• Proceedings of the KIEE Conference
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• 1995.07b
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• pp.720-725
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• 1995

The most important problems which should be considered in designing servo controllers are resonance effects and nonlinear friction. These problems exist in almost all the servo systems, especially for the robotic maniplators and numerical control systems and cause difficulties in designing controllers. In this paper, controller design procedure which employs $H_{\infty}$ control theory is proposed for the servo systems with these problems. Sometimes, for these systems, there is a possibility of limit cycles due to the interation between the nonlinear friction and integrator. To check the possibility of limit cycles, describing fuction method is used.

• Proceedings of the KIEE Conference
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• 1996.07b
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• pp.1113-1115
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• 1996

The servo system requires faster and more accurate dynamic responses. A new technique for the position control of DC servo motors is presented in this paper. The proposed technique employs a Self Tuning Regulator Proportional Integral Derivative(STR PID) position control systems in order to improve the dynamic performance of a DC servo motor. Recursive -least -squares (RLS) method is used in order to estimate the STR PID coefficients, $K_P$, $K_I$, and $K_D$. In order to consider dynamics such as voltage, angular velocity, and rotor angle, the above method was applied position control system.

• Proceedings of the KIEE Conference
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• 2004.05a
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• pp.53-55
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• 2004

This paper deals with speed control of AC servo motor using a Adaptive fuzzy high gain observer. In this parer, the gain of the observer is properly set up using the fuzzy control and adaptive high gain observer that have a superior transient characteristic and is easy to implement compared the existing method is designed. In order to verify the performance of the Adaptive fuzzy high gain observer which is proposed in this paper, it is compared estimate performance of High-gain Observer and Adaptive High Gain Observer with the computer simulation. Effectiveness of the proposed high gain observer is proved from the experiment to compare the case with a speed sensor to the case with Adaptive fuzzy high gain observer in the speed control of AC servo motor.

• Proceedings of the KIEE Conference
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• 2003.11c
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• pp.380-383
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• 2003

This paper proposes a new and simple input prediction method for robust servo system. This servo system uses robust tracking control system based on both Coprime Factorization(CF) and Zero Phase Error Tracking control system. The CF control system can be designed simply and systematically. Moreover, this system has not only stability but also robustness and disturbance rejection ability The optical disk tracking servo system can detect only the tracking error. So the new and simple input prediction system proposed in this paper estimates the reference input signal from the tracking error. Numerical simulation results show that the proposed method is effective.

• Journal of Drive and Control
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• v.10 no.4
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• pp.22-28
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• 2013

Mechanical and electrical properties of a DDV(Direct Drive servo Valve) with electric feedback are analysed via reverse analysis technique in this work. The DDV is disassembled and mechanical parameters, such as spool mass, spring stiffness and port size are identified. The servo amplifier, which is built in the valve, is reversely analysed and the control scheme and gains for several control actions are also identified. The electrical feedback for spool displacement improves much better the valve performance, such as hysteresis and dynamic bandwidth frequency, than an ordinary mechanical feedback valve. Integrating control action with very large gain was adopted in the valve amplifier, and it seemed to give high performance.

• Journal of the Korean Institute of Illuminating and Electrical Installation Engineers
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• v.17 no.1
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• pp.112-115
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• 2003

Robust control for servo control system in needed according to the highest precision of industrial automation. However, when a servo control system has an effect of disturbance, it is very difficult to guarantee the robustness of control system. As a compensation method solving this problem in this paper, Hybrid control method of Main controller(PIU)-Differential Supervisory controller is presented. Main controller is operated as a feedback controller. Differential Supervisory controller as a assistant controller is operated when state in unstable disturbance. The robust control function of Differential Supervisory controller is demonstrated by Speed control of Motor.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.16 no.5
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• pp.1095-1101
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• 2012

This paper presents a design of a BLDC servo motor control system for the auto process of assembly and supply using DSP(Digital Signal Processor) controller and IGBT driver. The assembly and supply auto processing system needs torque, speed, position control of servo motor for variable action. This paper implements those servo control with vector control and space vector PWM(Pulse Width Modulation) technique. As CPU of controller, TMS320F240 DSP was adopted because it has PWM waveform generator, A/D converter, SPI(Serial Peripheral Interface) port and many input/output port etc. This control system consists of 3-level hierarchy structure that main host PC manages three sub DSP system which transfer downward command and are monitoring the states of end servo controllers. Each sub DSP system operates eight BLDC servo controllers which control BLDC motor using DSP and IPM. Between host system and sub DSP communicate with RS-422, between main processor and controller communicate with SPI port.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.25 no.9
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• pp.1468-1474
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• 2001

In this paper, a new fuzzy-logic anti-swing control scheme is proposed for a three-dimensional overhead crane. The proposed control consists of a position servo control and a fuzzy-logic control. The position servo control is used to control the trolley position and rope length, and the fuzzy-logic control is used to suppress load swing. The proposed control guarantees not only prompt suppression of load swing but also accurate control of trolley position and rope length for the simultaneous travel, traverse, and hoisting motions of the crane. The effectiveness of the proposed control is shown by experiments with a prototype three-dimensional overhead crane.

• Transactions of the Society of Information Storage Systems
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• v.3 no.1
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• pp.1-4
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• 2007

A high density optical data storage device has been required for many years. In the field of the optical data storage, a near-field recording (NFR) technology is considered as a next generation one for achieving the high data density. Due to an evanescent wave effect occurred under 100nm distance which is the excessively small distance between the SIL and the disc, the most significant and difficult problem in this technology is to maintain a gap between a solid immersion lens (SIL) and a disc. Also, maintaining the gap under at least 50nm is required in the NFR gap servo system to use the evanescent wave effect efficiently. There are some institutes that have shown the novel gap servo control. In general, they use a mode switching servo method which consists of approach, hand-over and gap control mode. However there is a critical problem such as an overshoot at the tuning point from the approach mode to the hand-over mode, which may cause a collision between the SIL and the disc. In this paper, we show our NFR system and an improved gap servo system using an exponential function as the approach mode which can reduce the overshoot.

• 제어로봇시스템학회:학술대회논문집
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• 1993.10b
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• pp.218-223
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• 1993

In this paper, we present a full digital control scheme which controls currents and speed of the permanent magnet AC servo motor with large range of bandwidth and high performance. The current equations of the permanent magnet AC servo motor are linearized by feedback linearization technique. Both acceleration feedforward terms and IP controllers, whose gains are functions of motor speed, are used in order to control motor currents. In addition the phase delays in current control loops are compensated by placing phase lead-lag compensators after current commands, which make it possible to avoid high gains in the current controllers. Unity power factor can be achieved by the proposed current controller. Pulsewidth modulation is performed by way of the well-known comparison with a triangular carrier signals. The velocity controller is designed on the basis of the linearized model of the permanent magnet AC servo motor by the proposed current controller. The performance of the entire control system is analyzed in the presence of uncertainty in the motor parameters. The proposed control scheme is implemented using the digital signal processor-based controller composed of an Analog Device ADSP 2111 and a NEC78310. The pulsewidth modulation (PWM) signals are generated through a custom IC, SAMSUNG-PWM1, which has the outputs of current controllers as input. The experimental results show that the permanent magnet AC servo motor can be always driven with high dynamic performance by the proposed full digital control scheme of motor speed and motor current.