• 전기학회논문지
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• 제67권11호
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• pp.1423-1433
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• 2018

Recently, a permanent magnet synchronous motor of middle and small-capacity has high torque, high precision control and acceleration / deceleration characteristics. But existing control has several problems that include unpredictable disturbances and parameter changes in the high accuracy and rigidity control industry or nonlinear dynamic characteristics not considered in the driving part. In addition, in the drive method for the control of low-vibration and high-precision, the process of connecting the permanent magnet synchronous motor and the load may cause the response characteristic of the system to become very unstable, to cause vibration, and to overload the system. In order to solve these problems, various studies such as adaptive control, optimal control, robust control and artificial neural network have been actively conducted. In this paper, an incremental encoder of the permanent magnet synchronous motor is used to detect the position of the rotor. And the position of the detected rotor is used for low vibration and high precision position control. As the controller, we propose augmented state feedback control with a speed observer and first order deadbeat disturbance observer. The augmented state feedback controller performs control that the position of the rotor reaches the reference position quickly and precisely. The addition of the speed observer to this augmented state feedback controller compensates for the drop in speed response characteristics by using the previously calculated speed value for the control. The first order deadbeat disturbance observer performs control to reduce the vibration of the motor by compensating for the vibrating component or disturbance that the mechanism has. Since the deadbeat disturbance observer has a characteristic of being vulnerable to noise, it is supplemented by moving average filter method to reduce the influence of the noise. Thus, the new controller with the first order deadbeat disturbance observer can perform more robustness and precise the position control for the influence of large inertial load and natural frequency. The simulation stability and efficiency has been obtained through C language and Matlab Simulink. In addition, the experiment of actual 2.5[kW] permanent magnet synchronous motor was verified.

• 전자공학회논문지B
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• 제28B권10호
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• pp.771-782
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• 1991

다수의 출력변수를 가지고 있는 실시스템에서, 출력변수의 측정치가 어떠한 사정(하드웨어상 혹은 제어대상의 특성 등)에 의하여 동시에 전부 검출되어지지 않고, 측정방식이나 성분이 유의한 것끼리 몇개씩 서로 조금씩 틀린 시각에 측정되어 차례로 디지틀 계산기에 입력되어지는 경우가 있다. 다시 말하면, P개의 검출량이 조금씩 틀린 시각 $kT_{o}+t_{1},kT}o}+t_{2}.{\cdot}{\cdot}{\cdot},kT_{o}+t_{r}(0{\le}t_{1}{<}t_{2}{<}{\cdot}{\cdot}{\cdot}{<}t_{r}{<}T_{0})$에 각각 $P_{1},P_{2},{\cdot}{\cdot}{\cdot},P_{r}(P=P_{1}+P_{2}+{\cdot}{\cdot}{\cdot}+P_{r})$개씩 측정되어 얻어지게 된다/ 본 논문에서 말하는 다중 시리얼 샘플링이라고 하는 것은 이와같은 데이터의 취득방식을 의미하고 있다. 종래의 관측기이론에서는 P개의 검출량을 가진 제어대상의 상태추정에는 P개이 데이터를 동시에 필요로 하고 있다. 따라서 종래의 관측기이론을 그대로 상기와 같은 대상에 적용하게 되면, P개의 측정치가 전부 얻어지는 시간 $T_o$마다 상태의 추정치를 갱신하는 관측기가 얻어진다. 그러므로, 이와같은 관측기를 사용하게 되면 임의의 시각에 한조의 출력변수가 검출되더라도 그 정보를 직접 이용하지 못하고 나머지의 출력변수가 전부 검출될 때까지 기다리지 않으면 안되게 되므로, 하드웨어사의 기능을 최대한 이용하지 못하고 있는 것이 아닌가 생각된다. 본 논문에서는 상기와 같은 시스템에 있어서, 한조의 출력변수가 검출될 때마다 관측기의 내부상태를 갱신해서 새로운 상태추정치를 얻을 수 있는 $'$다중시리얼 샘플링형 관측기$'$를 제안하고 그의 구성가능성을 증명한다. 또한, 다중시리얼 샘플링형 관측기의 출력으로 폐루프를 구성하였을 경우, 전체 제어계의 안정성에 관한 문제를 검토하고, 시뮬레이션에 의하여 본 논문에서 제안된 관측기의 유효성을 확인한다.유효성을 확인한다.

