• KIEE International Transaction on Electrical Machinery and Energy Conversion Systems
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• v.5B no.1
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• pp.70-77
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• 2005

This paper presents sensorless speed control of a cylindrical permanent magnet synchronous motor (PMSM) using the adaptive integral binary observer. In view of the composition with a main loop regulator and an auxiliary loop regulator, the normal binary observer has the feature of chattering alleviation in the constant boundary layer. However, the steady state estimation accuracy and robustness are dependent upon the thickness of the constant boundary layer. In order to improve the steady state performance of the binary observer, a new binary observer is formed by the addition of extra integral dynamics to the existing switching hyperplane equation. Also, because the parameters of the dynamic equations such as machine inertia or viscosity friction coefficient are not well known and these values can be changed during normal operations, there are many restrictions in the actual implementation. The proposed adaptive integral binary observer applies an adaptive scheme so that the observer may overcome the problems caused by using dynamic equations. The rotor speed is constructed by using the Lyapunov function. The observer structure and its design method are described. The experimental results of the proposed algorithm are presented to prove the effectiveness of the approach.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.580-585
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• 2005

A QRT(Quad-Rotor Type) hovering robot system is developed for quick detection and observation of the circumstances under calamity environment such as indoor fire spots. The UAV(Unmanned Aerial Vehicle) is equipped with four propellers driven by each electric motor, an embedded controller using a DSP, INS(Inertial Navigation System) using 3-axis rate gyros, a CCD camera with wireless communication transmitter for observation, and an ultrasonic range sensor for height control. The developed hovering robot shows stable flying performances under the adoption of RIC(Robust Internal-loop Compensator) based disturbance compensation and the vision based localization method. The UAV can also avoid obstacles using eight IR and four ultrasonic range sensors. The VTOL(Vertical Take-Off and Landing) flying object flies into indoor fire spots and sends the images captured by the CCD camera to the operator. This kind of small-sized UAV can be widely used in various calamity observation fields without danger of human beings under harmful environment.

• Transactions on Control, Automation and Systems Engineering
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• v.3 no.4
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• pp.229-235
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• 2001

Recently, service area has been emerging field f robotic applications. Even though assistant robots play an important role for the disabled and the elderly, they still suffer from operating the robots using conventional interface devices such as joysticks or keyboards. In this paper we propose an efficient computer interface using real-time eye-gaze tracking system. The inputs to the proposed system are images taken by a camera and data from a magnetic sensor. The measured data is sufficient to describe the eye and head movement because the camera and the receiver of a magnetic sensor are stationary with respect to the head. So the proposed system can obtain the eye-gaze direction in spite of head movement as long as the distance between the system and the transmitter of a magnetic position sensor is within 2m. Experimental results show the validity of the proposed system in practical aspect and also verify the feasibility of the system as a new computer interface for the disabled.

• Journal of Institute of Control, Robotics and Systems
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• v.15 no.12
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• pp.1197-1202
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• 2009

We present a power-efficient driving scheme that consists of piezoelectric actuator and driver IC for AF (Auto-Focus) on ISM (Image Sensor Module). The piezoelectric actuator is more power-efficient than conventional voice coil motor actuator. And high power-efficiency driver IC is designed. So the proposed driving scheme using designed piezoelectric actuator and driver IC is more close to recent trend of green IT. The diver IC should guarantee fast and accurate performance. So, the optimum driving method and high accurate frequency synthesizer are proposed. The die area of designed driver IC is $2.0{\times}1.6mm^2$ and power consumption is 2.8mW.

• Journal of Institute of Control, Robotics and Systems
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• v.13 no.1
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• pp.39-45
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• 2007

This paper proposes a method of container position measurement using automatic landing system that is estimated by a laser range finder. In the most of container position measurement methods, CCD cameras or laser scanners have been used to get the source data. However those sensors are not only weak for disturbances, for examples, the light, fog, and rain, but also the system cost is high. When the spreader arrives at the goal position, it is still swung by inertia or by wind effect. In this paper, the spreader swung data have been used to find the container position. The laser range finder is equipped in the front side of spreader. It can measure distance and relative position between spreader and container. This laser range finder can be rotated as desired by a motor. And a tilt sensor is equipped on the spreader to measure spreader sway. The relative position information between the spreader and a container using the laser range finder and tilt sensor is estimated through the geometrical analysis.

• Journal of the Institute of Electronics and Information Engineers
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• v.54 no.7
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• pp.127-132
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• 2017

In this paper, we propose a controller gain based on model based design and implement the two-wheel inverted pendulum type robot using NXT Lego and RobotC language. Two-wheel inverted pendulum robot consists of NXT mindstorm, servo DC motor with encoder, gyro sensor, and accelerometer sensor. We measurement wheel angle using bulit-in encoder and calculate wheel angle speed using moving average method. Gyro measures body angular velocity and accelerometer measures body pitch angle. We calculate body angle with complementary filter using gyro and accelerometer sensor. The control gain is a weighted value for wheel angle, wheel angular velocity, body pitch angle, and body pich angular velocity, respectively. We experiment and observe the effect of two-wheel inverted pendulum with respect to change of control gains.

