• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.2016-2021
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• 2003

This paper deals with a control technique of eliminating the transient vibration with respect to a waist axis of an articulated robot. This control technique is based on a model-based control in order to establish the damping effect on the driven mechanical part. The control model is composed of reduced-order electrical and mechanical parts related to the velocity control loop. The parameters of the control model can be obtained from design data or experimental data. This model estimates a load speed converted to the motor shaft. The difference between the estimated load speed and the motor speed is calculated dynamically, and it is added to the velocity command to suppress the transient vibration. This control method is applied to an articulated robot regarded as a time-invariant system. The effectiveness of the model-based control integrated into the position control loop is verified by simulations. Simulations show satisfactory control results to reduce the transient vibration at the end-effector.

• Journal of Aerospace System Engineering
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• v.3 no.3
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• pp.32-38
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• 2009

An autothrottle module for small jet aircraft Fly-By-Wire system was developed. The autothrottle was designed to be composed of DC geared motor and electro-magnetic clutch that enables smooth manual/auto switching. A controller was designed for simple position control using ON/OFF control method with a commercial motor driver. The autothrottle developed was installed in the cockpit mockup and interfaced to the flight control computer for the HILS test. The performance test proved that the throttle lever follows well the command signal from the flight control computer.

• Journal of the Korean Institute of Intelligent Systems
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• v.14 no.7
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• pp.914-919
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• 2004

When the motor is rotating, the torque and rpm are varying as the loads or the driving status connecting through reduction units are changing. On the contrary, one can monitor the changes of the loads or the driving status in the manner of measuring motor torque and rpm. There is a torque measuring method using the strain gauge and bridge circuit. But, because this is the contact method, it has the life time which is dependent on rotating velocity and used time. So this system demands on replacement of some Parts or whole system itself for maintenance. And this system is also relatively big and expensive, requiring preceding annoying process. In this paper, we are going to suppose non-contact method to measure torque and rpm using the Hall effects sensor For this we have made the planetary geared reduction motor with Hall sensors and with the monitoring system. The monitoring system displays the sensing data(torque, rpm) and calculated data( power) and also has the network capability with Bluetooth protocol. Our solution is much more inexpensive ;md simple method to measure torque and rpm than before.

• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.565-569
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• 2004

The wing-body trucks are special vehicles that are designed to provide large carrying space and to protect the freights from outside impacts and bad weather. They are constructed to the structure opening and shutting three-layered aluminum top. In the middle- and large-size(above one-ton) wing-body trucks, wing-body is opened/closed by opening and shutting device of oil pressure type. But one-ton truck is constructed that its wing-body is opened/closed in manual to use helping of stay-dampers. So, we developed an electronic opening and shutting device for one-ton wing-body trucks to improve the inconvenience of usage for manually operated wing-body. The developed device is consisted of two connected links and a dc motor combined with an worm gear. The worm gear changes the rotation axis of the dc motor to a right-angled direction and transfers the torque of dc motor to the links. The two connected links open/shut the wing-body using the torque transferred from the dc motor. When the wing-body starts to be opened, the biggest torque is required from the dc motor for opening the wing-body. And as the wing-body is opened more and more, the required torque is smaller for opening the wing-body. Thus, the structure of two connected links are designed to locate at the center of worm gear so that maximum torque of the dc motor is transferred the links at the initial time starting to open wing-body. The controller of the device with open and closed buttons also is designed to protect the device from over-opening and over shutting operations. The developed device is accomplished for many experiments using actual vehicle. Those experiments show that the device has more excellent performance than the oil pressure type.

• Journal of the Korean Institute of Illuminating and Electrical Installation Engineers
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• v.26 no.11
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• pp.40-47
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• 2012

Most of existing wind turbine system is used with geared type; however, this type has lots of problems which are noisy, weight, maintenance and so on. In this paper, wind turbine system with fluid torque converter applied to solve these problems. In case of the proposed wind turbine system, it is possible to transmit torque to adaptable distance. So various sets including generator, inverter and auxiliary motor move from the nacelle to the ground. As a result, Total weight in Nacelle can be decreased. however, the efficiency can be decreased with fluid torque system. We also applied auxiliary motor to fluid torque system. So, we also realized rated revolutions and rated output windturbine and could get considerable good data.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.2290-2295
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• 2005

