• 한국정밀공학회지
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• 제12권8호
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• pp.140-146
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• 1995

In case the uncertainty existing in a system is assumed to satisfy the matching condition and to be come-bounded. Y. H. Chen proposed an adaptive robust control algorithm which introduced adaptive sheme for a design parameter into robust deterministic controls. In this paper, the adaptive robust control algorithm is applied to the position tracking control of direct drive robots, and simulation and experimental studies are conducted to evaluate control performance.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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• pp.520-522
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• 1996

The Direct Drive Arm(DDA) is a SCARA typed direct drive manipulator with two degrees-of-freedom(DOF) using the direct drive motor of the NSK company. A controller system for the SCARA robot of DDA is designed using a DSP (TMS32Oc3O), which has the highest performance among the third DSP chips in the TI company. The design objective of the system is to implement dynamic control algorithms and neural control algorithms for real time learning which require a lot of calculations and large memory and have been tested only by simulations so far. The controller uses a DSP, a high speed D/A, 32-bit Counter and a large DRAM to implement advanced robot control algorithms.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1988년도 한국자동제어학술회의논문집(국제학술편); 한국전력공사연수원, 서울; 21-22 Oct. 1988
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• pp.1014-1017
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• 1988

Direct-drive robots have excellent features including no backlash, small friction, and high mechanical stiffness. However, dynamic coupling among joints as well as nonlinear effects become more prominent than traditional robots with reducers. Another critical issue is that the robot becomes more sensitive to the change of load. In this paper, we develop a simple current feedback scheme for reducing the influence of dynamic coupling and load sensitivity on the direct-drive robots. The method is implemented on a 2 d.o.f. planar direct-drive robot. Then the validity of the method is demonstrated through experiments.

• Journal of Advanced Marine Engineering and Technology
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• 제21권3호
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• pp.284-292
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• 1997

This paper is concerned with position control of direct drive robots. The proposed algorithm consists of the feedback controller and neural networks. Mter the completion of learning, the output of the feedback controller is nearly equal to zero, and the neural networks play an important role in the control system. Therefore, the optimum retuning of control parameters is unnecessary. In other words, the proposed algorithm does not need any knowledge of the con¬trolled system in advance. The effectiveness of the proposed algorithm is demonstrated by the experiment on the position control of a parallelogram link-type direct drive robot.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1997년도 추계학술대회 논문집 학회본부
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• pp.69-71
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• 1997

The direct drive motor is directly coupled by load. So, it is directly affected by load and disturbances. To control the direct drive motor, a robust controller is need. The main feature of variable structure system is that system trajectories are robust and insensitive to parameter variations and disturbances in the sliding mode. In this paper, adaptive variable structure controller, is used for the BLDD SM(Brushless Direct Drive Servo Motor) control. The chattering problem is reduced by using the saturation function.

• Journal of Advanced Marine Engineering and Technology
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• 제21권4호
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• pp.404-413
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• 1997

Direct-drive robots are suitable to position and force control with high accuracy, but it is difficult to design a controller which gives satisfactory perfonnance because of the system's nonlinearity and link-interactions. This paper is concerned with the force control of direct-drive robots. The pro¬posed algorithm consists of feedback controllers and a neural network. Mter the completion of learning, the outputs of feedback controllers are nearly equal to zero, and the neural network con¬troller plays an important role in the control system. Therefore, the optimum adjustment of parameters of feedback controllers is unnecessary. In other words, the proposed algorithm does not need any knowledge of the controlled system in advance. The effectiveness of the proposed algo¬rithm is demonstrated by the experiment on the force control of a parallelogram link-type direct¬drive robot.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1996년도 추계학술대회 논문집
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• pp.1004-1011
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• 1996

This paper covers the technology developmental stage work for the automatic ammunition loading system mainly focusing on the controller design of the electro-hydranlic type direct drive multi-axis manipulator. Mathematical model of the plant derived and PIDM servo-controller structured. Comparative study between the analytical and experimental work has been carried out to help understand the response property of the direct dine multi-axis robot. In the direct drive robot, non-negligible amount of disturbance and load Induced dynamics variation are transmitted to the drive axis and nonlinearity is highly observed. Thereupon a robust controller Implementing time-delay control law is proposed, and computer simulation confirms the possibility for the time-delay control application against the unpredictable disturbance and load-Induced dynamics variation.

• Journal of international Conference on Electrical Machines and Systems
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• 제3권2호
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• pp.148-154
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• 2014

This paper describes problems of the sensorless starting of horizontal axis washing machines with direct drive and suggests solution, which was experimentally verified. Horizontal axis washing machines have very difficult conditions for the drive starting, especially at full load. Inertia of the tub and water, torque from the laundry make load torque at starting higher than rated one and sometimes even higher than the maximum torque of the motor, which makes sensorless starting extremely challenging task. This paper suggests modified open-loop starting, where control system is closed shortly after beginning at low speed and rotates the drum until laundry restructuring. To ensure proper work of the sensorless algorithm at low speed additional measures for increasing of the estimation algorithm performance have been taken. These measures include special algorithm for the drive parameters estimation, which has been developed and verified by the experimental results.

• 한국운동역학회지
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• 제28권3호
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• pp.181-185
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• 2018

Objective: The purpose of this study was to investigate the effect of types of drive-in initial steps in basketball on technical factors, to provide basic information for the enhancement of basketball skill. Method: Ten men (age: $24.70{\pm}2.26years$; height: $181.00{\pm}5.72cm$; weight: $75.70{\pm}8.23kg$; career length: $10.00{\pm}3.59years$), each with a career length of over five years and no history of injury to the lower extremities within the prior six months, participated in this study. They were asked to perform four types of drive-in movements at $35{\sim}60^{\circ}$, wearing their own shoes, after running from a start line 5 m away and catching a basketball passed by an expert passer. The drive-in movements were measured by eight infrared cameras (Oqus 300, Qualisys, Sweden). Collected raw data were used to calculate total initial step time, displacement, velocity, center of mass (COM) height, and COM velocity. Results: Total initial step displacement and velocity of cross drive-ins (JC, SC) were greater than that of direct drive-ins (JD, SD; p < .05). COM velocity of cross drive-ins (JC, SC) was also greater than that of direct drive-ins (JD, SD; p < .05). Conclusion: Our results indicated that cross drive-ins, regardless of stop step type, are more effective than direct drive-ins. This is because cross drive-ins are technically bold due to less influence from walking violations and double dribble rules in basketball. However, using one-sided movement is too difficult to play in competitive game; therefore, basketball players should develop the ability to choose appropriate movement frequency.

• 유체기계공업학회:학술대회논문집
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• 유체기계공업학회 2004년도 유체기계 연구개발 발표회 논문집
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• pp.379-384
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• 2004

A prototype of 750 kW direct-drive wind turbine generator system, KBP-750D is under development in Korea. For the gearless, direct-drive prototype a synchronous generator with permanent magnets has been developed. The upwind 3-blade type machine employs variable speed and pitch control. The operating ranges of wind and rotor speed are 3 to 25 m/s and 9 to 25 rpm, respectively. The tip speed ratio of rotor blade is 7.5, designed for power coefficient 0.47, The blade pitch and torque are controlled with the predefined torque-speed curve according to the conditions of wind and public electric grid. This paper describes the outlines of primary components of KBP-750D.