• Journal of the Korean Society for Precision Engineering
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• v.26 no.9
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• pp.103-111
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• 2009

Multi-climbing hydraulic robots are used to lift construction factory (CF) synchronously for applications in the automation of a high-rise building construction. In this study, synchronous motion controller is proposed for the hydraulic robots, whose strategy is not only to make each robot follow the reference path basically by sliding-mode control, but also to synchronize motions of two adjacent cent robots consecutively by cross-coupled control technique. Simulations are performed by using SIMULINK for a system similar to a practical application that includes unbalance in CF and wind disturbance. The results show that the proposed controller significantly reduces synchronous errors, compared to the individual controller for each hydraulic robot.

• 전기의세계
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• v.24 no.2
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• pp.78-83
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• 1975

There are many studies recently, on a wound rotor induction motor operation as synchronous rotating speed, and such an induction motor is so called an induction synchronous motor. In above desciption the region of pull into-step that the wound rotor induction motor as a synchronous motor has not been calculated. This paper deals with such a region. Generally, induction synchronous motor is different from a synchronous motor in many respects. In considering these respects, characteristic equations of motion for this motor are induced adoption small signal linearization, continuous quasili-nearization and state variable grouping technique. For pulling-into-step of Induction Synchronous Motor, we first analyze these equations with digital computer and compare the former with datas calculated by motor experimentation.

• Proceedings of the KIPE Conference
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• 2001.12a
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• pp.23-26
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• 2001

This paper presents a digital motion control system for Reluctance Synchronous Motor (RSM) drives with direct torque control (DTC). The system consists of stator flux observer, torque estimator: two hysteresis band controllers, an optimal switching look-up table, IGBT voltage source inverter(VSI), and TMS320C31 DSP controller by using fully integrated control software. The stator flux observer is based on the combined voltage and current model with stator flux feedback adaptive control of which inputs are current, voltage and actual rotor angle for wide speed range. In order to prove the suggested motion control algorithm, There are some simulation and testing at actual experimental system. The developed digitally high-performance motion control system are shown a good motion control response characteristic results and high performance features using 1.0Kw RSM.

• 제어로봇시스템학회:학술대회논문집
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• 1992.10a
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• pp.1008-1013
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• 1992

본 논문에서는 다중 로보느의 협조제어(Coordinated Control)를 위한 로보트 콘트롤러의 설계에 대해서 연구한다. 첫 부분에서는 다중 로보느의 연구배경 및 연구동기에 대해서 논의하고 이어서 Coordinated Task를 묘사하기 위한 Programming Primiitive Set을 정의하며 구현에 대해서도 논의한다. 특히 Motopn Primitive는 synchronous(Coordinated Motion), Asynchronous Motion, Conditional Motion, 특수 Motion으로 분류하고, 각각의 궤적계획 및 구현에 대해서도 간단히 논의한다. 특히 본 논문에서는 외부의 변화하는 환경에 효과적으로 적응할 수 있게 하기 위하여 Vision센서, Encoder신호와 Limit센서, Force센서 등의 다양한 외부 센서를 융합 처리할수 있는 다중 로보트 제어 시스템을 개발하였다.

• The Transactions of the Korean Institute of Power Electronics
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• v.7 no.5
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• pp.427-436
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• 2002

This paper presents an implementation of high-dynamic performance of position sensorless motion control system of Reluctance Synchronous Motor(RSM) drives for an industrial servo system with direct torque control(DTC). The problems of high-dynamic performance and maximum efficiency RSM drives controlled by DTC are saturation of stator linkage flux and nonlinear inductance characteristics with various load currents. The accurate estimation of the stator flux and torque are obtained using stator flux observer of which a saturated inductance $L_d$ and $L_q$ can be compensated by adapting from measurable the modulus of the stator current and rotor position. To obtain fast torque response and maximum torque/current with varying load current, the reference command flux is ensured by imposing $I_{ds} = I_{qs}$. This control strategy is proposed to achieve fast response and optimal efficiency for RSM drive. In order to prove rightness of the suggested control algorithm, the actual experiment carried out at $\pm$20 and $\pm$1500 rpm. The developed digitally high-performance motion control system shown good response characteristic of control results and high performance features using 1.0kW RSM which has 2.57 Ld/Lq salient ratio.

