• 한국공작기계학회:학술대회논문집
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• 한국공작기계학회 2003년도 추계학술대회
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• pp.219-226
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• 2003

In this paper, it is presented a new scheme of adaptive-neuro control system to implement real-time control of robot manipulator. Unlike the well-established theory fir the adaptive control of linear systems, there exists relatively little general theory fir the adaptive control of nonlinear systems. Adaptive control technique is essential fir providing a stable and robust performance fir application of robot control. The proposed neuro control algorithm is one of teaming a model based error back-propagation scheme using Lyapunov stability analysis method. Through simulation, the proposed adaptive-neuro control scheme is proved to be a efficient control technique f3r real-time control of robot system using DSPs.

• 전력전자학회논문지
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• 제15권3호
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• pp.167-178
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• 2010

영구자석 동기전동기에서 고정자 권선의 단락으로 인해 발생하는 권선 고장을 동작 중 실시간으로 검출할 수 있는 고장 진단 기법을 제시한다. 제안된 기법은 고조파 분석을 통해 q축 전류의 2차 고조파를 관찰함으로서 이루어지며 고장이 없는 정상 조건에서의 고조파 데이터와 비교를 통해서 고장을 판별한다. 임의의 정상 동작 조건에서의 고조파 데이터는 선형 보간법과 몇 개의 사전 측정된 고조파 데이터를 통해서 구해진다. 제안된 고장 검출 기법의 타당성을 입증하기 위해 내부 고정자의 권선 단락이 가능한 전동기가 제작되었으며 전체 구동 시스템과 고조파 분석 알고리즘 및 고장 검출 알고리즘이 DSP TMS320F28335에 의해 구현되어 실험이 수행된다. 제안된 방법은 부가적인 진단 장비를 필요로 하지 않으며 정상 상태 조건만 만족된다면 동작 중 실시간으로 고장을 검출할 수 있다.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1996년도 춘계학술대회 논문집
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• pp.472-477
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• 1996

This paper presents a new approachtothe design of adaptive control system using DSPs(TMS320C30) for robotic manipulators to achieve trajectory tracking by the joint angles. Digital signal processors are used in implementing real time adaptive control algorithms to provide an enhanced motion control for robotic manipulators. In the proposed control scheme, adaptation laws are derived from the improved Lyapunov second stability analysis method based on the adaptive model reference control theory. The adaptive controller consists of an adaaptive feedforward controller, feedback controller, and PID type time-varying auxillary control elements. The prpposed adaptive control scheme is simple in structure, fast in computation, and suitable for implementation of real-time control. Moreover, this scheme does not require an accurate dynamic modeling, nor values of manipulator parameters and payload. Performance of the adaptive controller is illustrated by simulation and experimental results for a SCARA robot.

• 전력전자학회:학술대회논문집
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• 전력전자학회 1997년도 전력전자학술대회 논문집
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• pp.70-78
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• 1997

A DSP-based nonlinear speed control of a permanent magnet synchronous motor(PMSM) which is robust to unknown parameter variations and speed measurement error is presented. The model reference adaptive system(MRAS) based adaptation mechanisms for the estimation of slowly varying parameters are derived using the Lyapunov stability theory. For the disturbances or quickly varying parameters, a quasi-linearized and decoupled model including the influence of parameter variations and speed measurement error on the nonlinear speed control of the PMSM is derived. Based on this model, a boundary layer integral sliding mode controller to improve the robustness and performance of a PMSM drive is designed and compared with the conventional controller. To show the validity of the proposed control scheme, simulations and experimental works are carried out and compared with the conventional control scheme.

• 전기학회논문지P
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• 제60권4호
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• pp.227-235
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• 2011

This paper describes a PMSM control algorithm for realizing a low-cost motor drive system using a general purpose microcontroller. The proposed sensorless algorithm consists of the current observer and the sensorless scheme based on instantaneous reactive power. Also the control board system is not the high-cost DSP(digital signal processor) system but the general purpose microcontroller and it allows to reduce the unit cost of the motor system. However the clock frequency of the proposed microcontroller is one-fifths for the clock frequency of the DSP. In addition, the switching frequency must be selected as the lower frequency because of complex mathematic modeling of the sensorless algorithm. the low switching frequency augments the noise of the motor and might make accurate speed control impossible. Thus this paper proposes the optimization method to supplement the drawback of the general purpose microcontroller and the usefulness of the proposed method is verified through the experiment.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1995년도 하계학술대회 논문집 B
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• pp.859-862
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• 1995

In this paper, an adaptive nonlinear observer using new Off-line algorithm is proposed to reduce the computing time. The estimated velocity data obtained from the control scheme is more accurate than that by the normal interpolation method when the velocity to be estimated is at the low speed or the fast speed. It is also shown that the adaptive controller based on AC100/C30 is useful for implementing the real-time controller.

• 제어로봇시스템학회논문지
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• 제12권12호
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• pp.1220-1230
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• 2006

In this paper, we propose a flew technique to the design and real-time control of an adaptive controller for robotic manipulator based on digital signal processors. The Texas Instruments DSPs(TMS320C80) chips are used in implementing real-time adaptive control algorithms to provide enhanced motion control performance for dual-arm robotic manipulators. In the proposed scheme, adaptation laws are derived from model reference adaptive control principle based on the improved Lyapunov second method. The proposed adaptive controller consists of an adaptive feed-forward and feedback controller and time-varying auxiliary controller elements. The proposed control scheme is simple in structure, fast in computation, and suitable for real-time control. Moreover, this scheme does not require any accurate dynamic modeling, nor values of manipulator parameters and payload. Performance of the proposed adaptive controller is illustrated by simulation and experimental results for a dual arm robot manipulator with eight joints. joint space and cartesian space.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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• pp.119-119
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• 2000

In this research an induction motor vector control system was developed using Simulink and RTW(Real Time Workshop). On the Simulink window, control system is designed in the form of block diagrams, program codes are produced automatically with the RTW, then c compiler compiles the program codes. With this automatic real time program producing mechanism rapid prototyping is realized without the time-consuming manual program coding procedures. To show effectiveness of the proposed designing scheme a DSP-based induction motor vector control system was constructed and implemented

• 전력전자학회:학술대회논문집
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• 전력전자학회 2003년도 춘계전력전자학술대회 논문집(2)
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• pp.554-559
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• 2003

A new control strategy for dynamic voltage restorer (DVR) is proposed. It is based on synchronous PI control strategy which features fast response. Therefore, the proposed control strategy takes faster action against a voltage sag. Experimental results, executed by DSP, are shown to validate the proposed control strategy.

• Smart Structures and Systems
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• 제19권1호
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• pp.47-56
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• 2017

Considerable achievements in developing structural regulators as an important method for vibration control have been made over the last few decades. The use of large quantities of cables in traditional wired control systems to connect sensors, controllers, and actuators makes the structural regulators complicated and expensive. A wireless decentralized control experimental platform based on Wi-Fi unit is designed and implemented in this study. Centralized and decentralized control strategies as sample controllers are employed in this control system. An optimal control algorithm based on Kalman estimator is embedded in the dSPACE controller and the DSP controller. To examine the performance of this control scheme, a three-story steel structure is developed with active mass dampers installed on each floor as the wireless communication platform. Experimental results show that the wireless decentralized control exhibits good control performance and has various potential applications in industrial control systems. The proposed experimental system may become a benchmark platform for the validation of the corresponding wireless control algorithm.