• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.1679-1683
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• 2005

This paper suggests the new type of a joint torque sensor which is attached at each joint of a manipulator for making compliance. Previous six axis force/torque sensors are high cost and installed end-effector of the manipulator. However, torque on links of previous an end-effector cannot be measured. We design a joint torque sensor that can be fully integrated with an actuator in order to measure applying torque of the manipulator. The sensor system is designed through the structural analysis. The proposed joint torque sensors are installed to the 6 DOF manipulator of a mobile robot for hazardous works and we implemented experiments of measuring applied torque to the manipulator. By the experiment, we proved that the proposed low-cost joint torque sensor gives acceptable performance when we control a manipulator.

• Journal of KSNVE
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• v.5 no.4
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• pp.565-575
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• 1995

Gearboxes are often used in the petrochemical and electrical power plants to transmit mechanical power between two branches of a machinery train rotating at different speeds. When the gearboxes are connected with rotors supported by journal bearings, bearing loads vary in magnitude and direction with rotor speed and torque transmitted by the gearboxes. In this study, dynamic characteristics of the system which consists of gearboxes and a rotor supported by journal bearings are investigated analytically and experimentally by employing the polynomial transfer matrix method and modal analysis under different speeds and torque levels. Journal bearing loads due to the transmitted torque are claculated analytically and the stiffness and damping coefficient of the journal bearings are obtained using finite element method. Comparison of the analytical and experimental results shows that the cross coupled stiffness coefficients increase with increasing rotor speed, while the cross coupled damping coefficients decrease. This generates the oil whirl instability in the journal bearings. As the transmitted torque level goes up, the stiffness coefficients of the journal bearing and the first horizontal natural frequency increase. High levels of the transmitted torque produce high bearing stiffness since the contact loads of the mating gear teeth increase. The logarithmic decrement, which is a stability indicator, is shown to decrease with increasing speed and decreasing torque. Thus, at the low torque level, the system become unstable even at the low shaft speed.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.58 no.12
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• pp.2391-2395
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• 2009

Active control schemes which modify the excitation to correct for any of the nonideal characteristics of the SPMSM is described. Especially, because of design limitations(size and cost) in automobile, the back-EMF of SPMSM can't be perfectly designed with sinusoidal wave and iron core of stator is saturated so that torque ripple is unavoidable. An active cancellation method of the pulsating torque components which would otherwise be generated using the classic sinusoidal current excitation is illustrated.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.349-349
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• 2000

A Clustering Adaptive Fuzzy Logic Controller(CAFLC) is applied to the torque control of a brushless do motor drive. Objective of this system includes elimination of torque ripple due to cogging at low speeds under loads. The CAFLC implemented has advantages of computational simplicity, and self-tuning characteristics. Simulation results showed that the torque ripple and dynamic response of the system using a CAFLC were superior to the model reference adaptive controlled system.

• Journal of Electrical Engineering and Technology
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• v.8 no.3
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• pp.530-543
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• 2013

This paper describes a control scheme of speed sensorless fuzzy direct torque control (FDTC) of permanent magnet synchronous motor for electric vehicle (EV). Electric vehicle requires fast torque response and high efficiency of the drive. Speed sensorless FDTC In-wheel PMSM drives without mechanical speed sensors at the motor shaft have the attractions of low cost, quick response and high reliability in electric vehicle application. This paper presents a new approach to estimate the speed of in-wheel electrical vehicles based on Model Reference Adaptive System (MRAS). The direct torque control suffers in low speeds due to the effect of changes in stator resistance on the flux measurements. To improve the system performance at low speeds, a PI-fuzzy resistance estimator is proposed to eliminate the error due to changes in stator resistance. High performance sensorless drive of the in-wheel motor based on MRAS with on line stator resistance tuning is established for four motorized wheels electric vehicle and the whole system is simulated by matalb/simulink. The simulation results show the effectiveness of the new control strategy. This proposed control strategy is extensively used in electric vehicle application.

• Journal of the Korean Institute of Illuminating and Electrical Installation Engineers
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• v.19 no.1
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• pp.70-79
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• 2005

In this paper, improvement method of control performance by a full-order observer using reduced-order state equation is proposed in the low speed range. Full-order observer using reduced-order state equation is the motor speed and the disturbance torque observer. The proposed algorithm is very stable in the low speed range about 1.9[rpm]. The disturbance torque in the motor drive system degrades speed control performance in the low speed range. The proposed algorithm estimated both motor speed and disturbance torque. The estimated disturbance torque is used as a feedforward value in output of the speed controller, As a result, it improves the response of load torque in the low speed range(1.9rpm).

• Proceedings of the KSME Conference
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• 2007.05a
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• pp.1087-1090
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• 2007

A wireless magnetic torque sensor is utilized to measure the torque generated in the rotating shaft in magnetic field without connecting to the shaft by any wire. In this study, a new wireless magnetic torque sensor was introduced. The structure of the sensor was explained detailed as well as its operation principle. Resulting from the torque measurement experiment results, the sensor was proven to measure the generated torque effectively. Compared with traditional contact torque sensor, the wireless one has low cost and good environment adaptation ability. Moreover, the intractable wrapping wires around the shaft are removed in this design. Hence the wireless torque sensor may be expected as a possible sensing device for many applications, such as the electric assisting rotation system in automobiles, the torque sensing system in motors, the arm rotation system in robotics and so on.

• The Transactions of the Korean Institute of Electrical Engineers B
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• v.52 no.3
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• pp.93-100
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• 2003

Switched reluctance motor(SRM) has some advantages such as low cost, high torque density but SRM has essentially high torque ripple due to its salient structure. In order to apply SRM to industrial field, torque ripple has to be reduced. This paper introduces optimal design process of SRM using an optimization algorithm of Progressive Quadratic Response Surface Modeling(PQRSM) and two-dimensional(2D) Finite Element Method(FEM). The electrical and geometrical design parameters have been adopted as 2D design variables. From this work, it can be obtained both the optimal design minimized torque ripple and the optima1 design maximized the average torque, respectively. Finally, this Paper Presents Performance comparison of two optimal designs and consider influence of the selected design variables in torque characteristics.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.26 no.12
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• pp.2590-2597
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• 2002

A new torque measuring apparatus adopting the basic principle of a capacitive type sensor is proposed in this article. Two plate electrodes are working as a capacitive sensor, whose capacitance varies as torque is applied. One end of each plate is connected to the torque carrying shaft. Output characteristics of the torque sensor were theoretically analyzed and its validity was investigated through experiment. Calculations and calibration experiments show that the output is nonlinear, that is, the sensitivity is very high at low torque but decreases as torque increases. The sensitivity of the proposed system is about 100 times roughly higher than that of a conventional 4-strain gauge type torque sensor.

• Journal of Power Electronics
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• v.10 no.2
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• pp.176-180
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• 2010

This paper deals with a control method to reduce the torque ripple of a permanent magnet synchronous motor (PMSM) for electric power steering (EPS) systems. Such an application requires a very low torque ripple in order to maintain a good steering feel. However, because of spatial limitations, it cannot help having a partial saturation in the iron core of the PMSM for an EPS system, and this saturation results in a significant torque ripple. Thus, this paper analyzes the torque ripple caused by the magnetic saturation of a PMSM and proposes a method with respect to inductance measurement to verify the partial saturation. In addition, it is shown that a compensation current is needed in order to minimize the torque ripple when a PMSM is driven in the high torque region. The estimation process of the current and the torque ripple decreased by the current are presented and verified with test results.