• 전력전자학회:학술대회논문집
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• 전력전자학회 2000년도 전력전자학술대회 논문집
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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.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2000년도 학술대회 논문집 전문대학교육위원
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• pp.79-84
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• 2000

This paper presents an implementation of digital position control system for an induction motor vector drives by a direct torque control(DTC) using the 16bit DSP TMS320 F240. The DSP controller enable enhanced real time algorithm and cost-effective design of intelligent controller 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 using current model that inputs are current sensing of motor terminal and rotor angle for a low speed operating area, two hysteresis controller, optimal switching look-up table, and IGBT voltage source inverter by fully integrated control software. The developed control system are shown a good motion control response characteristic results and high performance features using 2.2Kw general purposed induction motor.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2001년도 춘계학술대회 논문집 전기기기 및 에너지변환시스템부문
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• pp.281-284
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• 2001

This paper presents implementation of digitally speed sensorless control system for induction motor with a direct torque control(DTC) using 32bit DSP TMS320C31. The system are closed loop stator flux and torque observer for wide speed range that inputs are currents and voltages sensing of motor terminal, MRAS with rotor flux linkages for the speed turning signal, two hysteresis controllers, optimal switching look-up table and IGBT voltage source inverter. There are suggested a control algorithm and system, and given simulation and implementation results on the 2.2Kw general purposed induction motor.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2001년도 춘계학술대회 논문집 전기기기 및 에너지변환시스템부문
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• pp.277-280
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• 2001

This paper presents a speed sensorless implementation of digital speed control system of Surface Permanent-Magnet Synchronous Motor(SPMSM) drives with a direct torque control(DTC). The system presented are stator flux and torque observer of stator flux feedback control model that inputs are current and voltage sensing of motor terminal with estimated rotor angle for a low speed operating area, two hysteresis band controllers, an optimal switching look-up table, rotor speed estimator, and IGBT voltage source inverter by using fully integrated control software. The developed speed sensorless control system are shown a good motion control response characteristic results and high performance features using 1.0Kw purposed servo drive SPMSM.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2000년도 하계학술대회 논문집 B
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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.

• 전력전자학회:학술대회논문집
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• 전력전자학회 2001년도 전력전자학술대회 논문집
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• pp.397-400
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• 2001

This paper presents a implementation of digital sensorless position control system of surface permanent-magnet synchronous motor (SPMSM) drive with a direct torque control (DTC). The system are stator flux and torque observer of stator flux feedback control model that inputs are current and voltage sensing of motor terminal with estimated rotor angle for a low speed operating area, two hysteresis band controllers, an optimal switching look-up table, rotor speed estimator, and IGBT voltage source inverter by using fully integrated control software. The developed sensorless control system are shown a good motion control response characteristic results and high performance features using 1.0 (kW) purposed servo drive SPMSM.

• 한국정밀공학회지
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• 제23권7호
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• pp.84-92
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• 2006

This paper deals with determination of motions of a humanoid robot using genetic algorithm. A humanoid robot has some problems of the structural instability basically. So, we have to consider the stable walking gait in gait planning. Besides, it is important to make the smoothly optimal gait for saving the electric power. A mobile robot has battery to move autonomously. But a humanoid robot needs more electric power in order to drive many joints. So, if movements of walking joint don't maintain optimally, it is hard to sustain the battery power during the working period. Also, if a gait trajectory doesn't have optimal state, the expected lift span of joints tends to be decreased. Also, if a gait trajectory doesn't have optimal state, the expected lift span of joints tends to be decreased. To solve these problems, the genetic algorithm is employed to guarantee the optimal gait trajectory. The fitness functions in a genetic algorithm are introduced to find out optimal trajectory, which enables the robot to have the less reduced jerk of joints and get smooth movement. With these all process accomplished by PC-based program, the optimal solution could be obtained from the simulation. In addition, we discuss the design consideration fur the joint motion and distributed computation of tile humanoid, ISHURO, and suggest its result such as structure of the network and a disturbance observer.

• 대한기계학회논문집
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• 제15권6호
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• pp.2015-2025
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• 1991

본 연구에서는 무거운 부하중량(payload)을 운반하는 평행구동기구(parallel drive mechanism)를 가진 2 자유도 수직 로봇 조작기의 마지막 링크를 고속화 및 작업 영역의 확대를 위해 경량의 길이가 긴 링크로 구성하고, 동적 해석 및 제어를 위해 이 를 수직면상에서 회전하는 첨단질량을 가진 Euler-Bernoulli 외팔보로 모델링하였다. Hamilton의 원리를 적용하여 계의 지배방정식을 구하였으며 이를 조작기의 최종 자세 (configuration)에 대한 교란변수들(periturbed variables)을 도입하여 이산시간계 상 태방정식으로 표시하였다. 계의 상태방정식에 대해 디지탈 최적제어 및 최적관측기 이론을 적용하여, 유연한 조작기의 위치 및 진동제어를 병해하여 수행하는 제어기를 설계하였으며, 제어기의 효율성 및 적용성을 검토하기 위하여 수치해석 및 실험을 행 하였고 이들 결과를 비교, 검토하였다.