• 한국정밀공학회지
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• 제20권10호
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• pp.89-97
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• 2003

The faults diagnosis of machine tool, which is controlled by CNC(Computer Numerical Control) and PLC(Programmable Logic Controller), is generally based on ladder diagram of PLC because sequential controls for CNC and servo motor are mostly processed in PLC. However, when fault is occurred, a searching of logical relationship for fault reasons is required a lot of diagnosis experiences and times because PLC program has step structure. In this paper, FDS(Fault Diagnosis System) is developed and implemented to machine tool with open architecture controller in order to find the reason of fault fast and correctly. The diagnosed reasons for fault are remote serviced on web through developed RSS(Remote Service System). The operationability and usefulness of developed system are evaluated on specially manufactured machine tool with open architecture CNC. The results of this research can be the model of remote monitoring and fault diagnosis system of machine tool with open architecture CNC.

• 한국정밀공학회지
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• 제30권9호
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• pp.951-959
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• 2013

In order to improve the speed performance of the direct drive mechanical systems, a comprehensive analysis of the velocity ripples of blushless DC motors should be required. Every motor has a certain level of torque ripples when it generates power, and the generated torque ripple also makes the velocity ripples in the final output stage in speed control system. In this paper, a novel algorithm for reducing velocity ripples is proposed based on the modeling of torque ripples for BLDC motors. Various algorithms have been made for torque ripples, but usually they should be installed inside the amplifier logic, result in the difficulties of flexibility for various kinds of torque ripples. The proposed algorithm was developed for being ported in the controller not the amplifier, and it has the capability of the automatic compensation adjustment. The performance of the proposed algorithm was verified by effective simulations and experiments.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1999년도 하계학술대회 논문집 B
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• pp.501-503
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• 1999

In this paper, the design method of a hybrid fuzzy controller with an optimal auto-tuning method is proposed. The conventional PID controller becomes so sensitive to the control environments and the change of parameters that the efficiency of its utility for the complex and nonlinear plant has been questioned in transient state. In this paper, first, a hybrid fuzzy logic controller(HFLC) is proposed. The control input of the system in the HFLC is a convex combination by a fuzzy variable of the FLC's output in transient state and the PID's output in steady state. Second, a powerful auto-tuning algorithm is presented to automatically improve the Performance of controller, utilizing the improved complex method and the genetic algorithm. The algorithm estimates automatically the optimal values of scaling factors and PID coefficients. Controllers are applied to the plants with time-delay and the DC servo motor Computer simulations are conducted at the step input and the system performances are evaluated in the ITAE.

• 전자공학회논문지S
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• 제35S권8호
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• pp.106-112
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• 1998

최근에 영상 및 음성 데이터의 양은 크게 증가하고 있다. 이러한 경향에 따라 고밀도 자기기록 시스템이 필요하게 되었고 테이프의 트랙은 더욱 더 좁아지게 되었다. 따라서 DVCR(digital video cassette recorder)에서는 재생시에 캡스탄 모터의 속도와 위상을 정밀하게 제어하여, 헤드가 트랙을 따라 정확하게 주행하도록 유지시켜주는 캡스탄 서보시스템이 필요하게 되었다. 이를 위하여 DVCR에서는 ATF(Automatic Track Following)방식을 사용한다. 본 논문에서는 이산 푸리에 변환(discrete Fourier transform)을 이용한 새로운 DVCR용 ATF 블록의 설계방법을 제안하였다. 제안한 ATF 블록을 ALTERA사의 FPGA에 구현하여 실제 DVCR 시스템에서 그 성능을 시험하였다. 실험을 통하여 본 논문에서 제안한 방식이 기존의 디지털 저역통과필터(lowpass filter)를 사용한 구현법에 비해 비용면에서 더 효과적임을 검증하였다. 또한 로직게이트 수가 기존의 방법에 비하여 약 20% 감소함을 확인하였다.

• 한국정밀공학회지
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• 제13권9호
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• pp.114-129
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• 1996

This paper describes the whole development phase for the underwater vehicle actuating system with high hydroload torque disturbance. This includes requirement analysis, system modeling, control algorithm design, real time implementation, test and performance evaluations. As for driving control algorithms, fuzzy logic, variable structure and PD(Proportional-Differential) algorithm were designed and implemented on board controller using a single chip microprocessor. Intel 8797. And test and performance evaluation is carried out both single test and wystem integration test. We could confirm the basic performance of actuating system through the single test and gereral developing work of any actuating systems was finished with a single performance test of actuating system without system integration test. But, we suggested that system integration test be needed. System integration test is carried out using G/C HILS(Guidance and Control Hardware-In-the -Loop Simulation) which is constituted flight motion simulator, load simulator, real time host computer and the related subsystems such as inertial navigation system, power supply system and Guidance and Control Computer etc.. The most important practical contribution of this paper is that full system characteristics such as minimal control effort, enhancement of guidance and autopilot performance by the actuating system using G/C HILS technique are investigated. Through full running G/C HILS, in spite of the passing to single tests, some control algorithm resulted in failure as to stability of full system and system time frame.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.1022-1027
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• 2003

The Motion controllers provide the sophisticated performance and enhanced capabilities we can see in the movements of robotic systems. Several types of motion controllers are available, some based on the kind of overall control system in use. PLC (Programmable Logic Controller)-based motion controllers still predominate. The many peoples use MCU (Micro Controller Unit)-based board level motion controllers and will continue to in the near-term future. These motion controllers control a variety motor system like robotic systems. Generally, They consist of large and complex circuits. PLC-based motion controller consists of high performance PLC, development tool, and application specific software. It can be cause to generate several problems that are large size and space, much cabling, and additional high coasts. MCU-based motion controller consists of memories like ROM and RAM, I/O interface ports, and decoder in order to operate MCU. Additionally, it needs DPRAM to communicate with host PC, counter to get position information of motor by using encoder signal, additional circuits to control servo, and application specific software to generate a various velocity profiles. It can be causes to generate several problems that are overall system complexity, large size and space, much cabling, large power consumption and additional high costs. Also, it needs much times to calculate velocity profile because of generating by software method and don't generate various velocity profiles like arbitrary velocity profile. Therefore, It is hard to generate expected various velocity profiles. And further, to embed real-time OS (Operating System) is considered for more reliable motion control. In this paper, the structure of chip-based precision motion controller is proposed to solve above-mentioned problems of control systems. This proposed motion controller is designed with a FPGA (Field Programmable Gate Arrays) by using the VHDL (Very high speed integrated circuit Hardware Description Language) and Handel-C that is program language for deign hardware. This motion controller consists of Velocity Profile Generator (VPG) part to generate expected various velocity profiles, PCI Interface part to communicate with host PC, Feedback Counter part to get position information by using encoder signal, Clock Generator to generate expected various clock signal, Controller part to control position of motor with generated velocity profile and position information, and Data Converter part to convert and transmit compatible data to D/A converter.