• Journal of Advanced Marine Engineering and Technology
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• 제28권2호
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• pp.185-191
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• 2004

This study describes the scheme of vector drive system without speed sensor for AC servo motor using theory of a flux observer and based on the field oriented vector control. The new method of speed estimation is presented from operate with the position and magnitude of the secondary flux which obtain from the voltage reference and detected current. As the estimated speed is settled by the flux and the machine-specific parameters. this method don't need to adjust the gain of the parameter. Based on the derived theory for vector control. the scheme for sensorless vector drive of AC servo motor is designed and realized. And the experiment verifies it passable to realize the sensorless vector drive based on a field-oriented type.

• 제어로봇시스템학회논문지
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• 제9권9호
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• pp.679-691
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• 2003

The band-width of disk drive servo system is rapidly increasing for the robustness to external disturbance as the track density is increasing. The increase of the band-width may cause mechanical resonance of an actuator. In disk drive servo system, a notch filter is usually used to suppress the mechanical resonance of the actuator. However, the resonance frequency differs from drive to drive because of manufacturing tolerance and varies with temperature even within a single drive. The variation of resonance frequency degrades the suppression performance of the notch filter. In this paper, we present an adaptive digital notch filter that identifies the resonance frequency of the disk drive servo actutaor precisely and adjusts automatically its center frequency. For this, we design an adaptive FIR digital filter for the estimation of the resonance frequency. The estimation filter identifies the resonance frequency adaptively using the output signal generated from the servo system, which is excited with an excitation signal including all the expected resonance frequency components. We prove mathematically the convergence of the resonance frequency estimation filter. Furthermore, in order to demonstrate the practical use of our work, we present some experimental results using a commercially available disk drive.

• 제어로봇시스템학회논문지
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• 제13권10호
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• pp.940-948
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• 2007

The Advanced Spent Fuel Conditioning Process(ACP), which is the process of the reduction of uranium oxide by lithium metal in a high temperature molten salt bath for spent fuel, was developed at Korea Atomic Energy Research Institute (KAERI). Since the ACP equipment is located in an intense radiation field (hot cell) as well as in a high temperature, it must be remotely operated and maintained. The ACP hot cell is very narrow so the workspace of the wall-mounted mechanical Master-Slave Manipulators(MSMs) is restricted. A Bridge Transported Servo Manipulator(BTSM) system has been developed to overcome the limitation of an access that is a drawback of the mechanical MSMs. The BTSM system consists ot a bridge crane with telescoping tubeset, a slave manipulator, a master manipulator, and a control system. We applied a bilateral position-position control scheme with friction compensation as force-reflecting controller. In this paper, the transmission characteristics on the tendon-and-pulley train is numerically formulated and analyzed. Also, we evaluate the performance of the force-reflecting servo manipulator.

• Journal of Advanced Marine Engineering and Technology
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• 제16권4호
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• pp.50-59
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• 1992

The paper presents a digital speed control approach of induction motor systems by using a digital servo control method and a well-known second order differential equation as model. The basic concept of using the modeling equation stated in the above is induced from the control theory stand point such that we can describe usually the motor system connected by inverter, generator and load etc, just as a mechanical system to be controlled. The concept does not demand us the complicated vector-based modeling equation adopted in the traditional methods for the speed control of induction motor. Futhermore, the proposed speed control system can be treated as a single input and single output system. The effectiveness of the servo control system obtained by the above-mentioned design concept is illustrated by the experimental results in the presence of both step reference changes and load variations. It is observed from the experimental results that the steady state-error of the experimental set up becomes zero after some regulation time and the induction motor system is robust in spite of reference signal changes and load variations.

