• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1993년도 한국자동제어학술회의논문집(국내학술편); Seoul National University, Seoul; 20-22 Oct. 1993
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• pp.1052-1057
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• 1993

A scara type Direct Drive Arm(DDA) with two degrees-of-freedom is designed and implemented. The direct drive motor is used to furnish large torque to reduce the modeling error by the gear and chains. To control the DDA, a multiprocessor control structure with multirate dynamic control algorithm is designed. In the control algorithm, the dynamics of system is used to calculate the nominal control torque and the feedback controls are calculated with a parallel processing algorithm for each joint. The laboratory experiments on Hong-Ik DDA by dynamic control algorithm are presented and compared to that of PID control algorithm. This result shows that the proposed controller guarantees small trajectory error and stability. With this research, Hong-Ik DDA is expected to be utilized as A basic tool for robotics and control engineering.

• Journal of international Conference on Electrical Machines and Systems
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• 제1권2호
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• pp.91-97
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• 2012

This paper presents a state space model of a two quadrant chopper and PWM inverter-fed Interior Permanent Magnet Synchronous Motor (IPMSM) drive system and its application to hybrid vehicles. The drive system has two different state equations for motoring and regenerating action. This paper presents a common state equation by using State Space Averaging method. Using this model of the IPMSM drive system, detailed simulation and controller design of the drive system, including PWM inverter switching, are given. The validity of this model and usefulness, according to a comparison among Maximum Torque/Ampere control, Maximum Torque/Flux control, and Maximum Efficiency optimization, are confirmed from simulation results.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1999년도 하계학술대회 논문집 F
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• pp.2770-2772
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• 1999

This paper discusses the basic principle of vector control applied to induction motors. A indirect strategy for impressed stator currents control is used for system modeling. IRFOC for induction motor was modelled using "Matlab with Simulink" IRFOC be applied to 15kW induction motor is simulated in different conditions; step changes in torque at a fixed reference speed, and cyclic change of speed reference. Simulation result considering the variation of stator, rotor resistance includes the response of speed, torque and rotor d-q fluxes.

• 대한기계학회논문집A
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• 제21권5호
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• pp.756-768
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• 1997

In order to control a dynamic gait of quadrupedal walking robot, the equations of motion of the whole mechanism are required. In this research, the equations of motion are formulated analytically using Kane's dynamic approach. As a dynamic gait model, a trot gait has been adopted. The degree of freedom of whole mechanism could be reduced to 7 by idealizing the kinematic feature of the trot gait. Using the equations of motion formulated, the results of the redundant-joint torque analysis and the simulation of dynamic walking motion are presented.

• Journal of Electrical Engineering and Technology
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• 제8권1호
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• pp.130-136
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• 2013

This paper presents the magnetic equivalent circuit analysis of a double-excited, two-degree-of-freedom (DOF) motor. The double-excited, 2-DOF motor is a laminated structure, making it easy to manufacture and giving it simple operating principles. We explain the structure of the 2-DOF motor and analyze the static characteristics using a magnetic equivalent circuit (MEC) to reduce analysis time. The feasibility of MEC analysis was confirmed by experimental results of the tilting, panning motion. We also confirmed the occurrence of holding torque in every motion.

• 융합신호처리학회 학술대회논문집
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• 한국신호처리시스템학회 2006년도 하계 학술대회 논문집
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• pp.77-80
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• 2006

This paper based on spiral vector, three phase induction motor is described a detailed modeling by a phase segment methode. Based on this model, A torque control and the equation of regenerative power for the induction motor drive, based on the field acceleration method(FAM), is presented. The speed control system is designed to be applied voltage source inverters that is easy the current type feedback of power regeneration for motor drive. The ability of shaving power to be measured power regeneration has been investigated in speed acceleration and reduction. And it is change of stator resistance that the voltage commands include error, the ripple of exited voltage and torque occur from the results. The experimental tests verify the performance of the proposed regenerative drive for FAM, proving that good behavior of the drive is achieved in the transient and steady-state operating conditions.

• 전력전자학회논문지
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• 제20권4호
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• pp.305-312
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• 2015

In this study, inter-turn short fault models of interior permanent magnet synchronous motors (IPMSM) are developed by adding saliency modeling to surface-mounted permanent magnet motor models. The saliency model is obtained using the deformed flux models based on both fault-winding flux information and inductance variations caused by cross-flux linkages that depend on the distribution of the same phase windings. By assuming the balanced three-phase current injection, we obtain the positive and negative sequence voltages and the fault current in the positive and the negative synchronous reference frames. The output torque model is developed by adding the magnet and the reluctance torque, which are derived from the developed models. To verify the proposed IPMSM model with an inter-turn short fault, finite element method-based simulation and experimental measurement results are presented.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2000년도 하계학술대회 논문집 B
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• pp.605-607
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• 2000

Although Equvalent Magnetic Circuit (EMC) method. Using lumped parameter and numerical analysis method are widely used for electric machine analysis. these are neither always accurate enough nor sometimes available to easily use. Moreover three dimensional finite element method (3D-FEM) is inherently unsuitable for electric machine performance evaluation due to its poor computational efficiency, such as too long calculation time and difficulty in modeling for analysis. In this paper, Nonlinear Equivalent Magnetic Circuit (NEMC) method in combination with 2D-FEM is proposed to analyze the electric machine requiring 3D-FEM, and this method applys to torque evaluation for rotary actuator of Electro Magnetic Electronic Controller Power Steering (EM-ECPS).

• Journal of Electrical Engineering and Technology
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• 제8권4호
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• pp.766-772
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• 2013

Modeling and control of radial force in the double stator type bearingless switched reluctance motor (BLSRM) is researched. The rotational torque is controlled independently from the radial force control. And the radial force is constant which is independent from the rotor position. In order to realize steady suspension, analytical models of torque and radial force for the proposed structure are derived. Meanwhile, in order to realize steady suspension, control scheme for proposed BLSRM is proposed. In the control method, the radial force can be controlled in arbitrary direction and magnitude by selecting some combinations of radial force windings. The validities of structure and control method are verified by the experimental results.

• 한국정밀공학회지
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• 제17권1호
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• pp.68-75
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• 2000

In this paper, the robust controller design is performed for the speed control of the underwater vehicle diesel engine. Nonlinear model equations are acquired through the mathematical modeling using mean torque production model technique. It is very difficult to design the robust controller because those are high nonlinear and not expressed in terms of the matched uncertainty Therefore those are converted into the separable model into the linear nominal system and the nonlinear uncertainty term.