• Journal of Institute of Control, Robotics and Systems
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• v.10 no.5
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• pp.402-410
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• 2004

To obtain a good tracking performance in an optical disk drive servo system, it is essential to attenuate periodic disturbances caused by eccentric rotation of the disk. As an effective control scheme for enhancing disturbance attenuation performance, disturbance observers (DOBs) have been successfully applied to the track-following servo system of optical disk drives. In disk drive systems, the improvement of data transfer rate has been achieved mainly by the increase of disk rotational speed, which leads to the increase of the disturbance frequency. Conventional DOBs are no longer effective in disk drive systems with a high-speed rotation mechanism because the performance of conventional DOBs is severely degraded as the disk rotational frequency increases. This paper proposes a new DOB structure for effective rejection of the disturbance in optical disk drives with a very high rotation speed. Asymptotic disturbance rejection is achieved by adopting a band-pass filter in the DOB structure, which is tuned based on the information on the disturbance frequency. In addition, performance sensitivity of the proposed DOB to changes in disk rotational frequency is analyzed. The effectiveness of the proposed DOB is verified through simulations and experiments using a DVD-ROM drive.

• Proceedings of the Korean Institute of IIIuminating and Electrical Installation Engineers Conference
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• 2009.05a
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• pp.416-419
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• 2009

The widely used control theory based design of PI family controllers fails to perform satisfactorily under-parameter variation, nonlinear or load disturbance. In high performance applications, it is useful to automatically extract the complex relation that represent the drive behaviour. The use of loaming through example algorithms can be a powerful tool for automatic modelling variable speed drives. They can automatically extract a functional relationship representative of the drive behavior. These methods present some advantages over the classical ones since they do not rely on the precise knowledge of mathematical models and parameters. The paper proposes high performance speed and current control of synchronous reluctance motor(SynRM) drive using adaptive loaming mechanism-fuzzy neural network (ALM-FNN) and fuzzy logic control(FLC) controller. The proposed controller is developed to ensure accurate speed and current control of SynRM drive under system disturbances and estimation of speed using artificial neural network(ANN) controller. Also, this paper proposes the analysis results to verify the effectiveness of the ALM-FNN and ANN controller.

• Proceedings of the Korean Institute of IIIuminating and Electrical Installation Engineers Conference
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• 2009.05a
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• pp.420-423
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• 2009

The conventional fixed gain PI controller is very sensitive to step change of command speed, parameter variation and load disturbances. The precise speed control of interior permanent magnet synchronous motor(IPMSM) drive becomes a complex issue due to nonlinear coupling among its winding currents and the rotor speed as well as the nonlinear electromagnetic developed torque. Therefore, there exists a need to tune the PI controller parameters on-line to ensure optimum drive performance over a wide range of operating conditions. This paper is proposed hybrid intelligent-PI(HIPI) controller of IPMSM drive using adaptive learning mechanism(ALM) and fuzzy neural network(FNN). The proposed controller is developed to ensure accurate speed control of IPMSM drive under system disturbances and estimation of speed using artificial neural network(ANN) controller. The PI controller parameters are optimized by ALM-FNN at all possible operating condition in a closed loop vector control scheme. The validity of the proposed controller is verified by results at different dynamic operating conditions.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.1732-1735
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• 2003

In this paper, a DSP-based test apparatus for Control Rod Drive Mechanism (CRDM) that is used in nuclear power plants is described. Using this apparatus, we can test the mechanical and electrical characteristics of CRDM and obtain some information about how to improve the CRDM further and how to design a power controller to actuate the CRDM. Since firing angles can be directly applied to the gate-drive circuits of thyristors in the power controller by using this apparatus, the maximum and minimum values of firing angles within available limits are easily measured. Also step-current inputs help us investigate each coil's response characteristics. Therefore, we can easily find the range of control gains which enables a stable CRDM operation in insertion and withdrawal actions at high speed, mid speed, and low speed. Since this apparatus has a test mode in which an insertion or withdrawal action is divided into several phases so that the current command for each phase is given step by step, we may judge whether the CRDM works as expected or not. We also describe a fault detection capability of the test apparatus for the power controller by using discrete Fourier transform.