• The Transactions of the Korean Institute of Electrical Engineers B
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• v.51 no.3
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• pp.150-157
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• 2002

This paper presents preliminarily an implementation of digital high-performance motion control system of Reluctance Synchronous Motor (RSM) drives with direct torque control (DTC). The system consist of stator flux observer, torque estimator, two hysteresis band controllers, an optimal switching look-up table, IGBT voltage source inverter, and TMS320F240 DSP controller made by Texas Instruments. The stator fluff observer is based on the combined voltage and current model with stator flux feedback adaptive control, and the input of the observer are the stator voltage and current of motor terminal for wide speed range. The rotor position and speed sensor used 6000 pulse/rev encoder. In order to prove rightness of the suggested control algorithm, we have some simulation and actual experimental system at $\pm$20 and $\pm$2000 rpm. The developed digitally high-performance motion control system+ are shown a good response characteristic of control results and high performance features using 1.0kW RSM which has 2.57 Ld/Lq salient ratio.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1997.10a
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• pp.367-370
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• 1997

Linear motors can drive a linear motion without intermediate gears, screws or crank shafts. Linear motors can successfully replace ball lead screw in machine tools because they have a high velocity, acceleration and good positioning accuracy. On the other hand, linear motors emit large amounts of heat and have low efficiency. In this paper, the thermal behavior of a synchronous linear motor with high velocity and force is analyzed. To improve the thermal characteristics of the linear motor, structure of linear motor and cooler is changed. Some effects of an integrated cooler, an U-cooler and a thermal symmetrical cooler are presented.

• Journal of Aerospace System Engineering
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• v.17 no.6
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• pp.54-62
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• 2023

Flapping-wing air vehicles, well known for their free vertical take-off and excellent flight capability, are currently under intensive development and research. While most of the studies have explored the effect of various parameters of synchronized motions on the unsteady aerodynamics of flapping wings, limited attention has been given to the effect of nonsynchronous motions on the unsteady aerodynamic characteristics of flapping wings. In the present study, we conducted a numerical analysis to investigate the unsteady aerodynamic characteristics of an airfoil flapping with different frequency ratios between pitch and heave oscillations. We identified the motions and angle of attacks due to nonsynchronous motions. It was found that the synchronous motion produced thrust with zero lift, but the nonsynchronous motion generated a large lift with little drag. The aerodynamic characteristics of the airfoil undergoing the non-synchronous motion were also analyzed using the vorticity distributions and the pressure coefficient around and on the airfoil. When r was equal to 0.5, larger leading and trailing edge vortices were observed compared to the case when r was equal to 1.0, and these vortices significantly affected the aerodynamic characteristics of the airfoil undergoing the nonsynchronous motion. In future, the effect of pitch amplitude on the unsteady aerodynamic characteristics of the airfoil will be studied.

• Journal of international Conference on Electrical Machines and Systems
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• v.1 no.4
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• pp.419-424
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• 2012

This paper presents a tubular reciprocating translational motion permanent magnet synchronous motor for percussive drilling applications for offshore oil & gas industry. The motor model and rock model are built up by doing force analysis of the motor and analyzing the physical procesof impact. The optimization of input voltage waveforms to maximize the rate of penetration is done by simulations. The simulation results show that the motor can be utilized in percussive drilling applications and achieve a very large impact force. Simulation results for optimization also show that second harmonic input voltage produces a higher rate of penetration than the sine wave and fourth harmonic input voltages.

• International Journal of Control, Automation, and Systems
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• v.4 no.1
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• pp.1-9
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• 2006

This paper presents the modeling and multivariable feedback control of a novel high-precision multi-dimensional positioning stage. This integrated 6-degree-of-freedom. (DOF) motion stage is levitated by three aerostatic bearings and actuated by 3 three-phase synchronous permanent-magnet planar motors (SPMPMs). It can generate all 6-DOF motions with only a single moving part. With the DQ decomposition theory, this positioning stage is modeled as a multi-input multi-output (MIMO) electromechanical system with six inputs (currents) and six outputs (displacements). To achieve high-precision positioning capability, discrete-time integrator-augmented linear-quadratic-regulator (LQR) and reduced-order linearquadratic-Gaussian (LQG) control methodologies are applied. Digital multivariable controllers are designed and implemented on the positioning system, and experimental results are also presented in this paper to demonstrate the stage's dynamic performance.