• The Transactions of the Korean Institute of Electrical Engineers
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• v.38 no.11
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• pp.888-895
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• 1989

A novel model reference adaptive control (MRAC) scheme for electrical servo drives is proposed, in which the control input is synthesized without any parameter identification mechanism and a PI controller is inserted ahead of the plant to reduce the steady state chattering. The proposed scheme is shown to be asymptotically stable in the case where the load torque disturbance satisfies a certan condition. An application to a permanent magnet synchronous motor drive shows that the output error between the plant and the reference model tends to zero and the chattering is greatly reduced.

• The Transactions of the Korean Institute of Electrical Engineers
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• v.40 no.12
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• pp.1218-1229
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• 1991

The time optimal position control design can be repeatedly taken from the initial state of a dynamic system to a desired one as fast as possible in the industrial drives. In this case, an induction machine parameters will vary due to temperature, frequency, and saturation effects. In particular, the rotor resistance changes critically with temperature and frequency. These changes affect the command values of the stator current components and slip speed. There is a mismatch between the commanded variables and actual ones of the induction motor drive, and this situation leads to coupling of the vector controller from the plant, i.e. the induction motor . Consequences of such a coupling include the initiation of oscillations of the rotor flux and unsuitable switching of electromagnetic torque for the induction motor servo drive. Therefore, this paper describes a rotor resistance parameter compensating method for the induction motor, And the validity of the proposed design method is confirmed by simulation studies and experiment results.

• Proceedings of the KIEE Conference
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• summer
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• pp.1082-1084
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• 2004

This paper presents simulation and test results of PMSM(Permanent Magnet Sychronous Motor) Controller. PMSM has higher efficiency and torque per volume than other motors because PMSM use permanent magnet of high energy density instead of field winding. PMSM control system also more efficient than Induction Motor's. In this paper, simulation and test to control speed and current of PMSM using DSP was accomplished.

• Proceedings of the KIPE Conference
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• 2007.07a
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• pp.391-393
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• 2007

The rotor speed and flux information is most important in the vector control. The accuracy of flux observers for induction machine inherently depends on parameter sensitivity. The control strategy is using online flux observer for flux estimation. In the proposed system, the speed control characteristics using a online flux observer control isn't affected by a load torque parameter disturbance. Simulation results are presented to prove the effectiveness of the adaptive sliding mode controller for the drive variable load of induction motor.

• Proceedings of the Korea Institute of Convergence Signal Processing
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• 2003.06a
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• pp.183-187
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• 2003

When a flexible arm is rotated by a motor about an axis through the arm's fixed end, transverse vibration may occur. The motor torque should be controlled in such a way that the motor rotates by a specified angle, while simultaneously stabilizing vibration of the flexible arm so that it is arrested at the end of rotation. In this paper, we propose nonlinear observer for one-link flexible am. Then based on the error dynamic equation between the plant dynamic equation and the nonlinear observer dynamic equation of the flexible one-link am, Lyapunov candidate function is applied to achieve a stable deterministic nonlinear feedback controller for the regulation of joint angle.

• Proceedings of the KIEE Conference
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• 1999.07g
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• pp.3089-3091
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• 1999

To control IWR-III Biped Waking Robot, those complex modules are necessary that concurrent control multi-axes servo motors, PID & Feedforward gain tuning, initial value calibration, display current status of system, user interface for emergency safety and three-dimensional rendering graphic visualization. It is developed for various-type gait $data^{[1]}$ and for control modes (i.e open/closed loop and pulse/velocity/torque control) that Integrated Control Enviroment with GUI( Graphic User Interface) consist of time-buffered control part using MMC (Multi-Motion Controller) and 3D simulation part using DirectX graphic library.

• Proceedings of the KIEE Conference
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• 1996.07b
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• pp.1205-1207
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• 1996

The computed-torque method (CTM) shows good trajectory tracking performance in controlling robot manipulator if there is no disturbance or modelling errors. But with the increase of a payload or the disturbance of a manipulator, the tracking errors become large. So there have been many researchs to reduce the tracking error. In this paper, we propose a new control algorithm based on the CTM that decreases a tracking error by generating new reference trajectory to the controller. In this algorithm we used a fuzzy system based on the rule bases. For the numerical simulation, we used a 2-link robot manipulator. To simulate the disturbance due to a modelling uncertainty, we added errors to each elements of the inertia matrix and the nonlinear terms and assumed a payload to the end-effector. In the simulations of several cases, our method showed better trajectory tracking performance compared with the CTM.

• Proceedings of the KIEE Conference
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• 1996.07b
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• pp.1222-1224
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• 1996

The Hong Ik Direct Drive Arm(HIDDA) is a SCARA typed direct drive manipulator with two degrees-of-freedom(DOF) using the direct drive motor of the NSK company. The direct NSK motors are used to give a large torque directly to the link, to reduce the modeling errors from the gears and chains. But, since the nonlinear coupling torques are transferred to the motor shaft without any reduction, we must consider a dynamic control algorithm. In this paper, we designed a robot controller for the HIDDA using a TMS320C31, which has the highest performance among the third DSP chips in the TI company. And we developed the integrated environment software of the robot management system to give the users an easy way of programming, running and simulation of the robot on the PC.

• Proceedings of the KIEE Conference
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• 2003.07b
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• pp.1132-1134
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• 2003

This paper presents the realization of the vector control for AC servo motor using a high performance DSP, TMX320F2812. This DSP has some special peripheral circuits to drive a AC Servo motor as AD converter, QEP and so on. It makes us reduce the time of developing a control system and also can be simple size controller. The vector control algorithm for instantaneous torque control and SVPWM algorithm by offset voltage methods is adopted and we got the satisfactory results.

• Proceedings of the KIEE Conference
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• 2000.11b
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• pp.352-354
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• 2000

The induction motor is a high-efficiency machine when working close to its rated operation point. This paper uses a simple induction motor model that includes iron losses. The model, which only requires the knowledge of conventional induction motor parameters, is referred to a field-oriented frame. At steady-state light-load condition the minimum point of the input power can be found with the condition that it is possible to obtain the same torque with different combinations of flux and current values. Using the minimum point. the drive system with the proposed efficiency optimization controller can be controlled easily. Simulation and experimental results show the effectiveness of the control strategy proposed for an induction motor drive.