• Proceedings of the KIEE Conference
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• 2005.10c
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• pp.92-94
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• 2005

Speed and torque controls of permanent magnet synchronous motors are usually attained by the application of position and speed sensors. However, speed and position sensors require the additional mounting space, reduce the reliability in harsh environments and increase the cost of a motor. Therefore, many studios have been performed for the elimination of speed and position sensors. This paper investigates a novel speed sensorless control of a permanent magnet synchronous motor. The proposed control strategy compensates a speed error through the difference between the calculated and measured reactive power. The proposed algorithm is verified through the simulation and experimentation.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2005.06a
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• pp.1832-1835
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• 2005

This paper presents the steering control algorithm of an up and down motion robot using a quaternion. The up and down motion robot is to be moved on an irregular floor that can inevitably result in the errors of both position and orientation. Especially the orientation error should be compensated every work in order to adjust the misaligned values of current orientation to those commanded values. In this paper, we propose a new steering control algorithm between the two values by using a quaternion with spherical cubic interpolation. The proposed algorithm is shown to be effective in terms of vibration when compared to a conventional simple compensation without interpolation, by using $MATLAB^{(R)}$ and $VisualNastran4D^{(R)}$

• Proceedings of the KSME Conference
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• 2003.11a
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• pp.1506-1511
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• 2003

This paper describes an automatic weld seam tracking method of plasma arc welding system designed for the corrugation panel that consists of a linear section and a curved section with various curvatures. Due to the complexity of the panel shape, it is difficult to find a seam and operate a torch manually in the welding process. So, the laser vision sensor for seam tracking is designed for sensing the seam position and controlling a torch automatically. To achieve precise seam tracking, the design of sensor head, image simulation, and calibration are carried out. Through a series of experiment result, compensation algorithm is added and real time error compensation is achieved. The experiment result shows that this vision sensor works effectively. It will provide more precise welding performance and convenience to the operator.

• Journal of the Korean Society for Precision Engineering
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• v.13 no.12
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• pp.99-105
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• 1996

Increasing demands on precision machining of free-form surfaces have necessitated the tool to move not only with position error as small as possible, but also with smoothly varying feedrates. In this paper, linear, circular and spline interpolators were developed in reference-pulse type using PC. M-SAM and M-DAM were designed by the comparison and analysis of previous interpolation methods. Spline interpolator was designed to follow the free-form curves. To apply to the real cutting process, constant feedrate compensation and acceleration-deceleration compensation were conceived. Finally, its performance was tested using retrofitted milling machine. As a result, new interpolation algorithm is favorable in precision machining of free-form curves.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.62 no.7
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• pp.956-962
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• 2013

Recently, sensorless controls, which eliminate position and speed sensor in a permanent magnet synchronous motor drive, have been much studied. Most sensorless control algorithms are based on the back-EMF and speed estimations which are obtained from the voltage equations. Therefore, the sensorless control performance is largely affected by the parameter errors of a motor. This paper investigates a novel adaptive control with the parameter error compensation for the speed sensorless control of a permanent magnet synchronous motor. The proposed parameter estimation is obtained from the d-axis current error between the real and estimated currents. The proposed algorithm is verified through the simulation and experimentation.

• Proceedings of the KIEE Conference
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• 1998.07b
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• pp.572-574
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• 1998

This paper describes design method of control system with a pre-compensator using a neural network to compensate a error signal between a reference' signal and system response. The neural network which is used here is the mixed structure and it's algorithm is a back propagation that modify coupling coefficients. Applying this method to the position control system using DC servo motor as a driver, we verify the usefulness of this method with simulation.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.2 no.3
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• pp.303-308
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• 1998

As the technology of industrial automation using robot system grows the rapid advance, productivity improvement and decrease in number of maintenance, management occur in many fields. Therefore, more various and intelligent robot motions are needed without human being help. Considering this situation, the need of robot with various, fast and safe acting sensors are demanded. In these sensings, the slippage sensing gives us specific information between ripper and object while grasps the object. In this paper, we proposed new slippage sensing algorithm for various and intelligent robot motion. So, optimal grasping force control and compensation of position error is possible for an adaptive task execution using adaptive control.

• Journal of Institute of Control, Robotics and Systems
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• v.8 no.5
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• pp.425-433
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• 2002

After the removal of SA (Selective Availability), horizontal accuracy of 25m(2dRMS) is easily obtained using GPS (Global Positioning System). In this paper, the error characteristics without SA are analyzed and a navigation algorithm concerns this error characteristics is proposed to further improve the accuracy. The proposed method utilizes the relationship between elevation angle and errors that are remained after ionospheric and troposheric delay compensation. The relationship is derived from real measurements and used as a weighting matrix of weighted least squares estimator. Furthermore, a RAIM (Receiver Autonomous Integrity Monitoring) technique is included to remove abnormal measurements affected by multi-path or low SNR (Signal-to-Noise Ratio). It is shown that using the proposed method, more than 4 times accurate result, which is comparable with DGPS (Differential GPS), can be obtained from experiments with real data. Besides accuracy and reliability, the proposed method reduces large jumps in position and maintains better performance than a method using mask angle to completely remove satellites below this mask angle. Thus it is expected that the proposed method can be efficiently applied to land navigation where some satellites are blocked by building or forest.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.15 no.4
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• pp.886-890
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• 2011

Induction motors are relatively cheap and rugged machines. For the vector control of induction motors, a position or speed sensor is needed. But a speed sensor increases motor cost and reduces reliability in harsh environment. Recently, many studies have been performed for sensorless speed control. This paper investigates an improved flux observer with the parameter error compensation for a sensorless induction motor. The proposed algorithm is verified through simulation and experiment.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.14 no.1
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• pp.213-224
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• 2010

In this paper, we propose an algorithm both geometric correction using a grid point image and radiometric adaptive projection that dependent upon the luminance of the input image and that of the background. This method projects and captures the grid point image then calculates the geometrically corrected position by difference between the two images. Next, to compensate color, a corrected image is calculated by the ratio divided luminance of an input image by luminance of arbitrary surface. In addition, we found the scaling factor which controls the contrast to avoid clipping error. At this time, the scaling factor is dependent on mean image lightness when background is determined. Experimental results show that the proposed method achieves good performance and is able to reduce the perceived color clipping and artifacts, better approximating the projection on a white screen.