• The Transactions of the Korean Institute of Power Electronics
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• v.20 no.5
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• pp.456-463
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• 2015

Nowadays, small quantity batch production, which is so-called a flexible manufacturing system, is a major trend in the modern factory automation industry. The demands for new transportation system are increased gradually, with which multiple passive carriers carrying materials and semi-products are precisely and individually controlled along a single closed rail. Thus, a new type of permanent magnet linear synchronous motor (PMLSM), which consists of state coils on a single rail and PM movers as many as carriers, is proposed in this paper. The rail can be segmented as modules with pairs of coils and a current amplifier, which makes the transportation system simple; therefore, the rail can be easily extended and repaired. A design method of the new PMLSM with a single carrier is proposed, which can be thought as a new version of PMLSM, a coil-segmented coreless PMLSM (CS-CLPMLSM). Experimental setup for it is made, and propulsion results show that with the help of a new effective coil selection and switching algorithms, the conventional current-based vector control is sufficient to fulfill the position and velocity control of the new PMLSM. The proposed PMLSM is expected to fulfill seamless servo-control of multiple carriers also in process line, such as a new generation of flat panel display manufacturing line.

• Journal of Advanced Marine Engineering and Technology
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• v.15 no.1
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• pp.85-95
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• 1991

All physical systems are nonlinear to some degree. The examples are relay, backlash, deadzone, saturation element and so on. In the linear control system design, it is useful method to restrict the nonlinearity to the linearity of system over the operation range. It is worth noting that nonlinearities may be intentionally introduced in to a system. A simple of an intentional non-linearity is the Bang-Bang controller which uses the On-Off relay. In this paper, an angular position servosystem made of a DC servomotor controlled by a microcomputer is discribed. Authors use two methods in the design of controller. The one is linear controller designed by the optimal feedback control theory only and the other is nonlinear controller designed by On-Off relay with optimal feedback control theory. To do the real time control, the controller is designed by using 16bit personal computer and A/D.D/A converter(12bit) is used in order to convert the signal. According to this way, the results from real time control are as follows. 2) Under the On-Off controller with hysterisis the influence of disturbance is considerably smaller than the linerar controller. 3) An increase in the sampling period has a destabilizing effect. 4)In the controller performance, the response time of the On-Off controller is longer than that of the linear controller. To close, we note that the On-Off controller with hysterisis is more attractive than the linear controller in the presence of the input limit.

• Journal of the Korean Society for Precision Engineering
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• v.19 no.12
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• pp.163-170
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• 2002

The quality of a precision product, in general, relies on the accuracy and precision of its manufacturing and inspection process. In many cases, the level of precision in the manufacturing and inspection system is also dependent on the positioning capability of tool with respect to the work piece in the process. Recently the positioning accuracy level has reached to the level of submicron and long range of motion is required. For example, for 1 GDARM lithography, 20nm accuracy and 300mm stroke needs. This paper refers to the lithography stage especially to fine stage. In this study, for long stroke and high accuracy, the dual servo system is proposed. For the coarse actuator, LDM (Linear DC Motor) is used and for fine one VCM is used. In this study, we propose the new structure of VCM for the fine actuator. It is 3 axis precision positioning stage for an aligner system. After we perform the optimal design of the stage to obtain the maximum force, which is related to the acceleration of the stage to accomplish throughput of product. And we controlled this fine stage with TDC. So we obtained 50nm resolution. So later more works will be done to obtain better accuracy.

• Journal of the Korean Institute of Intelligent Systems
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• v.17 no.1
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• pp.52-57
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• 2007

This paper presents the design of intelligent moving machine control system using a real time speech recognition. The proposed moving machine control system is composed of four separated module, which are main control module, speech recognition module, servo motor driving module and sensor module. In main control module with microprocessor(80C196KC), one part of the artificial intelligences, fuzzy logic, was applied to the proposed intelligent control system. In order to improve the non-linear characteristic which depend on an user's weight and variable environment, encoder attached to the servo motors was used for feedback control. The proposed system is tested using 9 words lot control of the mobile robot, and the performance of a mobile robot using voice and joystick command is also evaluated.

• The Transactions of the Korean Institute of Power Electronics
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• v.3 no.3
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• pp.214-221
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• 1998

A new control approach using neural network for the robust position control of a BRUSHLESS direct drive(BLDD) motor is presented. The linear quadratic controller plus feedforward neural network is employed to obtain the robust BLDD motor system approximately linearized using field-orientation method for an AC servo. The neural network is trained in on-line phases and this neural network is composed by a feedforward recall and error back-propagation training. Since the total number of nodes are only eight, this system will be easily realized by the general microprocessor. During the normal operation, the input-output response is sampled and the weighting value is trained by error back-propagation at each sample period to accommodate the possible variations in the parameters or load torque. And the state space analysis is performed to obtain the state feedback gains systematically. In addition, the robustness is also obtained without affecting overall system response.

