• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2002년도 춘계학술대회 논문집
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• pp.73-77
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• 2002

The requirements for higher productivity call for high speed of the machine tool axes. Iron core type linear DC motor is growly accepted far a viable candidate of the high speed machine tool feed unit. LDM, however, has inherent disturbance force components: cogging and force ripple. These disturbance force directly affects tracking accuracy of the carrage and must be eliminated or reduced. Reducing motor ripple, this paper adapted the feed forward compensation method and neural network control. Experiments carried 7ut on the linear motor test setup show that this control methods is usable in order to reduce the motor ripple.

• 동력기계공학회지
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• 제4권3호
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• pp.62-71
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• 2000

A mathematical modeling for a magnetic levitation system is proposed using the Taylor series expansion of differential function for obtaining linearity. It is confirmed that this kind of linear approximation method can be used to the modeling of a magnetic levitation system. The two-degree-of-freedom optimal servo system for a constant reference signal is proposed using the LQ optimization technique. An additional state feedback is introduced at the output of the integrator to cancel the integral action for reference signal if there is no modeling error of the plant and no disturbance input to the plant. When the modeling error or the disturbance input exists, the integral effect appears. The system has a free parameter which can b used to tune the effect of the integral compensation.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1995년도 추계학술대회 논문집
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• pp.555-558
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• 1995

In designing the anti-sway controller for crane system in the industrial field, one of the basic problem is to keep the stability of system, even if the mathematical model of the plant is not exact and disturbance exists. Form this point of view, a two-degree-of-freedom(2DOF) servo controller effact to the system in which the integral compensation is effctive only when a modeling error and/or a disturbance input exist. In this paper, the change of load weight and variation of wire rope length considered as the structured uncertainty, and design the 2DOF servo contorller using independently the informations of reference signal and control output with both feedforward and feedback. The effectivenss is proved through the results for the anti-sway system in the system with the position control of trolley.

• 한국조명전기설비학회지:조명전기설비
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• 제9권6호
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• pp.78-82
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• 1995

It is needed to robust control for D.C. servo motor according to industrial automation. However, when a motor has an effect of disturbance and variable load, it is very difficult to guarantee the robustness of the system. as a compensation way of solving this problem, in this paper, a expert supervisory control method for motor control system is presented. Expert supervisory controller is designed by error and error change, and nth control input is decided by the addition of (n-1)th control input and inference amount of increase or decrease. Control input of expert supervisory control is transmitted to input, and the disturbance effect decrease remarkable by control input. The robustness of D.C. servo motor using expert supervisory control is demonstrated by the computer simulation.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1989년도 추계학술대회 논문집 학회본부
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• pp.450-455
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• 1989

In this paper we investigate the application to the motion control of n-link robotic manipulators of recently developed stable factorization approach to tracking and disturbance rejection. Given control scheme consists of an approximate "Computed Torque" based upon a simplified model together with additional state feedback and feedforward compensation, and then, nonlinear control gain has more useful than constant control gain to guarantee robustness to parameter uncertainty and external disturbance. At this stage, we design high gain nonlinear state feedback controller and simulate this controller at the SCARA type robot manipulator of two joint.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1995년도 추계학술대회 논문집 학회본부
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• pp.261-263
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• 1995

The continuous sliding mode controller with disturbance observer for the tracking control of permanent magnet synchronous motor(PMSM) is presented. In spite of the robust performance of variable structure control, there exists an undesirable chattering problem, which may be very harmful in some cases. To alleviate the problem, continuous sliding mode controller with continuous saturation function is proposed and also the prescribed performance can be obtained by efficient compensation of disturbance. Experimental results using 7.5 kW, 4000 rpm motor which is controlled by TMS320C30 DSP, are shown to demonstrate the usefulness of the proposed algorithm.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1987년도 정기총회 및 창립40주년기념 학술대회 학회본부
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• pp.351-354
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• 1987

In this paper, an adaptive control scheme is applied to the speed control system of a synchronous AC servo motor. The adaptive control system using Ioannou's modified adaptation law is shown to be robustly stable in the presence of current control error and load torque disturbance. The computer simulation demonstrates the rapid compensation of rotor speed deviation due to load torque disturbance.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2000년도 하계학술대회 논문집 D
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• pp.2799-2801
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• 2000

Robust control for DC motor is needed according to the highest precision of industrial automation. However, when a motor control system with PID controller has an effect of load disturbance, it is very difficult to guarantee the robustness of control system. In this paper, PID-Expert hybrid control method for motor control system as a compensation method solving this problem is presented. If PID control system is stable, the Expert controller is idle. if the error hits the boundary of the constraint. the Expert controller begins operation to force the error back to the constraint set. The disturbance effect decrease remarkably, robust speed control of DC motor using PID-Expert Hybrid controller is demonstrated by the simulation.

• 대한전기학회논문지:전기기기및에너지변환시스템부문B
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• 제52권8호
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• pp.363-367
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• 2003

Robust control for feedback control system is needed according to the highest precision of industrial automation. However, when a feedback control system has an effect of disturbance, it is very difficult to guarantee the robustness of control system. As a compensation method solving this problem, in this paper, Hybrid control method of feedback and Differential Supervisory controller is presented. A Feedback Controller is operated as a main controller, A Differential Supervisory Controller is a controller which operates only when some undesirable phenomena occur, e. g., when the error hits the boundary of constraint set. The robust control function of Differential Supervisory Controller, as a assistant controller is operated when state is unstable by disturbance. it demonstrated by speed control of motor.

• 조명전기설비학회논문지
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• 제12권1호
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• pp.111-116
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• 1998

산업 자동화의 고정밀도에 따라 직류서보 전동기는 강인제어가 요구되고 있다. 하지만 PID 제어기를 갖는 전동기 제어 시스템이 부하 외란의 영향을 받게되면 제어 시스템의 강인제어는 어렵게 된다. 이에 대한 보완적인 한 방법으로 본 논문에서는 전동기 제어시스템을 위한 PID-신경망 복합형 제어기법을 제시하였다. 신경망 제어기의 출력은 부하 외란 인가시에 발생되는 오차와 오차 변환율에 의해서 결정된다. 신경망 제어기를 이용한 직류서보 전동기의 강인제어는 시abf레이션에 의하여 확인하였다.