• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2001.11a
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• pp.482-487
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• 2001

This paper introduces a Lorentz force type four-pole self-bearing motor, where the new pole arrangement of a stator is intended to function both as a synchronous PM motor and as a magnetic bearing. The Lorentz force type has some good points such as linearity of control force, freedom from flux saturation, and high efficiency unlike conventional self-bearing motors. Mathematical expressions of torque and radial force are derived to show that they can be separately controlled regardless of rotational speed and time. To verify the proposed theory, a prototype is made, where a ring-shape outer is actively controlled in two radial directions while the other motions are passively stable supposing the radial stability. Through some experiments, it is shown that the proposed scheme can provide high capability and feasibility for a small high-speed self-bearing motor.

• Proceedings of the KSME Conference
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• 2000.04a
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• pp.529-535
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• 2000

This paper propose the method to obtain the inverse kinematics and the Jacobian of the 5-bar parallel robot and apply the nonlinear controller to the 5-bar parallel robot with the dynamic analyses using the Jacobian of the Passive joints with respect to the active ones and singular value decomposition(SVD). It also experimentally shows that we can do high-speed and accuracy tasks using nonlinear control method. And it explains the relation between the property of the position control and manipulability using a new performance index.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.244-244
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• 2000

We proposed the above-knee prosthesis using rotary MR damper in which knee joint is semi-actively controlled by microprocessor. Dissipation torque in the knee joint can be controlled by the magnetic field which is induced by applying current to a solenoid, Tracking control of knee joint angle was tested by 3-DOF Leg simulator. The experimental results show that the proposed above-knee prosthesis system had good performance in swing phase tracking and repetitive controller in conjunction with a computed control law and PD control law, reduced RMS tracking error as the repetitions of tracking. Moreover, desired knee angle trajectory was generated based on the estimation of gait period with the gyro signal and the tracking control was performed.

• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.23 no.1
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• pp.9-16
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• 2013

This paper experimentally deals with the excitation by functional electrical stimulus(FES) and the response of electromyo-potential at the muscles of antebrachial joint in a human body. The excitation of FES, which results in the contraction of the muscles and thus the flection of the joint, shows that the flection angle of the joint is proportional to the magnitude of the stimulus current. The response of electromyo-potential measured according to the FES shows the linearly-proportional relation between the joint torque and the electromyo-potential. The results can be used for active motion of joint rehabilitation.

• Proceedings of the Korean Society of Tribologists and Lubrication Engineers Conference
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• 2003.11a
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• pp.185-190
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• 2003

Synchronizer ring performance is strictly required in order to extend manual transmission oil drain interval. Zn type additive, which is used as dispersant and anti-wear additive instead of SP additives in manual transmission oil, is applied to improve Synchronizing function and durability. But only Zn type additive is not suitable for high torque transmission because it has not good extreme pressure characteristics. We research on the synchronizer friction and extreme pressure properties in according to change additive types. As a result, it was found that the use of non-active extreme pressure and friction modifier additives has benefit in the improvement of synchronizer friction characteristics and durability.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2006.05a
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• pp.415-420
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• 2006

This paper introduces a new self-bearing motor which combines a homopolar step motor and a passive magnetic bearing. Compared with conventional self-bearing motors which are mostly based on the theory of active magnetic bearings and therefore have some difficulties in design of the complicated flux distribution and control of the levitation force and the torque independently, the proposed self-bearing motor has a very simple and novel structure and operating principle. for the levitation, it works just like passive magnetic bearings which use the repulsive force between permanent magnets. On the other hand, its rotation principle is quite similar to that of a conventional homopolar step motor. In this paper, we introduce the basic structure and the operating principle in detail, and show some results of FEM analysis to predict the performance of the proposed self-bearing motor and further, to get the optimal design parameters.

• The Journal of Korea Robotics Society
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• v.11 no.4
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• pp.242-247
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• 2016

A robot manipulator handling a heavy weight requires high-capacity motors and speed reducers, which increases the cost of a robot and the risk of injury when a human worker is in collaboration with a robot. To cope with this problem, we propose a collaborative manipulator equipped with a counterbalance mechanism which compensates mechanically for a gravitational torque due to the robot mass. The prototype of the manipulator was designed on the basis of a four-bar linkage structure which contains active and passive pitch joints. Experimental performance evaluation shows that the proposed robot works effectively as a collaborative robot.

• Proceedings of the KIEE Conference
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• 2006.07b
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• pp.721-722
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• 2006

Industrialization and technique consequently in quick development the motor field small size and light weight, high efficiency and highly energy density in necessity. The permanent magnet motor small size and the research regarding the research of the torque and efficiency is coming to be active. From this paper the research regarding the quality permanent magnet motor and analysis and it was developed recently the NdFeB anisotropic bond magnet which is a high magnetic force material use, from the hazard which accomplishes power density it is high permanent magnet motor of small size and light weight it researched. The Finite Element Method it led and motor optimization. Also the experiment and analysis permanent magnet motor it is improved the motor and result it led and different it compared.

• Proceedings of the KSME Conference
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• 2000.04a
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• pp.511-516
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• 2000

In order to not only perform as a extreme model under the severe operating condition but also acquire more diverse and advanced control capability utilizing high compliance, active vibration control of a flexible 2-link robot manipulator are investigated. Multi variable-structured frequency shaped optimal sliding mode is proposed for the flexible robot manipulator like control system, whose control variables, an angular motion of joint and vibration of flexible link, have to be controlled simultaneously by one control torque at a driving joint. The control system is divided into two subsystems, a control input related subsystem and an added subsystem. The proposed sliding mode, composed of multi control variables, makes optimized relation between subsystems and a individual control input, thus, the sliding mode controller can compensate whole dynamics of each subsystems simultaneously. And the possibility and effectiveness are verified by vibration control of a manipulator having two flexible links. Simulation and experiment results show that the proposed control scheme achieves the purpose effectively.

• Journal of Power Electronics
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• v.15 no.1
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• pp.235-245
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• 2015

This paper proposes a reactive current assignment and control strategy for a doubly-fed induction generator (DFIG) based wind-turbine generation system under generic grid voltage sag or swell conditions. The system's active and reactive power constrains during grid faults are investigated with both the grid- and rotor-side convertors (GSC and RSC) maximum ampere limits considered. To meet the latest grid codes, especially the low- and high-voltage ride-through (LVRT and HVRT) requirements, an adaptive reactive current control scheme is investigated. In addition, a torque-oscillation suppression technique is designed to reduce the mechanism stress on turbine systems caused by intensive voltage variations. Simulation and experiment studies demonstrate the feasibility and effectiveness of the proposed control scheme to enhance the fault ride-through (FRT) capability of DFIG-based wind turbines during violent changes in grid voltage.