• Proceedings of the KIPE Conference
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• 2000.07a
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• pp.615-619
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• 2000

This paper presents an implementation of digital motion control system of Surface Permanent-Magnet Synchronous Motor(SPMSM) vector drives with a direct torque control(DTC) using the 16bit DSP TMS320F240 The DSP controller enable enhanced real time algorithm and cost-effective design of intelligent control for motors which can be yield enhanced operation fewer system components lower system cost increased efficiency and high performance The system presented are stator flux and torque observer of stator flux feedback model that inputs are current and voltage sensing of motor terminal and angle for a low speed operating area two hysteresis band controllers an optimal switching look-up table and IGBT voltage source inverter by using fully integrated control software. The developed control system are shown a good motion control response characteristic results and high performance features using 1.0Kw purposed servo drive SPMSM.

• Proceedings of the KIEE Conference
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• 2000.07b
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• pp.1036-1038
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• 2000

This paper presents an implementation of digital motion control system of induction motor vector drives with a direct torque control(DTC) using the 16bit DSP TMS 320F240. The DSP controller enable enhanced real time algorithm and cost-effective design of intelligent controllers for induction motors which can be yield enhanced operation, fewer system components, lower system cost, increased efficiency and high performance. The system presented are stator flux observer of current model that inputs are current sensing of motor terminal and rotor angle, and optimal switching look-up table by using fully integrated control software. The developed system are shown a good motion control response characteristic results and high performance features using 2.2Kw general purposed induction motor.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.66 no.1
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• pp.186-193
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• 2017

KOSMOS is Korea Open Source MOtion System which is developed based on general purpose hardware and open source software. It is aiming at IEC 61131-3 standard. Real-time ethernet has several advantages for motion control system and distributed control system. So, considering this advantages, KOSMOS has the network interface made up of Real-time ethernet, EtherCAT. In this paper, we explain the KOSMOS platform, the performance for real-time task and show the real case applying KOSMOS platform in manipulator control system.

• Journal of the Korean Society of Fisheries and Ocean Technology
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• v.55 no.2
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• pp.172-180
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• 2019

In this study, a ship motion control system design method is introduced for autonomous ships. Some related research results and technologies for autonomous ships have already been developed and applied to testing ships. Recently, the Norwegian Maritime Authority and the Coastal Administration have signed an agreement and started to test autonomous ships in the defined area. Considering recent technology trends and background, in this paper, the authors also try to develop autonomous ship control technologies. In the designed control system, an observer is introduced to estimate unmeasurable system states. Based on the servosystem with state estimator, ship motion control experiment is performed to evaluate control performance using a model ship in water basin.

• 제어로봇시스템학회:학술대회논문집
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• 1992.10b
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• pp.36-48
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• 1992

This paper describes motion control system applied to mechatronics devices. It is pointed out that a new approach is necessary to realize a good performance motion control. At first, a motion controller of mechatronics devices is introduced. The controller is constructed from four layer of hierarchical structure. After that two practical examples are presented to introduce the new approach to advanced motion control exactly.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.152-152
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• 2000

In this paper, we propose a new approach to intelligent motion and autonomous maneuvering of mobile robots using hybrid system. In high Level, the discrete states are defined by using the sensor-based search windows and the reference motions of a mobile robot as a low vevel are specified in the abstracted motions, The mobile robots can perform both the motion planning and autonomous maneuvering with obstacle avoidance in indoor navigation problem. Simulation and experimental results show that hybrid system approach is an effective method for the autonomous maneuvering in indoor environments.

• Journal of Biosystems Engineering
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• v.17 no.1
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• pp.27-36
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• 1992

Computer simulation was carried out to predict the motion and overturns of power tiller-trailer system this system when traveing over an obstacle on inclined planes. To estimate the effects of design factors (mass center of main body and wheel base), ground factors (ground inclination and height of obstacle), and operation factors (traveling velocity) on the sideways overturn, the motion of power tiller-trailer system was simulated as the factors were varied with five different levels.

• Journal of the Korean Society for Precision Engineering
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• v.30 no.4
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• pp.368-374
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• 2013

Maintenance works for current high-rise buildings significantly depend on human labor, unlike other construction processes that are gradually being automated. Herein, this paper proposes robotic building maintenance system using motion control, in specific, reducing a system jerk which is directly subjected to improve the process performance and economic feasibility. The sensor for detecting straight and curvature section of the building facade, moreover rail-joint segment can be detected and be utilized for reducing jerk of the system. Analysis of the proposed system error caused by excessive vibration, e.g. jerk motion is introduced. To enhance the stability and safety of the system, herein, the strategy is proposed for enhancing the performance of the system based on anti-jerk motion control algorithm which comes out increasing the stability and sustainability of the integrated system, as well.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.29 no.5 s.236
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• pp.777-785
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• 2005

The swing motion control problem of a container hanging on the trolly is considered in the paper. In the container crane control problem, suppressing the residual swing motion of the container at the end of acceleration, deceleration or the case of that the unexpected disturbance input exists is main issue. For this problem, in general, many trolley motion control strategies are introduced and applied. In this paper, we introduce and synthesize a swing motion control system in which a small auxiliary mass is installed on the spreader made by ourselves. In this control system, the actuator reacting against the auxiliary mass applies inertial control forces to the container to reduce the swing motion in the desired manner. In many studies, the controllers used to suppress the vibration have been synthesized for the given mathematical model of plants. And, the designers have not been able to utilize the degree of freedom to adjust the structural parameters for the control object. To overcome this problem, so called 'Structure/control Simultaneous Method' is used. In this paper, the simultaneous design method is used to determine the optimum weight of moving mass such that the optimal system performance would be achieved. And the experimental result shows that the proposed control strategy is useful to the case of that the controlled system is exposed to the uncertainties and, robust to the unexpected disturbance inputs.

• Proceedings of the IEEK Conference
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• 1998.10a
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• pp.883-886
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• 1998

In order to detect the user's gaze position on a monitor by computer vision, the accurate estimations of 3D positions and 3D motion of facial features are required. In this paper, we apply a EKF(Extended Kalman Filter) to estimate 3D motion estimates and assumes that its motion is "smooth" in the sense of being represented as constant velocity translational and rotational model. Rotational motion is defined about the orgin of an face-centered coordinate system, while translational motion is defined about that of a camera centered coordinate system. For the experiments, we use the 3D facial motion data generated by computer simulation. Experiment results show that the simulation data andthe estimation results of EKF are similar.e similar.