp.35-41
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• 2014

PURPOSES : The dynamic modulus for a specimen can be determined by using either the non-destructed or destructed testing method. The Impact Resonance Testing (IRT) is the one of the non-destructed testing methods. The MTS has proved the source credibility and has the disadvantages which indicate the expensive equipment to operate and need a lot of manpower to manufacture the specimens because of the low repeatability with an experiment. To overcome these shortcomings from MTS, the objective of this paper is to compare the dynamic modulus obtained from IRT with MTS result and prove the source credibility. METHODS : The dynamic modulus obtained from IRT could be determined by using the Resonance Frequency (RF) from the Frequency Response Function (FRF) that derived from the Fourier Transform based on the Frequency Analysis of the Digital Signal Processing (DSP)(S. O. Oyadigi; 1985). The RF values are verified from the Coherence Function (CF). To estimate the error, the Root Mean Squared Error (RMSE) method could be used. RESULTS : The dynamic modulus data obtained from IRT have the maximum error of 8%, and RMSE of 2,000MPa compared to the dynamic modulus measured by the Dynamic Modulus Testing (DMT) of MTS testing machine. CONCLUSIONS : The IRT testing method needs the prediction model of the dynamic modulus for a Linear Visco-Elastic (LVE) specimen to improve the suitability.

• ETRI Journal
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• v.25 no.5
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• pp.337-344
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• 2003

In this paper, we introduce a fully synthesizable 32-bit embedded microprocessor core called the AE32000B. The AE32000B core is based on the extendable instruction set computer architecture, so it has high code density and a low memory access rate. In order to improve the performance of the core, we developed and adopted various design options, including the load extension register instruction (LERI) folding unit, a high performance multiply and accumulate (MAC) unit, various DSP units, and an efficient coprocessor interface. The instructions per cycle count of the Dhrystone 2.1 benchmark for the designed core is about 0.86. We verified the synthesizability and the area and time performances of our design using two CMOS standard cell libraries: a 0.35-${\mu}m$ library and a 0.18-${\mu}m$ library. With the 0.35-${\mu}m$ library, the core can be synthesized with about 47,000 gates and operate at 70 MHz or higher, while it can be synthesized with about 53,000 gates and operate at 120 MHz or higher with the 0.18-${\mu}m$ library.