• Proceedings of the KIEE Conference
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• 2004.07d
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• pp.2374-2376
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• 2004

In this paper, we describe a DSP-based test apparatus for Control Element Drive Mechanism (CEDM). Using this apparatus, we can catch the mechanical and electrical characteristics of CEDM and obtain the information about the improvement of CEDM and the design of CEDM power controller. The test apparatus for CEDM introduced in this paper can input firing angles directly into gate drive circuits of thyristors so that this method can be used to derive the maximum and minimum values of firing angles within available limits for a 3-phase half-wave rectifier. Angle inputs help us understand each coil's response characteristics. Since this apparatus generates a serial sequence for CEDM insertion and withdrawal operations, we may judge whether CEDM works correctly as expected or not in each phase of a step movement.

• Nuclear Engineering and Technology
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• v.53 no.10
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• pp.3438-3448
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• 2021

Dynamic seals are one of the critical components of Absorber Rod Drive Mechanism of Fast Breeder Reactors, requiring separate experimental development. Their significance can't be overemphasized considering that the availability and re-usability of Control Rod Drive Mechanisms of Fast Breeder Test Reactor is governed by the failure rate of dynamic seals (bellows). For prototype and subsequent Fast Breeder Reactors in India, choice of the dynamic seal is changed to an in-house designed & developed labyrinth type V-ring seal. The present work is related to the numerical investigations carried out to gain insights into the sealing mechanism and the thermal behaviour of these seals. The results indicate that the seal geometry is very important for obtaining optimum performance. By changing the geometry of the present seal, performance enhancement by more than 50% in important indices is obtained. Further, the results point out that caution shall be exercised when the seal material & its operating temperature are changed. Also, the numerical model developed in this study will be useful for developing more robust dynamic seals in future.

• Proceedings of the KIEE Conference
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• 2004.07d
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• pp.2420-2422
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• 2004

In this paper, we developed a miniaturized humanoid having the new joint mechanism. In general, the high torque actuator and the joint mechanism having three coincided axes are important in development of the miniaturized humanoid. By using the swash plate, which is generally used in three axes rotor mechanism, we developed a new three-coincided-axes joint mechanism and a miniaturized humanoid having the joint mechanism at its hip and ankle joints. Since the joint mechanism has a pair of parallel drive motors for each axis, the driving torque of the joint mechanism is very high. Futhermore, thanks to the three-coincided-axes mechanism, the solution of the inverse kinematics is simple and computationally efficient, and the resulting walking behavior of the humanoid becomes natural.

• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.1593-1596
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• 1997

Because the leg mechanism of walking roblt affect on the mobility and energy efficiency, we focus on the design of new leg mechanism based on the previous leg mechanisms. We mention the deficiency of the previous leg mechanisms and propose a new leg mechanism that consists of a 2-d.o.f pantograph mechanism and a vertical linear actuator. The pantograph mechanism is attached to the horizontal plane of the body and the verical linear actuator is vertical to that plane. In order to design a quadruped walking robot, we consider the kinematics of the 2-d.o.f pantograph mechanism and the arrangement of twol linear motion guides that drive the pantograph mechanism.

• Proceedings of the KIEE Conference
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• 2002.07b
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• pp.638-640
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• 2002

This paper introduces the design method of a Control Rod Drive Mechanism that consists of 3 coils -lift, movable gripper and stationary gripper coil. The vertical attraction forces of the lift, movable gripper, and stationary gripper armatures are calculated by FEM, then the dynamics with full load is demonstrated.

• Tribology and Lubricants
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• v.19 no.1
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• pp.21-25
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• 2003

The 440C stainless steel is used for ball bearings and bevel gears in the control rod drive mechanism for the integral reactor, SMART. The friction characteristics of 400C stainless steel a investigated in sliding motion using the reciprocating tribometer which can simulate the operating conditions of the control rod drive mechanism. Highly purified water is used as lubricant, and the water is heated and pressurized in the autoclave. Friction force on the reciprocating specimens is measured by the load cells and transformed into friction coefficient. It is verified that frictional characteristic of the 440c steel is not drastically changed up to operating temperature and variation of friction coeffcient at operating temperature from room temperature to 160$^{\circ}C$ is within 5%.