• Advances in robotics research
• /
• v.1 no.1
• /
• pp.101-126
• /
• 2014

In this article we present modular neural control for a leg-wheel hybrid robot consisting of three legs with omnidirectional wheels. This neural control has four main modules having their functional origin in biological neural systems. A minimal recurrent control (MRC) module is for sensory signal processing and state memorization. Its outputs drive two front wheels while the rear wheel is controlled through a velocity regulating network (VRN) module. In parallel, a neural oscillator network module serves as a central pattern generator (CPG) controls leg movements for sidestepping. Stepping directions are achieved by a phase switching network (PSN) module. The combination of these modules generates various locomotion patterns and a reactive obstacle avoidance behavior. The behavior is driven by sensor inputs, to which additional neural preprocessing networks are applied. The complete neural circuitry is developed and tested using a physics simulation environment. This study verifies that the neural modules can serve a general purpose regardless of the robot's specific embodiment. We also believe that our neural modules can be important components for locomotion generation in other complex robotic systems or they can serve as useful modules for other module-based neural control applications.

• Journal of the Korean Institute of Illuminating and Electrical Installation Engineers
• /
• v.26 no.4
• /
• pp.48-56
• /
• 2012

The object of this paper is the controller for supplying stably power in a separate house in which a hybrid electrical storage system with a stand-alone photovoltaic/wind power generation system and a small generator is applied. In the photovoltaic/wind hybrid power system used in the separate house, when only the battery is used in sunless days, the capacity of the battery is become larger. In particular, as in recent days, if cloudy days are frequent due to anomaly climate, it is difficult to estimate the number of sunless days. Accordingly, it is preferable to build the electrical storage system that numbers of sunshineless days are to be controlled and a shortage amount of the power generation capacity is to be handled by a small generator system. In order to supply stably power of new renewable energy such as solar to any separate houses, it is preferable to reduce the capacity of battery by decreasing the number of sunless days when estimating the capacity of battery and to drive the small generator for compensation of the power shortage. Such system needs components including inverters for photovoltaic and wind power generation system, batteries and controllers for automatically driving the small generator, based upon the nature of the stand-alone house, and it is preferable to use the controller having a simpler and higher stability by adopting the all-in-one scheme to facilitate its maintenance.

• Journal of the Korea Academia-Industrial cooperation Society
• /
• v.7 no.5
• /
• pp.823-829
• /
• 2006

In this paper presents approaches to the design of a hybrid fuzzy logic proportional plus conventional integral- derivative(fuzzy P+ID) controller in an incremental form. This controller is constructed by using an incremental fuzzy logic controller in place of the proportional term in a conventional PID controller. The PID type controller has been widely used in industrial application due to its simply control structure, easy of design, and inexpensive cost. However, control performance of the PID type controller suffers greatly from high uncertainty and nonlinearity of the system, large disturbances and so on. This paper presents a hybrid fuzzy logic proportional plus conventional integral derivative controller In comparison with a conventional PID controller, only one additional parameter has to be adjusted to tune the Fuzzy P+ID controller. In this case, the stability of a system remains unchanged after the PID controller is replaced by the Fuzzy P+ID controller without modifying the original controller parameters. Finally, the proposed hybrid Fuzzy P+ID controller is applied to BLDC motor drive. Simulation results demonstrated that the control performance of the proposed controller is better than that of the conventional controller.

• Journal of Power Electronics
• /
• v.12 no.1
• /
• pp.67-74
• /
• 2012

According to electrical output up rating of a permanent magnet motor and request to operate for a large variable speed range, resonance between structural natural vibration and electromagnetic force inside the motor can take place and make noise. This paper describes the mechanism of a resonance between them and noise lowering procedure by frequency shift when they are applied to the reluctance torque largely employed new motor named Permanent magnet Reluctance Motor (PRM).

• ETRI Journal
• /
• v.38 no.4
• /
• pp.645-653
• /
• 2016

This paper demonstrates the performance of a metal-substrate power module with multiple fabricated chips for a high current electrical application, and evaluates the proposed module using a 1.5-kW sinusoidal brushless direct current (BLDC) motor. Specifically, the power module has a hybrid structure employing a single-layer heat-sink extensible metal board (Al board). A fabricated motor driver IC and trench gate DMOSFET (TDMOSFET) are implemented on the Al board, and the proper heat-sink size was designed under the operating conditions. The fabricated motor driver IC mainly operates as a speed controller under various load conditions, and as a multi-phase gate driver using an N-ch silicon MOSFET high-side drive scheme. A fabricated power TDMOSFET is also included in the fabricated power module for three-phase inverter operation. Using this proposed module, a BLDC motor is operated and evaluated under various pulse load tests, and our module is compared with a commercial MOSFET module in terms of the system efficiency and input current.

• Proceedings of the KIEE Conference
• /
• 2008.04c
• /
• pp.3-5
• /
• 2008

This paper presents a hybrid winding connection method for torque characteristics improving of a traction SRM. In order to get a high torque in wide speed range and torque ripple reduction, series and parallel winding connection are changed according to operating speed. From the analysis of torque character operation mode and efficiency, the proposed control scheme is verified.

• The Transactions of the Korean Institute of Electrical Engineers B
• /
• v.51 no.1
• /
• pp.40-47
• /
• 2002

This paper describes a re-adhesion control method for the Korean High-Speed Train (KHST) with parallel induction motor drive. To keep a traction efficiency and to improve vehicle maintenance, the adhesion characteristics between wheel and rail are analyzed. Also the re-adhesion controller is designed as the subsystem of induction motor vector control. In order to verify performance of the proposed control techniques, the simulation is executed by train model and a downscaled re-adhesion control simulator is utilized. Both simulation and running test results show that good re-adhesion characteristics are obtained.

• Proceedings of the IEEK Conference
• /
• 1998.10a
• /
• pp.815-818
• /
• 1998

The Insulated Gate Bipolar Transistor has the characteristics of MOSFET and BJT. The characteristics of proposed device exhibit high speed switching, the voltage controlled property, and the low ON resistance. This hybrid device has been used and developed continuously in the power electronic engineering field. We can simulate many IGBT circuits, such as the motor drive circuit, the switching circuits etc, with PSpice. However, some problems in PSpice is that the IGBT is old-fashioned and is very difficult to get it. In this paper, the IGBT in PSpice is considered as the basic structure. We changed the valuse of base width, gate-drain overlaping area, device area, and doping concentration, then calculated MOS transconductance, ambipolar recombination lifetime etc. Using this resultant parameter, we could predict the transient response characteristicsof IGBT, for examplex, voltage overshoot, the rising curve of voltage, and the falling curve of current.

• Proceedings of the KIEE Conference
• /
• 1997.07f
• /
• pp.2101-2103
• /
• 1997

In this paper, micro step driving method is used for a high performance motion control and minimizing of vibration in a industrial X-Y table. By using a mathmetical analysis method of 2 phase Hybrid-type step motor, each phase current can be optimized about unit speed and torque. We can improve the electrical and mechnical driving charicteristic of machine by applying this proposed driver to the real plant using microprocessor.

• Proceedings of the KIPE Conference
• /
• 2003.07a
• /
• pp.389-392
• /
• 2003

A use of micro processor having H-com functions is gradually increased, and this paper describes the digital servo controller applied to linear pulse motor The TMS320LF2407, made by TI(Texas Instruments Co.), is used as a arithmetic unit in control circuit, designed f3r motor drive and available for the implement of high performance and miniaturization. Also, it can allow the sufficient debugging and downloading into control board for independent operation. A current control in order to carry out a position control is of a digital current control mode, and its implement confirmed the servo control performance of position control.