• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1987년도 한국자동제어학술회의논문집; 한국과학기술대학, 충남; 16-17 Oct. 1987
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• pp.346-351
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• 1987

In this study, digital simulation with nonlinear modeling is carried out to analyse the performance of a hydraulic servomotor system developed for the position control of a large inertia. Nonlinear element, such as nonlinear pressure flow relationships of servovalve, valve spool limits, nonlinear friction, and backlash and resilience of gear system are included in the simulation along with the dynamic characteristics of variable delivery pump compensation mechanism. Simulation results are compared with experimental results for both step and sinusoidal inputs. Independent of input magnitude, both results are in good agreement with minor differences in detail.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1987년도 한국자동제어학술회의논문집; 한국과학기술대학, 충남; 16-17 Oct. 1987
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• pp.522-527
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• 1987

This paper describes the hardware of analog-to-digital converter to process the rate output of analog servo loop for the gyro rebalance of INS. The analog-to-digital converter is designed by voltage-to-frequency method which is generally used in INS, and this scheme fits well into the strapdown INS that requires the wide dynamic range and linearity. The output of the designed voltage to frequency converter is tested by computer through the counter and all the factors which affect the performance are considered.

• 대한전기학회논문지
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• 제43권7호
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• pp.1112-1120
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• 1994

This paper presents a servo control scheme for the surface-mounted permanent-magnet synchronous motor(SPMSM) which essentially uses vector control algorithm. The control system is composed of the PI controller for speed control and the current controller using space voltage vector PWM technique. The high-speed calculation and processing for vector control is carried out by TMS320C31 digital signal processor and IGBT module. The proposed scheme is verified through digital simulations and experiments for 2.2kW SPMSM and shows good dynamic performance.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1991년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 22-24 Oct. 1991
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• pp.317-321
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• 1991

In recent years, the discrete-data and digital control systems have gained importance in all industies due in part to the advances made in microcomputers, as well as the advantages found in working with digital signals. So, the developments of the computer aided design packages to analysis, control law design and digital implementation of control systems are increasingly needed and those substantial technological improvements are now expected. In the paper, a real time control program package(RTCPP) for the implementation of digital control is developed by using C language. The digital controls for the feedfoward and feedback controllers such as PI(propotional and Integration) type, regulator and servo types can be implemented by an IBM PC compatible computer with some interface modules of A-D/D-A converter and RS-232C. The effectiveness of RTCPP is illustrated by the application controls for motor and magnetic levitation systems.

• 수산해양기술연구
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• 제33권1호
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• pp.46-58
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• 1997

The energy saving is one of the most important factors for profit in marine transportation. In order to reduce the fuel oil consumtion the ship's propulsion efficiency must be increased as possible. The propulsion efficiency depends upon a combination of an engine and a propeller. The propeller has better efficiency as lower rotational speed. This situation led the engine manufacturers to design the engine that has low speed, long stroke and a small number of cylinders. Consequently, the variation of rotational torque became larger than before because of the longer delay-time in fuel oil injection process and an increased output per cylinder. As this new trends the conventional mechanical-hydrualic governors for engine speed control have been replaced by digital speed controllers which adopted the PID control or the optimal control algorithm. But these control algorithms have not enough robustness to suppress the variation of the delay-time and the parameter perturbation. In this paper we consider the delay-time and the perturbation of engine parameters as the modeling uncetainties. Next we design the robust servo controller which has zero offset in steady state engine speed, based on H sub($\infty$) control theory. The validity of the controller was investigated through the response simulation. We used a personal computer and an analog computer as the digital controller and the engine (plant) part respectively. And, we could certify that the designed controller maintains its robust servo performance even though the engine parameters may vary.

• 융합신호처리학회논문지
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• 제6권2호
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• pp.89-94
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• 2005

본 논문에서는 새로운 방법의 Fuzzy PID 제어기를 제안한다. 우선 절대형 디지털 PID 제어기에서 두 가지 문제점이 있다. 첫째는 매 제어 주기마다 많은 데이터의 합을 구해야 하므로 계산시간이 많이 소요되고, 둘째는 이 계산을 위해 이전의 모든 데이터를 보관하고 있어야 되기 때문에 메모리가 많이 필요한 문제점이 있다. 위의 문제점을 개선하기 위해 속도형 디지털 PID 제어기를 사용한다. 제안한 제어기에서는 PID 제어기의 목표 값과 현재 출력 값의 차인 크리스퍼(crisp) 출력 오차를 그대로 사용하지 않고 퍼지추론의 단계는 가지면서 Rule Table은 갖지 않는 특징이 있으며 출력 소속 함수에 두 변수의 관계와 범위에 의해 도식화된 영역에서 삼각형 무게 중심법으로 비퍼지화된 비선형 출력 값을 PID 계수에 인가하는 새로운 Fuzzy PID 제어기를 제안한다.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2002년도 춘계학술대회 논문집
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• pp.357-360
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• 2002

