• Journal of the Korean Society for Precision Engineering
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• v.10 no.4
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• pp.163-169
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• 1993

A flexible manipulator can move in the high speed even with the small driving torque. The dymanic equations of flexible manipulator which include 2 vibrational modes are derived using the clamped-free boundary condition. Simulation results of the 6th order model are well matched with experimental results. The hub angle of the flexible mainpulator can be controlled without vibration of the beam by the feedback of both hub angle and strain. The overshoot of the hub angle in the step response is reduced without sacrificing the rise time using the cycloidal function instead of the step function as the referenmce input.

• Journal of Power Electronics
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• v.5 no.3
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• pp.198-205
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• 2005

The mechanical system of a drive can often be modeled as a two- or three-mass-system. The load is coupled to the driving motor by a shaft able to perform torsion oscillations. For the automatic tuning of the control, it is necessary to know the mathematical description of the system and the corresponding parameters. As the manpower and setup-time necessary during the commissioning of electrical drives are major cost factors, the development of self-operating identification strategies is a task worth pursuing. This paper presents an identification method which can be utilized for the assisted commissioning of electrical drives. The shaft assembly can be approximated as a two-mass non-rigid mechanical system with four parameters that have to be identified. The mathematical background for an identification procedure is developed and some important implementation issues are addressed. In order to avoid the excitation of the system with its natural resonance frequency, the frequency response can be obtained by exciting the system with a Pseudo Random Binary Signal (PRBS) and using the cross correlation function (CCF) and the auto correlation function (ACF). The reference torque is used as stimulation and the response is the mechanical speed. To determine the parameters, especially in advanced control schemes, a numerical algorithm with excellent convergence characteristics has also been used that can be implemented together with the proposed measurement procedure in order to assist the drive commissioning or to achieve an automatic setting of the control parameters. Simulations and experiments validate the efficiency and reliability of the identification procedure.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.67 no.11
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• pp.1423-1433
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• 2018

Recently, a permanent magnet synchronous motor of middle and small-capacity has high torque, high precision control and acceleration / deceleration characteristics. But existing control has several problems that include unpredictable disturbances and parameter changes in the high accuracy and rigidity control industry or nonlinear dynamic characteristics not considered in the driving part. In addition, in the drive method for the control of low-vibration and high-precision, the process of connecting the permanent magnet synchronous motor and the load may cause the response characteristic of the system to become very unstable, to cause vibration, and to overload the system. In order to solve these problems, various studies such as adaptive control, optimal control, robust control and artificial neural network have been actively conducted. In this paper, an incremental encoder of the permanent magnet synchronous motor is used to detect the position of the rotor. And the position of the detected rotor is used for low vibration and high precision position control. As the controller, we propose augmented state feedback control with a speed observer and first order deadbeat disturbance observer. The augmented state feedback controller performs control that the position of the rotor reaches the reference position quickly and precisely. The addition of the speed observer to this augmented state feedback controller compensates for the drop in speed response characteristics by using the previously calculated speed value for the control. The first order deadbeat disturbance observer performs control to reduce the vibration of the motor by compensating for the vibrating component or disturbance that the mechanism has. Since the deadbeat disturbance observer has a characteristic of being vulnerable to noise, it is supplemented by moving average filter method to reduce the influence of the noise. Thus, the new controller with the first order deadbeat disturbance observer can perform more robustness and precise the position control for the influence of large inertial load and natural frequency. The simulation stability and efficiency has been obtained through C language and Matlab Simulink. In addition, the experiment of actual 2.5[kW] permanent magnet synchronous motor was verified.

• Journal of the Korean Institute of Intelligent Systems
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• v.21 no.1
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• pp.80-85
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• 2011

This paper presents the design of the power-assisted controller for the in-wheel type smart wheelchair by using torque estimation that is predicted by relationship between input voltage and output wheel angular velocity. Nowadays, interest of the moving assistant aids is increased according to the increase in population of the elderly and the handicapped person. However some of the moving assistant aids have problems. For example, manual wheelchair has difficulty moving at the slope, because users lack the muscular strength of their arm. In electric wheelchair case, users should be weak by being decreased muscles of upper body. To overcome these problems, power-assisted electric wheelchair are proposed. Most of the power-assisted electric wheelchair have the special rims that can measure the user's power. In here, the rims have to be designed to install the sensors to measure user's power. In this paper, we don't design the rim to measure the man power. To predict the man power, we propose a control algorithm of the in-wheeled electric wheelchair by using torque estimation from the wheel. First, we measure the wheel velocity and voltage at the in-wheel electric wheelchair. And then we extract driving will forces by using proposed mathematical model. Also they are applied at the controller as the control input, we verify to be able to control in-wheel type smart wheelchair by using simulation.

