• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.604-609
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• 2005

This paper presents an experimental study for optimizing the acceleration of AC servomotor using finite jerk (the first derivative of acceleration). The acceleration optimization with finite jerk aims at generating the smooth velocity profile of AC servomotor by experimentally minimizing vibration resulted from the initial friction of servomotor. The stick-slip motion of AC servomotor induced by initial friction can result in the positional errors that are not good for high-precision devices such as the assembly robot arms to be used in a 300mm wafer or a LCD (Liquid Crystal Display) stocker system. In this paper, experiments were made by using a PM (Permanent Magnet) type AC servomotor with MMC(R) (Multi Motion Controller) programmed in Visual C++(R). The experiments have been performed for finding the optimal duration time of finite jerk in terms of the minimization of vibration displacements when both the magnitude of velocity and the allowable acceleration are given. We have compared the proposed control with the conventional control with trapezoidal velocity profile by measuring vibration displacements. The effectiveness of the proposed control has been verified in that the experimental results showed the decrease of vibration displacement by about 24%.

• Proceedings of the KIEE Conference
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• 1988.07a
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• pp.61-64
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• 1988

This paper deals with some aspects for the design of induction servomotors with respect to permanent magnet servomotors and standard induction motors as control components. Induction servomotors have much lower weight and moment of inertia than the DC servomotor but cannot reach the excellent values of a brushless DC servomotor with rare earth magnets.

• Journal of Advanced Marine Engineering and Technology
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• v.30 no.2
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• pp.239-246
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• 2006

This paper describes the scheme of sliding mode control (SMC) to adopt the conventional slip frequency vector drives. The purpose of sliding mode control is to achieve an accurate, robustness of response for ac servomotor speed control. A sliding mode control design method is proposed for a speed control of an induction servomotor. The control law is composed of the variable structure component and the suppressed coefficients to suppress load disturbance and variation of external parameters. The proposed control scheme is simulated by the computer which is installed in an ideal ac servomotor. The simulation results show that the proposed design method has robustness and accuracy in the speed response by adjusting the suppressed coefficients for load disturbance and the motor mechanical parameter variation.

• Proceedings of the KIPE Conference
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• 2002.07a
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• pp.274-277
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• 2002

Servo motor is motor for control that have fast response and sphere of wide speed control. This motor is classed by DC servomotor and AC servomotor. This paper allows the research purpose to analyze drive special quality of servomotor that is driven by control signal. Also, try to apply control algorithm and analyze special quality change of AC servomotor drive with simulation

• The Transactions of the Korean Institute of Electrical Engineers D
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• v.54 no.11
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• pp.650-653
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• 2005

In this paper, adaptive high-order neural network controller(AHONNC) is adopted to control an induction servomotor. A algorithm is developed by combining compensation control and high-order neural networks. Moreover, an adaptive bound estimation algorithm was proposed to estimate the bound of approximation error. The weight of the high-order neural network can be online tuned in the sense of the Lyapunov stability theorem; thus, the stability of the closed-loop system can be guaranteed. Simulation results for induction servomotor drive system are shown to confirm the validity of the proposed controller.

• Proceedings of the KIEE Conference
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• 1984.07a
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• pp.63-65
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• 1984

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2008.06a
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• pp.459-460
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• 2008

• Journal of the Korean Society of Fisheries and Ocean Technology
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• v.26 no.1
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• pp.76-80
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• 1990

DC-servomotor acts an important role in robots and manipulatirs. But the precise control of DC-motor is difficult by a using usual linear controller because of the nonlinear characteristics of DC-motor. This study suggests the use of fuzzy controller in the control of DC-servomotor speed. The fuzzy controller is designed from a fuzzy model which can represent nonlinear systems very well. Hence the fuzzy controller is very useful in the control of nonlinear systems such as DC-motor. We construct a fuzzy model of DC-servomotor, design a fuzzy controller from the fuzzy model, and compare that with a linear controller. When we use the fuzzy controller, the static ripples are reduced and the rise time is required 20% less than in using a linear controller.

• Proceedings of the KIEE Conference
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• 2006.07d
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• pp.1834-1835
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• 2006

A robust adaptive position control algorithm is proposed for servomotor drive system with uncertainties and load disturbance. The proposed controller is comprised of a nominal controller and a robust control. The nominal controller is designed in the condition without all the external load disturbance, nonlinear friction and unpredicted uncertainties. The robust controller containing lumped uncertainty approximator using fuzzy-neural network(FNN) is designed to dispel the effect of uncertainties and load disturbance. The interconnection weight of the FNN can be online tuned in the sense of the Lyapunov stability theorem thus asymptotic stability of the proposed control system can be guaranteed. Finally, simulation results verify that the proposed control algorithm can achieve favorable tracking performance for the induction servomotor drive system.

• 제어로봇시스템학회:학술대회논문집
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• 1990.10b
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• pp.1093-1097
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• 1990

A d.c. servomotor with pulse encoder is used to improve the movement of a hospital mobile robot along the desired line. We can achieve an improved movement of the robot by applying a PLL control. It is then shown that we can also reduce 42% of the power dissipation by the use of a PWM control. Furthermore, some simulation studies are presented to illustrate the design of PI control and optimal regulator for the control of the d.c. servomotor.