• Proceedings of the KIEE Conference
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• 2004.07d
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• pp.2403-2405
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• 2004

본 논문에서는 회전과 무게이동을 할 수 있는 모터를 가진 로봇의 위치 제어와 로봇의 궤적과 구조식에 관해 연구를 수행한다. 로봇의 끝단의 위치를 제어 할 수 있는 스윙 모터의 각과 리프트 모터의 각도를 구하는 과정과 연속움직임을 통한 로봇의 움직임을 관찰한다. 예제를 통해 제어 방법의 유용성과 실용성을 검증하고자 한다.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2009.10a
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• pp.920-923
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• 2009

본 논문에서는 디커플링 제어를 적용함으로써 간략화된 모터 모델의 파리미터 변화에 대해 최대의 안정성을 가진 PI 제어기를 제안한다. PI 제어기 이득은 시행착오에 의해 각 요소를 줄임으로써 모터 파라미터로부터 직접 획득되며, 카리토노브 방정식은 모터 파라미터에서의 이득 변화를 평가하기 위해 사용되었다. 시스템 극점이 같은 위치에 존재하기 때문에 본 논문에서 제안하는 방법은 빠른 응답을 제공한다.

• Proceedings of the Korean Society Of Semiconductor Equipment Technology
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• 2003.12a
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• pp.50-53
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• 2003

본 연구에서는 AD 변환기, QEP(Quadrature Encoder Pulse Circuit)등 모터 제어에 필요한 주변 소자의 디지털 제어를 통해서 AC 서보 모터의 벡터 제어를[3] 구현하고 시간 지연에 의한 노이즈를 최소화하기 위해 저 전압형 DSP인 TMP320F2812를 이용하였다. TMP320F2812는 MOS 타입으로 8 depth pipeline을 가진 Harvard bus 를 채택해서 최대 150MIPS의 고속 처리 능력을 갖고 있으며 12 비트의 AD 변환기 QEP 회로와 공간 전압 벡터 PWM을 발생시킬 수 있는 기능을 가진 모터 제어용 원칩 DSP이다 모터 제어에 필요한 주변 회로들을 내장한 DSP는 하드웨어적인 구성을 간소화시키고 이로 인한 비용 절감을 얻을 수 있다. 간단한 구조로 고속 연산을 하기 위해 TMP320F2812는 고정 소수점 연산 처리 방식[6]을 사용하게 되었다. 고정 소수점 연산 처리로 인한 오차는 각 변수에 대한 스케일링을 통해 유효 자리를 확보 하는 방법을 사용하였다.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.7 no.3
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• pp.558-567
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• 2003

Most digital signal processors provide 4 external interrupt input channels. But these are not sufficient for external interrupts of motor controls. Customized programmable interrupt controller, 8259, has 8 interrupt channels. Therefore, in the case of more external interrupt channels are needed, designers must expand by cascading the 8259. And this, 8259 device, have some inconvenience of interfacing the microprocessor in motor controls. In this paper, the expanded interrupt controller with 14 sufficient interrupt input channels for motor controls is designed using VHDL on the purpose of interfacing the microprocessor to the interrupt controller more compatibly and increasing the device utilization of FPGA/CPLD designed another peripherals. The interrupt controller model and each function blocks is proposed and illustrated. Simulation result are presented to estimate the designed interrupt controller.

• Journal of Digital Convergence
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• v.17 no.12
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• pp.503-508
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• 2019

In recent years, among the IoT products that are used in various ways in everyday life, motorized products are increasing. This study aims to develop a microcontroller unit that can easily control multiple motors and develop an application that makes use of this microcontroller unit. The basis of the hardware developed by the research was the Arduino board, and to it, the Bluetooth module, Zigbee module, and a motor driver were connected. To control the device, an application was designed. The final microcontroller unit and its application may be applied to electric curtains, electric blinds, robots, and other various IoT products. Further research will lead to hardware development that can control various types of motors other than stepping motors.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.27 no.2
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• pp.187-194
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• 2009

This study is to improve position accuracy by selecting proper a servo motor and applying FOC(Field Oriented Control) on developing a 3D terrestrial laser scanner. A 3D terrestrial laser scanner under developing has range of scanning of azimuth 360$^\circ$and elevation 270$^\circ$. It is implemented by precise controlling of a azimuth motor and a elevation motor. In the consequence of study, we have known that position accuracy of the motor can be able to be improved with constant torque of the motor by using FOC(Field Oriented Control). The control technic of the motor is possible to apply a 3D terrestrial laser scanner as well as a robotic total station.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.16 no.11
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• pp.2474-2479
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• 2012

A sensorless vector control of an induction motor provides a good performance in the middle and high speed region. However, in the low speed region, it is very difficult to implement the sensorless vector controller because the feeding voltage measured by the motor is very low. In this paper, to improve the performance of a sensorless vector control of an induction motor in the low speed region under 3Hz, we proposed the fuzzy logic controller using the zooming algorithm. To verify the performance of the proposed controller, an experiment has been performed.

• Journal of the Korean Institute of Intelligent Systems
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• v.20 no.4
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• pp.562-568
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• 2010

Until now, the implementation of servo motor control units which is being applied in various industrial ares such as industrial system, office equipment, home appliance and robotics, used the MCU and DSC(or DSP). However, MCU and DSC have limitations of not being able to maximize control efficiency of the motor and the flexibility. Thus, in this paper, we propose and implemented the designing method for development of servo motor control IP based on FPGA which have a structure to make the best motor control efficiency and flexibility of control,

• Proceedings of the KIPE Conference
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• 2011.07a
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• pp.467-468
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• 2011

본 논문에서는 다축의 모터 동력을 필요로 하는 전기자동차에 있어서 각 모터를 구동시키기 위한 모터제어기를 개발하고자 한다. 20kW급 IPMSM 모터를 구동하기 위해서 32비트 고성능 DSP 프로세서로 벡터제어 알고리즘을 적용하고, 모터의 회전 정보와 위치 정보를 얻기 위하여 레졸버 위치센서를 적용하였으며, 냉각성능을 높이기 위하여 수냉식으로 IGBT를 직접 냉각시켜 방열하는 구조로 설계하였다. 제안된 제어기의 특성을 얻기 위하여 MATLAB 시뮬레이션을 수행하였고, 시제품을 제작하여 유용성을 검증하였다.

• Journal of the Korean Institute of Illuminating and Electrical Installation Engineers
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• v.21 no.10
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• pp.73-81
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• 2007

To improve the capability of instantaneous torque control, a design method of an MRAC-based adaptive current controller for a PMSM servo motor is proposed. In the synchronous frame current controller, a new control inputs can be obtained through the decoupling compensation. Using this, a desired controller bandwidth can be assigned However, the control performance may be degraded due to disturbances caused by the parameter variations or dead time of the switch. To improve these drawbacks, an adaptive current controller is proposed and the design method is obtained using the hyperstability theory. The asymptotic stability is proved and the effectiveness is verified through simulations and experiments using DSP TMS320C31.