• Transactions of the Korean Society of Automotive Engineers
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• v.5 no.1
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• pp.186-194
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• 1997

The objective of this study is to develope knock control algorithms which can increase engine power without causing frequent knock occurrence. A four cylinder spark-ignition engine is used for the experiments to develop knock control algorithms which use block vibration signals. Knock occurrence is detected accurately by using knock threshold values which consider the difference of transmission path of each cylinder. Spark timing is controlled both simultaneously and individually. With the simultaneous control, torque gain is achieved by retarding the spark timing on knock occurrence in propotion to the knock intensity. The individual knock control algorithm results in higher torque gain than the simultaneous knock control algorithm. The knock occurrence frequency of the individual knock control algorithm is about twice the value of the simultaneous knock control algorithm results. Both control algorithms give similar torque gain of about 3% when they are optimized.

• Journal of Electrical Engineering and Technology
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• v.11 no.4
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• pp.1042-1048
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• 2016

This paper presents a lateral displacement restoring force control for the independently rotating wheelsets (IRWs) of shallow-depth subway systems. In the case of the near surface transit, which has recently been introduced, sharp curved driving performance is required for the city center service. It is possible to decrease the curve radius and to improve the performance of the straight running with the individual torque control. Therefore, the individual torque control performance of the motor is the most important point of the near surface transit. This paper deals with a lateral displacement restoring force control for sharp curved driving. The validity and usefulness of the proposed control algorithm is verified by experimental results using a small-scale bogie system.

• Transactions of the Korean Society of Automotive Engineers
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• v.6 no.2
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• pp.235-243
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• 1998

For motor operation at low speeds and loads, torque pulsation by the cogging torque is often a source of vibration and control difficulty. In this paper, the magnetic field of a motor is calculated by finite element method. The periodic cogging torque is determined using Maxwell stress method and time stepping method, and then decomposed using fourier series expansion, The purpose of this paper is to characterize design parameters on the cogging torque and to design a permanent magnet motor with a cogging torque less vulnerable to vibration, without sacrificing the motor performance. The design parameters include stator slot width, permanent magnet slot width, airgap length and magnetization direction. A new design with a less populated frequency spectrum of the cogging torque is proposed after characterizing individual effect of design parameters. Magnet pole edge shaping, by gradually increasing the cogging torque with reduced higher harmonics.

• Journal of Institute of Control, Robotics and Systems
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• v.15 no.1
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• pp.99-104
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• 2009

This article describes the analysis of stable grasping for multi-fingered robot. An analysis method of stable grasping, which is based on the three-dimensional acceleration convex polytope, is proposed. This method is derived from combining dynamic equations governing object motion and robot motion, force relationship and acceleration relationship between robot fingers and object's gravity center through contact condition, and constraint equations for satisfying no-slip conditions at every contact points. After mapping no-slip condition to torque space, we derived intersected region of given torque bounds and the mapped region in torque space so that the intersected region in torque space guarantees no excessive torque as well as no-slip at the contact points. The intersected region in torque space is mapped to an acceleration convex polytope corresponding to the maximum acceleration boundaries which can be exerted by the robot fingers under the given individual bounds of each joints torque and without causing slip at the contacts. As will be shown through the analysis and examples, the stable grasping depends on the joint driving torque limits, the posture and the mass of robot fingers, the configuration and the mass of an object, the grasp position, the friction coefficients between the object surface and finger end-effectors.

• Journal of Electrical Engineering and Technology
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• v.12 no.4
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• pp.1683-1689
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• 2017

Wheelsets are an important component affecting the dynamic characteristics of railway vehicles. Research on wheelsets has been conducted for a long time. It is possible to generate the restoring force by the individual torque control of the left and right wheels in the independently rotating wheelsets (IRWs). Although this method solves the problems of conventional wheelsets, such as the solid axle wheelsets, the restoring force control must be added to the existing traction force control, and the restoring force requires a higher precision and quicker response than the traction force. In this paper, we study the robust control strategy of wireless trams with independently rotating wheelsets. The interior permanent magnet synchronous motor (IPMSM) and the controller with the actual scale wireless tram are designed to verify the torque control performance. Moreover, we propose an open loop control method to test and verify the traction and restoring force control algorithm of the IRWs.