• Transactions of the Korean Society of Mechanical Engineers B
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• v.36 no.1
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• pp.31-36
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• 2012

Military vehicles, compared to conventional vehicles, require higher driving performance, quieter operation, and longer driving distances with minimal fuel supplies. The series hybrid electric vehicle can be driven with no noise and has high initial startup performance, because it uses only a traction motor that has a high startup torque to drive the vehicle. Moreover, the fuel economy can be improved if the vehicle is hybridized. In series hybrid electric vehicles, the electric generation system, which consists of an engine and a generator, supplies electric energy to a battery or traction motor depending on the vehicle driving state and battery state of charge (SOC). The control strategy determines the operation of the generation system. Thus, the fuel economy of the series hybrid electric vehicle relies on the control strategy. In this study, thermostat, power-follower, and combined strategies were compared, and a 37% improvement in the fuel economy was implemented using the combined control strategy suggested in this study.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.12 no.4
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• pp.1523-1531
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• 2011

Multi-axle driving vehicle are favored for military use in off road operations because of their high mobility on extreme terrains and obstacles. Especially, Military Vehicle needs an ability to driving on hills of 60% angle slope. This paper presents the improvement of the ability of hill climbing for 6WD/6WS vehicle through the optimal tire force distribution method. From the driver's commands, the desired longitudinal force, the desired lateral force, and the desired yaw moment were obtained for the hill climbing of vehicle using optimal tire force distribution method. These three values were distributed to each wheel as the torque based on optimal tire force distribution method using friction circle and cost function. To verify the performance of the proposed algorithm, the simulation is executed using TruckSim software. Two vehicles, the one the proposed algorithm is implemented and the another the tire's forces are equivalently distributed, are compared. At the hill slop, the ability to driving on hills is improved by using the optimum tire force distribution method.

• The Transactions of the Korean Institute of Power Electronics
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• v.6 no.2
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• pp.125-131
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• 2001

This paper presents a application of vector control strategy to 1.2MVA traction drive for railway vehicle. The vector control required the control of the phase and amplitude of output voltage vector. But in case of traction system for railway vehicle, the one-pulse mode is used at high speed region in order to utilize the link voltage fully. So it is impossible to control the flux and torque axis current instantaneously and independently in the region. So this paper proposes a mixed control algorithm, where the vector control strategy at low speed region and slip-frequency control strategy at high speed region is used. And precise switching technique between the two different control strategy is proposed. The proposed strategy is verified by experimental results with a 1.2MVA traction drive system with four 210kW induction motors.

• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.19 no.1
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• pp.134-139
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• 2010

In this study, we developed the gear type vane damper replacing the link type through gear design using Finite Element Analysis(FEA). FEA about the pinion and the vane shaft in the boss of gear type damper for quality improvement was accomplished. We analyzed fluid flow according to angular displacement. Catched the problem of the torque and backlash bring to the pinion as structure improvement of the forced draft fan(FD FAN). Finally, we compared the gear driving result with simulation. It is the objective of the present study to identify a nonlinear flow rate control of gear type vane damper and to suggest a damper shape with a linear flow rate control. This study is related to the development of gear type vane damper change link type in forced draft fan.

• The Transactions of the Korean Institute of Power Electronics
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• v.11 no.3
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• pp.284-291
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• 2006

Recently with the motorizing of electric home appliances and car systems, there is increasing interest in high efficiency electric motors. Thus, the present study described the operating characteristics of coreless AFPM motor that is highly efficient in high speed driving, and discussed its electric characteristics from the perspective of design. In particular, we examined back electromotive force and the magnetic field characteristic in slits, which have significant effects on the characteristic of the motor, and conducted simulation and experiment on control characteristic according to inductance characteristic. This study analyzed torque speed and efficient operation characteristic as well as control characteristic through comparing the result of motor design with the result of output characteristic experiment based on the electric network method. Furthermore, we evaluated vibration and noise that may occur due to the absence of core.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.24 no.2 s.173
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• pp.481-488
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• 2000

This paper presents a new passive gravity -compensating system for articulated robot manipulators. The system, which consists of linear zero- free -length springs, achieves exact counterbalancing o f the gravitational loads throughout the entire range of the manipulator workspace, A basic concept is to design springs such that the total potential energy of the system including the manipulator and the springs should be maintained constant. A prototype has been developed for a direct-drive five-bar manipulator and its performances have been investigated. Results show that the gravity-induced motor torques have been reduced to less than 5% of those of uncompensated robots. Also, the gravity-compensating system simplifies the position control algorithm while maintaining the trajectory-tracking errors in a satisfactory level. In conclusion, the proposed system efficiently improves the manipulator performances by reducing the driving motor size and the energy consumption as well as by simplifying the control systems.