• Proceedings of the KIPE Conference
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• 1998.10a
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• pp.442-446
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• 1998

With the advent of the high-speed microprocessor and DSP, the possibility of executing a control strategy in digital domain has become a reality. By the use of the DSP and microprocessor controller, many high power converters such as especially inverter and motor drive system may be enhanced resulting in the improved robustness to EMI, the ability to communicate the operating conditions and the ease of adjusting the control parameters. But, the digital controller using DSP or microprocessor is not applied in the high frequency switching power supplies, especially full bridge dc/dc converter. So, this paper presents the method and realization of designing a digital-to-phase shift PWM circuit for full digital controlled phase-shifted full bridge dc/dc converter with zero voltage switching. The operating principles, simulation and experimental results will be presented.

• Journal of the Korean Institute of Illuminating and Electrical Installation Engineers
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• v.14 no.5
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• pp.66-73
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• 2000

A new modified command voltage of the third harmonics injected PWM inverter is proposed to control the inverter in overmodulation mode. The third harmonics injected PWM has a extended linear region compared with the sine PWM. But it still has a maximum voltage about 90% compared with the six step inverter. By analyzing the relationship between the modulation index and the peak of the fundamental component of the modified reference voltage, we can settle the problem in over modulation mode without iteration. Then we can increase the maximum fundamental component of the third harmonics injected PWM inverter comparative to six-step inverter continuously in over modulation mode. The simulation results of the inverter-induction motor system shows the validity of this method.

• The Transactions of the Korean Institute of Power Electronics
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• v.10 no.6
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• pp.550-559
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• 2005

The matrix converter provides sinusoidal input and output wave forms, bidirectional power flow, controllable input power factor and a long life, compared to the VSI(Voltage Source Inverter) with diode rectification stage at the input. However it has tasks, such as complexity of the control method, ride-through problem and low voltage-ratio limitation, to overcome for commercializing, This paper describes the design, construction and implementation of matrix converter based on space vector modulation technique. The implemented prototype of matrix converter is built using the exclusive IGBT module and control circuit constituted with DSP and CPLD and it has an input filter, overvoltage protection circuit and commutation means for overcoming practical issues. The good results tested using an induction motor are also presented.

• Journal of the Ergonomics Society of Korea
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• v.35 no.1
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• pp.11-27
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• 2016

Objective: The purpose of this study was to develop and evaluate high technology adaptive driving controls, such as mini steering wheel-lever system and joystick system, for the people with physical disabilities in the driving simulator. Background: The drivers with severe physical disabilities have problems in operation of the motor vehicle because of reduced muscle strength and limited range of motion. Therefore, if the remote control system with driver-by-wire technology is used for adaptive driving controls for people with physical limitations, the disabled people can improve their quality of life by driving a motor vehicle. Method: We developed the remotely controlled driving simulator with drive-by-wire technology, e.g., mini steering wheel-lever system and joystick system, in order to evaluate driving performance in a safe environment for people with severe physical disabilities. STISim Drive 3 software was used for driving test and the customized Labview program was used in order to control the servomotors and the adaptive driving devices. Thirty subjects participated in the study to evaluate driving performance associated with three different driving controls: conventional driving control, mini steering wheel-lever controls and joystick controls. We analyzed the driving performance in three different courses: straight lane course for acceleration and braking performance, a curved course for steering performance, and intersections for coupled performance. Results: The mini steering wheel-lever system and joystick system developed in this study showed no significant statistical difference (p>0.05) compared to the conventional driving system in the acceleration performance (specified speed travel time, average speed when passing on the right), steering performance (lane departure at the slow curved road, high-speed curved road and the intersection), and braking performance (brake reaction time). However, conventional driving system showed significant statistical difference (p<0.05) compared to the mini steering wheel-lever system or joystick system in the heading angle of the vehicle at the completion point of intersection and the passing speed of the vehicle at left turning. Characteristics of the subjects were found to give a significant effect (p<0.05) on the driving performance, except for the braking reaction time (p>0.05). The subjects with physical disabilities showed a tendency of relatively slow acceleration (p<0.05) at the straight lane course and intersection. The steering performance and braking performance were confirmed that there was no statistically significant difference (p>0.05) according to the characteristics of the subjects. Conclusion: The driving performance with mini steering wheel-lever system and joystick control system showed no significant statistical difference compared to conventional system in the driving simulator. Application: This study can be used to design primary controls with driver-by-wire technology for adaptive vehicle and to improve their community mobility for people with severe physical disabilities.