Nowadays, the improvement and development of Multi-media, information and communication technology are rapidly processed. And many products, for example, digital camera, digital camcorder, and PDA, are used for them. They need large data storage capacity and small size, light storage system. Due to that, many studies and researches in data storage system have been carried out. Especially, micro drive system was presented by IBM.(1) However, its system is expensive and uneasy to be portable. In ODD technologies, 1 inch drive system is not yet or in processing status.(2) If to be possible and to be come up, it is cheap than HDD system and easy to transfer information. In this paper, a miniaturized actuator(about linch) is designed and tested for ODD system. Specially, it is adapted for NFR(Near-field Recoding) system using SIL(Solid Immersion Lens). It is the dual-servo actuator which consists of a coarse actuator and fine actuator. Its actuating force generation method is VCM(Voice Ceil Motor). The fine actuator has 4-wire suspensions and bobbin wrapped by coil and includes focusing motion as well as tracking motion. The coarse actuator has an actuating coil and V-grooved guide mechanism. Also, the characteristics of the designed actuator is estimated by sine-swept mode and LDV(Laser Doppler Vibro-meter).

• 한국항행학회논문지
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• 제11권2호
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• pp.209-216
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• 2007

본 논문에서는 보행 로봇의 자세 안정화 및 동적 걸음새를 구현하였다. 10개의 RC 서보모터가 로봇 관절에 사용되었고, 각 로봇의 관절은 어떤 걸음새 동작에도 충분히 움직일 수 있게 하였다. 각 관절 궤적은 3차 스플라인 보간법에 의해 생성되며, 궤적의 안정성은 로봇 모델링에 의한 ZMP(Zero Moment Point)를 이용하여 입증하였다. 또한 복잡한 구조와 표현을 피하기 위해 각 가속도를 이용한 ZMP방법을 구현 하였고, 로봇의 안정 상태를 측정하기 위해 기울기 센서와 자이로 센서가 사용되었다. 10개의 서보모터 제어, 궤적 생성, ZMP 보상, 센서 측정 등 과 같은 대부분의 계산 과정은 DSP에서 이루어지며, PC에서는 단순히 로봇의 상태, 데이터 처리 등의 모니터링에 이용하였다.

• Journal of Power Electronics
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• 제8권2호
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• pp.121-130
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• 2008

This paper introduces a design and implementation of a digital control unit for an Oxygenaire Servo Baby Incubator. The control unit is designed and implemented according to international standards. The control unit is based on an AVR Atmel microcontroller unit. It is built for monitoring and control and displays the three main temperature values: set point temperature, baby skin temperature and air temperature. User friendly software is implemented. The implemented control unit was tested in the laboratory as well as in the field. The control unit is sensitive to change of $0.1^{\circ}C$. At startup, based on a unique control strategy, the incubator reaches its steady state in about 14 minutes. The system schematic diagrams are shown in the paper. Also, programs flow charts are presented. The control unit was designed and implemented based on a contract between the Electronics Research Institute (ERI) and ENGIMED Company. The authors would like to thank ERI and ENGIMED for introducing all required finance and shoring to complete this work.

• Journal of Advanced Marine Engineering and Technology
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• 제17권5호
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• pp.86-98
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• 1993

The application of A.C. motor for servo system is rapidly increased according to the recent advance of power electronics and digital control techniques. The induction motor which has a simple structure and needs less maintenance has become to be used widely in the industrial field for the speed and position control recently. In this paper, the full-bridge resonant inverter is applied to the speed control of single phase inducting motor. The digital PID control algorithm is used and the control parameter is determined by the Zigler-Nichols transient response method. The speed control is carried out by the one chip micro-processor(intel EV 8097BH) and control program is developed by the assembly language. By the experimental result, it is confirmed that the speed of single phase induction motor driven by full bridge series inverter can be smoothly controlled by a digital PID controller.