• 대한전자공학회:학술대회논문집
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• 대한전자공학회 1998년도 하계종합학술대회논문집
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• pp.207-210
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• 1998

Brushless servomotor systems offer a great advantae in unmanned factories where a great number of servomotors are employed, because of its easy maintenance charateristics and controllability. This paper propose a sinusoidal type brushless DC motor speed servo system which has high efficiency and usability in industrial field as described above. And this servo system is realized by a new Auto-Tuning PI control algorithm and verified it's practical potential of implementation by self-designed driver system. In particular, DSP(digital signal processor) is adopted in this study as controller and sensor signal processor owing to their fast computational capability and suitable architecture.

• 대한전자공학회:학술대회논문집
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• 대한전자공학회 2009년도 정보 및 제어 심포지움 논문집
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• pp.375-377
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• 2009

This paper researched the algorithm of robot's walking and action on the basis of robot studied and made at our laboratory and studied how to efficiently control the robot joints by developing wireless Digital Servo Motor using Zigbee Sensor Network Module which is using at wide part recently. I realized the stable walking by adopt Press Sensor at the bottom of robot foot to get stability of walking. Also I let the algorithm calculate the robot movement to make the joint motion and monitored the robot walk to its motion. At this Paper, I studied the method organizing the motion by the each robot walking and measuring the torque applying to the joint. And I also knew that it is possible to make its control and construct hardware more conveniently than them of the existing studied and controling 2Legs Walking Robot by applying it at walking robot and developing wireless servo motor by Zirbee Sensor Network.

• 대한전자공학회:학술대회논문집
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• 대한전자공학회 2009년도 정보 및 제어 심포지움 논문집
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• pp.313-315
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• 2009

In this thesis, A methodology of system implement for PID controller, PWM logic, HSC logic, Host Communication and external DAC interface are implemented into single FPGA chip is proposed. The implemented system is used to control the speed of DC servo motor. A DATA block transfers set point value(SV) and P, I, D gain parameters to the corresponding Blocks respectively by the Host Communication to Computer. A HSC block generates process value(PV) by a pulse and $90^{\circ}$ shifted pulse from the encoder A PID block makes error(E) signal from the set value and process value and output manufacture value(MV) through the PID controller. In PWM block using the MV from the PID block, drives H-bridge controlling the Motor. Also DAC interface controls the DAC to graph the digital signal such as SV, PV, E, MV in FPGA onto the Oscilloscope.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1995년도 Proceedings of the Korea Automation Control Conference, 10th (KACC); Seoul, Korea; 23-25 Oct. 1995
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• pp.215-218
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• 1995

In this paper, a sliding mode controller (SMC) which can be characterized by high accuracy, fast response and robustness is applied to speed control of AC-SERVO motor. The control input is changed to continuous one in the boundary layer to reduce the chattering phenomenon, and the boundary layer converges to zero when the state variables of system reach to steady state values. The integral compensator is added to reduce steady state error and to provide the continuous torque reference. The acceleration which is necessary to get the sliding plane is estimated by an observer. Sliding surface is included in control input to enhance the robustness and transient response without increasing sliding mode controller gain. The proposed controller is implemented by DSP(digital signal processor). The effectiveness of the proposed control scheme for speed controller is shown by the real-time experimental results in the paper.

• 수산해양기술연구
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• 제28권1호
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• pp.39-44
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• 1992

Analog PID controllers have been designed to make good use of position control in industries. Recently, the importance of digital position control is emphasized for the requirements of controller which are not only to control the objects but to include various aspects such as easiness of design and implementation, simple exchange of control program and convenient communications of data between various controllers and a host computer. This study proposes a combined control method which is mixed the vaiable structure control (VSC) with the PI control for minimum time position control of DC servo motor by microcomputer. The results of test by this method show offset-free and minimum time optimal position control which is not affected by the disturbance and the system parameter variations. The validity of the proposed method comparing with the conventional PID control is proved by the response experiments.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1990년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 26-27 Oct. 1990
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• pp.135-139
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• 1990

In general, the control of robot arms falls into two board categories (position control and force control). The joint interpolated trajectory schemes generally interpolate the desired joint path by a class of polynomial functions and generate a sequence of time based control set points for the control of a manipulator from a initial location to its destination. A digital position controller was designed and adapted to the industrial balancing manipulator. And also, the joint interpolated trajectory using 3rd order polynomial was generated in this study. The IBM PC used as the main controller and the trajectory planner had enough run-time capabilities. The 8097BH microcontroller is an integral pan of the joint controller which directly controls an axis of motion. The PI servo control system to treat each joint of the robot arm as a independent joint servo mechanism had satisfying performance, and a sequence of time-based intermediate configurations of the manipulator hand showed good continuity and smoothness on position and velocity of the manipulator's joint coordinates along the trajectory.

• 전력전자학회:학술대회논문집
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• 전력전자학회 1998년도 Proceedings ICPE 98 1998 International Conference on Power Electronics
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• pp.325-329
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• 1998

This paper describes the controller for the improving speed control of the AC servo motor. The microprocessor provides an output to the difference in command. the servo system improves the characteristics of speed control. When the motor is running at the same speed as set by the reference signal, the speed encoder also provides a signal of the same frequency. Thus, the microprocessor controlled digital techniques enable to realize the flexible performance and control which was possible with time constant of linear acceleration/deceleration. We can know that optimal speed of machining center is 75msec in 30000mm/min and actually, 75msec is using on machining center. Finally experimental results prove excellent performance of this control system. This can be reduced error with more exact measure of actual speed. The system can be adaptable to CNC machine.

• 전력전자학회:학술대회논문집
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• 전력전자학회 1998년도 전력전자학술대회 논문집
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• pp.347-351
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• 1998

This paper describes the controller for the improving speed control the AC servo motor. The microprocessor provides an output to the difference in command. The servo system improves the characteristics of speed control. When the motor is running at the same speed as set by the reference signal, the speed encoder also provides a signal of the same frequency. Thus, the microprocessor controlled digital techniques enable to realize the flexible performance and control which was possible with time constant. We can know that optimal speed of machining center is 75msec in 30000mm/min and actually, 75msec is using on machining center. Finally experimental results prove excellent performance of this control system. This can be reduced error with more exact measure of actual speed. The system can be adaptable to CNC machine.

• 대한전기학회논문지
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• 제33권9호
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• pp.327-339
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• 1984

In this paper we present how to design the software-based speed and position controller of a DC servo drive system for an educational robot. The controller designed by fully digital scheme consists of a CPU, drive unit, encoder pulse coding unit, speed and position detector. The control algirithm of the controller is a hybrid one such that speed control and position control are switched at some instant to get more accuracy. The experimental resusts of the proposed DC servo-controller show good performances for the position and speed control of the proposed educational robot system.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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• pp.136-136
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• 2000

The direct drive servo valve(DDV) is composed of a DC rotor, link, valve spool and displacement sensor(LVDT) where the spool is directly coupled to the DC motor through the link. Since the DDV is a kind of one-stage valve, the robust controller is required to overcome the flow force effect on the spool motion. The mathematical equations are derived and the stability, accuracy and response speed of a DDV are investigated analytically using a linearized system block diagram. Proportional control, PID control. Time-Delay control, Sliding Mode control, and Proportional control using the load pressure are applied to DDV to find which one shows the best control performance. The digital computer simulation results show that the proportional control using the load pressure satisfies the design requirement of response speed and steady state error regardless of the variation of load pressure,