• Proceedings of the KSME Conference
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• 2007.05b
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• pp.3347-3352
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• 2007

This paper describes a research for the performance improvement of the straight-bladed vertical axis wind turbine. To improve the performance of VAWT, the individual blade pitch control method is adopted. For the wind turbine, CFD analysis is carried out by changing blade pitch angle according to the change of wind speed and wind direction. By this method, capacity and power efficiency of VAWT are obtained according to the wind speed and rotating of rotor, and could predict the overall performance of VAWT. It was manufactured to verify performance of the experimental system that consists of rotor including four blades and base. Furthermore, torque sensor and power generator were installed. Also, active controller which can change the pitch angle of the individual blade according to the wind speed and direction was used.

• 한국신재생에너지학회:학술대회논문집
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• 2007.06a
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• pp.366-369
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• 2007

This paper presents the general results of the conceptual design of a 3MW class offshore wind turbine named WinDS 3000 under development. In WinDS 3000, an integrated drive train design, three stage gearbox and permanent magnet generator (PMG) with fully rated converters have been introduced. A pitch regulated variable speed power control with individual pitch control has been adopted to regulate rotor torque while generator reaction torque can be adjusted almost instantaneously by the associated power electronics. Through the introduction of WinDS 3000, it is expected that helpful to understanding of the development status of 3MW offshore wind turbine.

• Journal of the Korean Institute of Intelligent Systems
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• v.19 no.3
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• pp.388-397
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• 2009

There are many tasks which require robotic manipulators interaction with environment. It consists of three control problems, i.e., position control, impact control and force control. The position control means the way of reaching to the environment. The moment of touching to the environment yields the impact control problem and the force control is to maintain the desired force trajectory after the impact with the environment. These three control problems occur in sequence, so each control algorithm can be developed independently. Especially for redundant manipulators, each of these three control problems has been important independent research topic. For example, joint torque minimization and impulse minimization are typical techniques for such control problems. The three control problems are considered as a single task in this paper. The position control strategy is developed to improve the performance of the task, i.e., minimization of the individual joint torques and impulse. Therefore, initial conditions of the impact control problem are optimized at the previous position control algorithm. Such a control strategy yields improved result of the impact control. Similarly, the initial conditions for the force control problem are indirectly optimized by the previous position control and impact control strategies. The force control algorithm uses the individual joint torque minimization concept. It also minimizes the force disturbances. The simulation results show the proposed control strategy works well.

• Journal of the Korean Institute of Illuminating and Electrical Installation Engineers
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• v.20 no.9
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• pp.84-89
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• 2006

This paper presents the thickness effect of hysteresis ring of hysteresis motor using finite element method combined with a vector hysteresis model. From the magnitude and direction of the magnetic field intensity, the magnetization of each ring element is calculated by a vector hysteresis model. The developed torque can be obtained with the vector sum of individual torque of each element on the hysteresis ring. From these calculations, it can be found that the motor torque is not in proportion to the thickness of the ring. As a result, there exists a proper point of thickness and that can be determined using the proposed methoㅇ in this paper.

• Journal of Institute of Control, Robotics and Systems
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• v.12 no.5
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• pp.497-504
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• 2006

This paper presents a new technique that derives the dynamic acceleration bounds of multiple cooperating robot systems from given individual torque limits of robots. A set of linear algebraic homogeneous equation is derived from the dynamic equations of multiple robots with friction contacts. The mobility of the robot system is analyzed by the decomposition of the null space of the linear algebraic equation. The acceleration bounds of multiple robot systems are obtained from the joint torque constraints of robots by the medium of the decomposed null space. As the joint constraints of the robots are given in the infinite norm sense, the resultant acceleration bounds of the systems are described as polytopes. Several case studies are presented to validate the proposed method in this paper.