In this paper, it is developed simulator system of 3 D.O.F parallel robot for educate of expertness. This simulator system is composed of three parts ? 3 D.O.F parallel robot, controller (hardware) and software. First, basic structure of the robot is 3 active rotary actuator that small geared step motor with fixed base. An input-link is connected to this actuator, and this input-link can connect two ball joints. Thus, two couplers can be connected to the input-link as a pair. An end-plate, which is jointed by a ball joint, can be connected to the opposite side of the coupler. A sub-link is produced and installed to the internal spring, and then this sub-link is connected to the upper and bottom side of the coupler in order to prevent a certain bending or deformation of the two couplers. The robot has the maximum diameter of 230 mm, 10 kg of weight (include the table), and maximum height of 300 mm. Hardware for control of the robot is composed of computer, micro controller, pulse generator, and motor driver. The PC used in the controller sends commands to the controller, and transform signals input by the user to the coordinate value of the robot by substituting it into equations of kinematics and inverse kinematics. A controller transfer the coordinate value calculated in the PC to a pulse generator by transforming it into signals. A pulse generator analyzes commands, which include the information received from the micro controller. A motor driver transfer the pulse received from the pulse generator to a step motor, and protects against the over-load of the motor Finally, software is a learning purposed control program, which presents the principle of a robot operation and actual implementation. The benefit of this program is that easy for a novice to use. Developed robot simulator system can be practically applied to understand the principle of parallel mechanism, motors, sensor, and various other parts.

• International Journal of Control, Automation, and Systems
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• v.1 no.3
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• pp.263-270
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• 2003

This paper deals with a control technique of eliminating the transient vibration of a waist axis of an articulated robot. This technique is based on a model-based control in order to establish the damping effect on the mechanical part. The control model is related to the velocity control loop, and it is composed of reduced-order electrical and mechanical parts. Using this model, the velocity of the load is estimated, which is converted to the motor shaft. The difference between the estimated load speed and the motor speed is calculated dynamically, and it is added to the velocity command to suppress the transient vibration of a waist axis of the robot arm. The function of this technique is to increase the cut-off frequency of the system and the damping ratio at the driven machine part. This control model is easily obtained from design or experimental data and its algorithm can be easily installed in a DSP. This control technique is applied to a waist axis of an articulated robot composed of a harmonic drive gear reducer and a robot arm with 5 degrees of freedom. Simulations and experiments show satisfactory control results to reduce the transient vibration at the end-effector.

• Proceedings of the KIEE Conference
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• 2004.11c
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• pp.681-683
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• 2004

This paper describes the control of a geared DC motor having a backlash for implementation of a humanoid robot using disturbance observer. Critical problem of the humanoid robot is caused by the nonlinearity such as a backlash. To meet this problem, a control method using disturbance observer has been proposed. The disturbance observer is designed to estimate the effects of nonlinearities in the system, to make the nonlinear system behave linearly. To design the low-pass filter in the disturbance observer, cut-off frequency of the output should be found. The goal of this paper is the implementation of the proposed system, compensating the backlash effect. To accomplish the goat, PD control and disturbance observer are employed to the system with no load and full load. As a result, system stability can be guaranteed by compensating the effect of backlash. In addition, real experiment shows the proposed control methodology will satisfy the stable working of a humanoid type in the future.

• Proceedings of the KIPE Conference
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• 2001.10a
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• pp.756-760
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• 2001

Two different designs of permanent magnet motors as direct wheel-set drive for the German high speed train ICE 3 are designed, one with surface mounted magnets (SM) and one with buried rotor magnets (BM). The surface magnet motor has $17\%$ less mass and a slightly higher efficiency and was therefore chosen for further investigations. Compared with the conventional drive system of the ICE 3, consisting of geared inverter fed induction machines, the gearless permanent magnet direct drive yields about $16\%$ lower losses. This calculation is based on the route parameters of the high speed track between Frankfurt/Main and Cologne in Germany, which is currently under construction.

• Proceedings of the Korean Society for Agricultural Machinery Conference
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• 2000.11c
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• pp.647-653
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• 2000

In this research the heat regenerative technology was employed to eliminate frosting on evaporator coil and improve COP of the heat pump system. This heat regenerative device(HRD) has very simple structure consisting a geared motor and a porous fiber belt passing through alternatively between cold and warm air duct. The laboratory test showed that the heat pump system with HRD yielded an impressive COP higher than 3.5 at the outside air temperature of $-7^{circ}C$ in heating mode.