• 대한기계학회논문집A
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• 제37권4호
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• pp.475-481
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• 2013

직접구동형 서보밸브의 제어시스템은 비선형적이며 밸브스풀에 미치는 유체력의 영향은 매우 크고 부하압력의 크기에 좌우된다. 제어시스템의 설계요구조건을 만족시키기 위해, 제약직접탐색방법인 유전자 알고리즘과 콤플렉스법을 적절히 활용하여 진상-지상제어기 및 미분피드백제어기의 최적 상수값을 탐색하였다. 최적 제어기 상수값을 대입하여 제어시스템을 시뮬레이션한 결과 설계요구조건을 만족하였다.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2003년도 춘계학술대회
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• pp.1309-1314
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• 2003

The high precision positioning mechanism is used in various industrial fields. It is used in semiconductor manufacturing line, test instrument, Bioengineering, and MEMS and so on. This paper presents a positioning mechanism with dual servo system. Dual servo system consists of a coarse stage and a fine motion stage. The course stage is driven by VCM and the actuator of fine stage is the PZT. The purposes of dual servo system are stability, higher bandwidth, and robustness. Lead compensator is applied to this control system, and is designed by PQ method. Designed compensator can improve property of positioning mechanism.

• 드라이브 ㆍ 컨트롤
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• 제18권1호
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• pp.17-23
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• 2021

The flow signal or spool position signal is used to determine the dynamic characteristics of directional control valves. Alternatively, the signal of spool position or flow can be replaced with the velocity of a low friction, low inertia actuator. In this study, the frequency response of the servo valve equipped with a spool position transducer is measured with a metering cylinder. The input signal, spool displacement, load pressure, and velocity of the metering cylinder are measured, and the theoretical results from the transfer function analysis are verified. The superposition rule for magnitude ratio and phase angle was found to be always applicable among any signal type, and it was found that the load pressure signal is not appropriate for use as the signal for measuring the frequency response of a servo valve. It was confirmed that the frequency response of a servo valve using metering cylinder was similar to the results from a spool displacement signal. The metering cylinder used for measuring the frequency response of a servo valve should be designed to have sufficiently greater bandwidth frequency than the bandwidth frequency of the servo valve.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1987년도 한국자동제어학술회의논문집(한일합동학술편); 한국과학기술대학, 충남; 16-17 Oct. 1987
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• pp.747-752
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• 1987

The dynamic characteristics of a load-sensing hydraulic servo system are complex and highly unstable. Another property of the system is that the setting value of pump compensator is closely related to energy efficiency as well as control performance of the system. This necessitates the development of an effective control algorithm which guarantees good control performance, stability and energy efficiency. This paper considers a suboptimal PID control for the velocity control problem of the load-sensing hydraulic servo system. The results of simulations studies and experiments show that the proposed suboptimal controller can produce much better control performance than nonoptimal controllers and give effective energy efficiency.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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• pp.479-479
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• 2000

Recently, IVS(Intelligent Vehicle Systems) or ITS(Intelligent Traffic Systems) are much concerned subjects of automotive industry. In this paper, we will introduce an Intelligent Online Driving System for a car. This system allows the driver to be able to drive the car just by operating an integrated joystick. The proposed driving system could be implemented into any car and the key point of the design is that the driver still can drive the car as normal without using the joystick. Our Intelligent Online Driving System includes the integrated joystick, steering wheel control system, brake and acceleration (B&A)pedals control system, and the central control computer system. Steering wheel and B&A pedals are controlled by AC servo-motors. The integrated joystick generates the desired positions and the embedded computer controls these two servomotors to track the commands given by joystick. The control method for two servo-motors is PID control.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1994년도 추계학술대회 논문집
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• pp.348-353
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• 1994

Magnetic Servo Levitation (MSL) has been proposed as a method to drive a fast-tool servo system. This paper discusses some fundamental control and modeling issues in the development of a long-range high-bandwidth fast-tool servo based on MSL. A resursive linear model is developed to describe the system's dynamics linear model is developed to describe the system's dynamics, and further used to discuss controller design. For a given controller architecture, the performance of two controllers is then compared, one based on an approximation to the inverse plant dynamics, the second based on a adaptive neural network.