• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2014.05a
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• pp.380-383
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• 2014

Hub BLDC (Brushless Direct Current) motor is a multi-pole outer rotor-type high-efficiency electric motors and the Direct Drive Motor having permanent magnet rotor to drive shaft of the wheel, also called wheel-in motor. In this study, we design a speed controller with vector control technique using the dsPIC30f2010 16 bit micro-controller to drive Hub BLDC motor. Especially, we propose vector control method which reduce complex operation time, and design directly MOSFET inverter directly which gain high economics.

• Journal of Drive and Control
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• v.20 no.3
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• pp.9-14
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• 2023

In this paper, the selection of a reliable accelerated life test code for a 2-ton forklift was accomplished by choosing the driving resistance coefficient failure-free test time based on a 10,000-hour B₁₀ life. The overall life and average equivalent load of the vehicle were then calculated based on actual driving test conditions using the selected driving resistance coefficient. The gear train's accelerated life test code was selected by adjusting the equivalent load to a torque and rotation speed that did not exceed 125%(about 75HP) of the vehicle rated power. The safety of the test standards was validated by conducting an actual accelerated life test utilizing the proposed test method in this study and comparing the test result with the corresponding theoretical value. It is anticipated that the reliability of the accelerated life test in this paper will be enhanced, by incorporating actual driving performance data collected directly from the forklift and adjusting the conditions used in developing the accelerated life test code.

• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.23 no.2
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• pp.144-151
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• 2013

This paper presents a result of the mechanical noise and vibration analysis as well as the electrical characteristics analysis of the permanent magnet(PM) motor according to the driving method that is Brushless DC(BLDC) drive and Brushless AC(BLAC) drive. To do that, the characteristics of the PM motor, which have the same output power but different driving method, are investigated. At that time, the characteristics such as torque, torque ripple and flux density, and so on, are obtained by finite element analysis(FEA). Besides, noise and vibration are obtained by spectrum analysis. The magnetic noise is defined as noise generated from vibrations due to electromagnetic excitation force. In this paper, the electromagnetic excitation force is analyzed and design process of noise reduction is proposed. Finally, The validity of the analysis results is verified by test.

• Journal of rehabilitation welfare engineering & assistive technology
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• v.7 no.2
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• pp.7-12
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• 2013

In this paper, we propose a brushless DC motor drive system for active knee prosthesis and low-cost estimation method for phase current from DC-link current. To control motor torque directly, current sensing is very important and current sensing point should be synchronized with voltage switching command to minimize the effect of switching noise in current measurement, For maintaining small form factor, simplifying control schemes and achieving low-cost system, control schemes using DC-link current are used. Moreover, we incorporated phase current estimation method using analog MUX for minimizing current estimation error between DC-link current and phase current. The validity of the proposed system is verified through experimental works.

• Journal of the Korea Computer Industry Society
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• v.5 no.9
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• pp.993-1004
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• 2004

We propose the method for kinematic and dynamic modeling and Path-tracking of four-wheeled mobile robots with 2 d.o.f having the limited drive-torques. Controllability of wheeled-mobile robots is revealed by using the kinematic model. Instantaneously coincident coordinate system, force/torque propagation and Newton's equilibrium law are used to induce the dynamic model. When drive-torques generated by inverse dynamics exceed the limitation, we make wheeled-mobile robots follow the reference path by modifying the planned reference trajectory with time-scaling. The controller is introduced to compensate for error owing to modeling uncertainty and measurement noise. And simulation results prove that the method proposed by this paper is efficient.

• Journal of the Korean Society for Precision Engineering
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• v.18 no.8
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• pp.96-106
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• 2001

As the drilling depth increases, the cutting torque increases and fluctuates, which can lead to the machine tool vibration, severe tool wear, and catastrophic tool breakage. Hence, cutting torque control is very important to improve productivity in drilling. In this paper, a PID controller was designed to control the drilling torque. The plant including the feed drive system, cutting process and spindle drive system was modeled for controller design. The Ziegler-Nichols method was used to determine the controller gain and control action times and the root locus plot was used to tune the controller gain for a certain cutting condition. Also, suggested was a simple method to obtain the tuned controller gain for an arbitrary cutting condition not using the Ziegler-Nichols method and the root locus plot. The performance of the designed controller and the effect of controller gain tuning were verified from experiments.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.67 no.10
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• pp.1308-1316
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• 2018

Accurate tuning of parameter is very important in vector-controlled induction motor. Among the parameters of induction motor, detuning of rotor resistance used in controller design deteriorates drive performance. This paper presents a novel rotor resistance estimation strategy using slip angular velocity in vector-controlled induction motor drives. The slip angular velocity can be calculated by two methods. Firstly, it can be induced from the rotor voltage equation. Secondly, it can be induced from the difference between synchronous angular velocity and rotor angular velocity. The first method includes the rotor resistance, while the second method dose not include this parameter. From this fact, the rotor resistance can be identified by comparing the slip angular velocities in the two methods. In the tuned states of the rotor resistance, performances of flux estimator and speed drive are discussed. The simulation and experimental results are given to verify the validity of the proposed method in various situations.

• Journal of information and communication convergence engineering
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• v.10 no.4
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• pp.372-377
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• 2012

In this paper, we propose an implementation of a real-time operating system for the two-wheel mobile robot. With this implementation, we have the ability to control the complex embedded systems of the two-wheel mobile robot. The advantage of the real-time operating system is increasing the reliability and stability of the two-wheel mobile robot when they work in critical environments such as military and industrial applications. The real-time operating system which was ported to this implementation is open systems and the corresponding interfaces for automotive electronics (OSEK/VDX). It is known as the set of specifications on automotive operating systems, published by a consortium founded by the automotive industry. The mechanical design and kinematics of the two-wheel mobile robot are described in this paper. The contributions of this paper suggest a method for adapting and porting OSEK/VDX real-time operating system to the two-wheel mobile robot with the differential drive method, and we are also able to apply the real-time operating system to any complex embedded system easily.

• Proceedings of the KIPE Conference
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• 2003.07b
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• pp.663-666
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• 2003

This paper presents a speed controller method based on the disturbance torque observer of high performance brushless DC (BLDC) motor drives. In case of the speed control of robot arms and tracking applications with lower stiffness, we cannot design the speed controller gain to be very large from tile viewpoint of the system stability. Thus, the feedforward compensator using disturbance torque observer was proposed. This method can improve the speed characteristic without increasing the speed controller gain. The enhanced speed control performance can be achieved and the speed response against the disturbance torque can be Improved for high-performance BLDC motor drive systems in which the bandwidth of tile speed controller cannot be made large enough. Consequently, speed control for high-performance BLDC motor drives become improved. The simulation results for BLDC motor drive systems confirm the validity of the proposed method.

• The Transactions of the Korean Institute of Power Electronics
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• v.3 no.4
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• pp.399-406
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• 1998

This paper proposes an instantaneous torque control method for the high performance SRM drive. In first, we e establish SRM model with the characte1istics of the torque. phase current and rotor position which were measured in t the experimental SRM. Based on this model. the reference torque waveform to minimize torque ripple is obtained by t the control of resultant torque considering phase torque overlap according to the variation of load and speed. And the r reference current waveform for the tracking of reference torque are decided. The control method for tracking the r reference current is used the delta modulation technique. The proposed method is validated by the comparing with S simulation and experimental results.