• The Transactions of the Korean Institute of Power Electronics
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• v.14 no.1
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• pp.82-88
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• 2009

Low costed position sensor or sensorless control method is generally used in the motor control for home appliance because of the material cost and manufacture standard restriction. In conventional sensorless method, the stator resistance and back-EMF coefficient are varied by the motor speed and load torque variation. Therefore, position error occurred when the motor is operated by sensorless control method because of these variations. In this paper, the compensation method is proposed for sensorless position error using 2 hall sensors.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.38 no.3
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• pp.289-294
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• 2014

Industrial manipulators are usually heavy given the payloads they carry. Therefore, they require high-capacity servomotors and speed reducers, which leads to high costs. However, if manipulator weight could be compensated for using a counterbalance mechanism, the motors' and speed reducers' capacities could be minimized substantially. However, it is usually difficult to assure durability and reliability with the conventional wire-based counterbalance mechanism. Therefore, a more robust gear- and roller-based counterbalance mechanism is proposed in this study. A manipulator was developed using this mechanism; this manipulator maintains its performance even when using motors and reducers of lower capacities. The results of various simulations and experiments verified that the proposed mechanism provides the torque required to compensate for gravitational torque in any configuration and minimizes the torque required for supporting a large payload.

• Journal of the Korean Society for Precision Engineering
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• v.31 no.12
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• pp.1141-1146
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• 2014

As life expectancy becomes longer, reduction of human muscular strength threatens quality of human life. Many robotic devices have thus been developed to support and help human daily life. This paper deals with a new type of in-wheel actuator that can be effectively used for the robotic devices. BLDC motor, drive board, brake, ARS (Attribute Reference System), and torque sensor are combined in the single actuator module. The torque sensor is used to recognize human intention and the in-wheel actuator drives walking aids in our system. Its feasibility was tested with the active walking aid device equipped with the in-wheel actuator. Based on it, we designed an admittance filter algorithm to react on uphill and downhill drive. By adjusting mass, damping, and spring parameters in accordance with the ARS output, it provided convenient drive to the old on uphill and downhill walks.

• The Transactions of the Korean Institute of Power Electronics
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• v.10 no.1
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• pp.52-60
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• 2005

Generally, a voltage difference or voltage distortion exists between the reference voltage and the practical voltage applied to a motor in a pulse width modulated(PWM) voltage source inverter(VSI). This voltage distortion varies with the operating conditions such as the temperature, DC link voltage, and phase current level. Also the voltage distortion affects the machine current distortion, torque pulsations, and control performance. In this paper, the voltage distortion in a PWM VSI is analyzed and a new on-line estimation method based on the model reference adaptive system(MRAS) is proposed to compensate the time varying voltage distortion, while considering the parameter variations for a permanent magnet synchronous motor (PMSM). The simulation and experimental results show the effectiveness of the proposed voltage difference observer and the compensation method.

• Journal of the Institute of Electronics Engineers of Korea SC
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• v.44 no.5
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• pp.62-70
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• 2007

In this paper, the boost Power Factor Correction(PFC) technique for Direct Torque Control(DTC) of brushless DC motor drive in the constant torque region is implemented on a TMS320F2812DSP. Unlike conventional six-step PWM current control, by properly selecting the inverter voltage space vectors of the two-phase conduction mode from a simple look-up table at a predefined sampling time, the desired quasi-square wave current is obtained, therefore a much faster torque response is achieved compared to conventional current control. Furthermore, to eliminate the low-frequency torque oscillations caused by the non-ideal trapezoidal shape of the actual back-EMF waveform of the BLDC motor, a pre-stored back-EMF versus position look-up table is designed. The duty cycle of the boost converter is determined by a control algorithm based on the input voltage, output voltage which is the dc-link of the BLDC motor drive, and inductor current using average current control method with input voltage feed-forward compensation during each sampling period of the drive system. With the emergence of high-speed digital signal processors(DSPs), both PFC and simple DTC algorithms can be executed during a single sampling period of the BLDC motor drive. In the proposed method, since no PWM algorithm is required for DTC or BLDC motor drive, only one PWM output for the boost converter with 80 kHz switching frequency is used in a TMS320F2812 DSP. The validity and effectiveness of the proposed DTC of BLDC motor drive scheme with PFC are verified through the experimental results. The test results verify that the proposed PFC for DTC of BLDC motor drive improves power factor considerably from 0.77 to as close as 0.9997 with and without load conditions.

• Journal of the Korean Institute of Illuminating and Electrical Installation Engineers
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• v.20 no.4
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• pp.117-122
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• 2006

Maximum efficiency control scheme in a stator flux-oriented induction motor drive is proposed for minimizing input dc power. Flux level is decreased in steps for searching the minimum input dc power. In addition, Torque equation, slip angular frequency, and decoupling compensation current considering iron loss resistance is used. Simulation and experimental results verify the effectiveness of the proposed method.

• Journal of Institute of Control, Robotics and Systems
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• v.7 no.1
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• pp.1155-1161
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• 2001

We propose an adaptive nonlinear control algorithm for high precision tracking and stabilization of LOS(Line-of-Sight). The friction parameters of the LOS gimbal are estimated by off-line evolutionary strategy and the friction is compensated by estimated friction compensator. Especially, as the nonlinear control input in a small tracking error zone is enlarged by the nonlinear function, the steady state error is significantly reduced. The proposed algorithm is a direct adaptive control method based on the Lyapunov stability theory, and its convergence is guaranteed under the limited modeling error or torque disturbance. The performance of the pro-posed algorithm is verified by computer simulation on the LOS gimbal model of a moving vehicle.

• The Transactions of the Korean Institute of Electrical Engineers
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• v.36 no.5
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• pp.352-359
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• 1987

The cycloconverter operating on a circulating current-free mode has many zero crossing points. If an exact zero crossing points are not detected, the three phase-unbalanced currents will flow in a motor. In this paper, the current feedback using a current reference wave is proposed to improve the problems of zero crossing detection, three phase-unbalanced voltages, currents, and torgue ripples. To prevent the saturation of the air gap flux and keep the torque constant, the constant voltage / hertz control with IR compensation is adopted. The PI-controller is designed using the linearized model of the cycloconverterinduction motor system. Alsi, Z-80A single board computer has been used to implement the proposed scheme which results in the performance improvement of cycloconterter-fed induction motor speed control system.

• Proceedings of the KIEE Conference
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• 1996.07a
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• pp.412-414
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• 1996

The rotor resistance variation has a large effect on the field oriented control system of induction machine. In this paper, the adaptation technique based on MRAC is used to identify the rotor resistance variation. The criterion function used in the adaptation algorithm is the error function of the two reactive powers of the induction motor. The one is obtained from the voltages and the currents of the stator of the induction motor. And the other is estimated from the rotor flux and stator current. We simulated this control system operated by field oriented control and assured the robustness of the induction motor control system against the rotor resistence variation.

• Proceedings of the KIEE Conference
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• 1996.07a
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• pp.597-599
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• 1996

This paper describes the bending traveling-wave type ultrasonic motor which generates the traveling wave by combining two standing waves with phase difference time and space. In $+20^{\circ}C{\sim}30^{\circ}C$, the USM motor operation character has represented normal condition. But the other temperature, (that is say, when long time operating condition) USM operation characteristic has abnormal condition, that is driving frequency, drive current and r.p.m is down. The recent USM has controller without temperature compensation. This study aimed at fuzzy controller which must follow the frequency at operation temperature and then r.p.m and torque increase.