• Proceedings of the KIEE Conference
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• 2001.07b
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• pp.1147-1150
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• 2001

This paper represents a realization of a fuzzy PI control method for a speed control of BLDC motor. In other words, the gains of the PI controller is tuned by a fuzzy logic controller. Simplified reasoning methods are used for fuzzy reasoning. Fuzzy logic speed controller is designed by using the high performance of DSPchip(TMS320F240). By experiment, it is confirmed that the speed of BLDC motor well follows an command speed in the load variables or speed variables.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2001.04a
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• pp.540-544
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• 2001

This paper addresses a hybrid control architecture for the hospital service robot, SmartHelper. In hybrid architecture, the deliberation takes place at planning layer while the reaction is dealt through the parallel execution of operations. Hence, the system presents both a hierarchical and an heterarchical decomposition, being able to show a predictable response while keeping rapid reactivity to the dynamic environment. The deliberative controller accomplishes four functions which are path generation, selection of navigation way, command and monitoring. The reactive controller uses fuzzy and potential field method for robot navigation. Through simulation under a virtual environment IGRIP, the effectiveness of the hybrid architecture is verified.

• Proceedings of the KIEE Conference
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• 1999.07b
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• pp.909-911
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• 1999

This paper proposes a robust control system with the disturbance observer for BLDC servo system. The overall control system is composed of the speed controller which is implemented with PI controller and the disturbance observer with free parameters. The BLDC servo system can improve the closed loop characteristics without affecting the command input response. The characteristics of the closed loop system is improved by suppressing disturbance effectively with the disturbance observer. Measurement noise is also considered by adjusting bandwidth of free parameters. We can overcome the drawbacks of the conventional PI controller. Finally, the performance of the controller is analyzed theoretically and some simulation results are presented to demonstrate the better performance than the conventional PI controllers.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.64 no.9
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• pp.1398-1405
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• 2015

Domestic railway communication in Korea has been introduced for mutual communications among control center, operation staffs, and maintenance staffs. It has been mainly used as railway disaster and safety functions from VHF and UHF from 1980’s and TRS-Astro and TRS-Tetra from the 2000’s. Recently for urban railways communications, 18GHz and 2.4GHz ranges have been utilized for image transmissions and control command communications, respectively. This paper analyzes technical development of LTE-R, LTE communication for Railways, that has been designed as a single integrated railway wireless network in order to merge the current various communication systems. In this paper, we present the details of the examination of the LTE-R test-bed using 2.6GHz test frequency in Daebul test line through CW test and optimization test.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.92.6-92
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• 2001

MSC is being developed to be installed on KOMPSAT(Korea Multi-Purpose Satellite-II and to provide high resolution multi-spectral. MSC consists of three main subsystems. One is EOS(Electro-Optics Subsystem), another is PMU(Payload Management Unit) and the other is PDTS(Payload Data Transmission Subsystem). There is an SBC(Single Board Computer) in the PMU to control all MSC subsystems. SBC incorporates Intel 80486 as a main processor and VxWorks as a real-time operating system. SBC software consists of four main tasks and several modules to deal with all control information for imaging and all the state of health telemetrv data, and to perform interface with another MSC units. SBC software also has to handle a lot of commands in order for MSC to perform his mission. One mission command consists of a series of related commands, which are In be executed in the designated sequence, with a specified time ...

• 제어로봇시스템학회:학술대회논문집
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• 2002.10a
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• pp.43.2-43
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• 2002

$\textbullet$ A PC can control the fixed number of motors because the number of slots is limited. $\textbullet$ We propose a distributed motion controller using CAN. $\textbullet$ TMS320F243 of TI Which is a DSP with embedded CAN-module was used as the main processor. $\textbullet$ The command from GUI is transmitted to each motion controller through CAN-bus $\textbullet$ CAN communications may occur at a maximum recommended rate of 1Mbit/sec. $\textbullet$ The user can control more motors easily by connecting to the CAN network which has the CAN receive. $\textbullet$ This distributed motion controller may be used usefully in factory automation or an unmanned factory.

• 제어로봇시스템학회:학술대회논문집
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• 2002.10a
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• pp.65.1-65
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• 2002

Recently, increased accessibility to the Internet makes it possible to access to Internet-connected devices easily. For this reason, anyone can reach and command any device that is connected to the network. But these teleoperation systems have several problems like the network time delay, data loss and development cost of an application for communication with each other. The network time delay phenomenon is the most important in teleoperation system, which disturbs a real time control. The loss data also causes some users not to send correct commands to device or not to receive correct information from devices. To develop an application to communicate between user and device, it needs a comp..

• Transactions on Control, Automation and Systems Engineering
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• v.3 no.4
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• pp.236-241
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• 2001

Teach pendant is the most widely used means of robot teaching at present. Despite the difficulties of using the motion command buttons on the teach pendant, it is an economical, robust, and effective device for robot teaching task. This paper presents the development of a force/moment direction sensor named COSMO that can improve the teach pendant based robot teaching. Robot teaching experiment of a six axis commercial robot using the sensor is described where operator holds the sensor with a hand, and move the robot by pushing, pulling, and twisting the sensor in the direction of the desired motion. No prior knowledge of the coordinate system is required. The function of the COSMO sensor is to detect the presence f force and moment along the principal axes of the sensor coordinate system. The transducer used in the sensor is micro-switch, and this intuitive robot teaching can be implemented at a very low cost.

• Journal of Institute of Control, Robotics and Systems
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• v.3 no.5
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• pp.443-449
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• 1997

LQ-servo design procedure introduced by Athans is a method using a partial states feedback and an output feedback in order to improve the poor performance robustness of the LQR as well as to maintain its stability robustness. Although the method guarantees good stability robustness, it is not effective in performance robustness as it does not match the singular value at low or high frequencies of the transfer matrix obtained by breaking at the plant output. This paper intends propose of a new method, using the limited behaviour of the control gain introduced by Kwakernaak and Sivan, in order to improve it does it refer to controlga introduced by kwakernaak or the new metho Anblguouls.

• 제어로봇시스템학회:학술대회논문집
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• 1991.10a
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• pp.292-298
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• 1991

A new 6-axis robot controller with a high-speed 32-bit floating-point DSP TMS32OC30 has been developed in Samsung Electronics. The controller composed of Intel 80386 microprocessor for the main controller, and TKS32OC30 DSP chip for joint position controller. The characteristics of the controller are high sampling rate of 200us and fast reponsibility. The main controller supports MS-DOS, kinematics, trajectory planning, and sensor fusion functions which are vision, PLC, and MAP. The one high speed DSP chip is used for controlling 6 axes of a robot in 200us simultaneously. The control law applied is PID controller including a velocity feedforvard in joint position controller. The performance tests, such as command following, CP, were conducted for the controller integrated with a 6 axes robot developed in Samsung Electronics. The results showed a good performance. This controller can also perform the system control with other controllers, the communication with high priority controllers, and visual information processing.