• Transactions of the Korean Society of Mechanical Engineers
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• v.16 no.7
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• pp.1234-1243
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• 1992

A systematic procedure to design fuzzy PID controllers is developed in this paper. The concept of local fuzzy control cell is proposed by introducing both an adequate global control rule and membership functions to simplify a fuzzy logic controller. Fuzzy decision is made by using algebraic product and parallel firing arithematic mean, and a defuzzification strategy is adopted for improving the computational efficiency based on nonfuzzy micro-processor. A direct method, transforming the typical output of quasi-linear fuzzy operator to the digital compensator of PID form, is also proposed. Finally, the proposed algorithm is applied to an DC-servo motor. It is found that this algorithm is systematic and robust through computer simulations and implementation of controller using Intel 8097 micro-processor.

• The Transactions of the Korean Institute of Power Electronics
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• v.6 no.5
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• pp.416-422
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• 2001

The BLDC(Brushless DC) Motor is characterized by linear torque to current and speed to voltage. It has low acoustic noise and fast dynamic response. Moreover, it has high power density with high proportion of torque to inertia in spite of small size drive. However, when armature current is commutated, the current ripple is generated by the motor inductance components in stator windings and back-EMF. This current ripple caused to torque ripple. Therefore, it is difficult to apply the BLDC motor to a precision servo drive system. In this paper, a new current control algorithm using fourier series coefficients is proposed. This proposed algorithm can minimize torque ripple due to the phase current commutation of BLDC motor. Simulation and Experimental results prove the effectiveness at the Proposed algorithm through comparison with the conventional unipolar PWM method.

• Journal of Power Electronics
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• v.18 no.5
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• pp.1380-1397
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• 2018

The synchronous reluctance motor (SynRM) servo-drive system has highly nonlinear uncertainties owing to a convex construction effect. It is difficult for the linear control method to achieve good performance for the SynRM drive system. The nonlinear backstepping control system using upper bound with switching function is proposed to inhibit uncertainty action for controlling the SynRM drive system. However, this method uses a large upper bound with a switching function, which results in a large chattering. In order to reduce this chattering, a nonlinear backstepping control system using an adaptive law is proposed to estimate the lumped uncertainty. Since this method uses an adaptive law, it cannot achiever satisfactory performance. Therefore, a nonlinear backstepping control system using a reformed recurrent Hermite polynomial neural network with an adaptive law and an error estimated law is proposed to estimate the lumped uncertainty and to compensate the estimated error in order to enhance the robustness of the SynRM drive system. Further, the reformed recurrent Hermite polynomial neural network with two learning rates is derived according to an increment type Lyapunov function to speed-up the parameter convergence. Finally, some experimental results and a comparative analysis are presented to verify that the proposed control system has better control performance for controlling SynRM drive systems.

• Journal of Power Electronics
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• v.18 no.5
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• pp.1409-1423
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• 2018

Compared with classical linear controllers, a nonlinear controller can result in better control performance for the nonlinear uncertainties of continuously variable transmission (CVT) systems that are driven by a synchronous reluctance motor (SynRM). Improved control performance can be seen in the nonlinear uncertainties behavior of CVT systems by using the proposed mingled revised recurrent Hermite polynomial neural network (MRRHPNN) control with mend ant colony optimization (ACO). The MRRHPNN control with mend ACO can carry out the overlooker control system, reformed recurrent Hermite polynomial neural network (RRHPNN) control with an adaptive law, and reimbursed control with an appraised law. Additionally, in accordance with the Lyapunov stability theorem, the adaptive law in the RRHPNN and the appraised law of the reimbursed control are established. Furthermore, to help improve convergence and to obtain better learning performance, the mend ACO is utilized for adjusting the two varied learning rates of the two parameters in the RRHPNN. Finally, comparative examples are illustrated by experimental results to confirm that the proposed control system can achieve better control performance.

• The Journal of Korea Robotics Society
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• v.13 no.2
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• pp.103-112
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• 2018

In this paper, a high performance underwater vehicle which can be manufactured at low cost is designed and fabricated, and its performance is verified through experiments. To improve efficiency, the Myring equation is used to design the appearance and the duct structure including the thruster is planned to increase the propulsion efficiency while reducing the drag force. Through various methods, it is secured stable waterproof performance, and also is devised to have high speed movement and turning performance. The developed underwater vehicle is equipped with a high output BLDC motor to achieve a linear speed of up to 2 m/s and can change direction rapidly with stability through four rudders. The rudders are driven by coupling a timing belt and a pulley by extending the axis of a servo motor, and are equipped at the end of the body to turn heading. In addition, for stable posture control, the roll keeps its internal center of gravity low and maintains its stability due to restoring force. By controlling the four rudders, pitch and yaw are handled by the PID controller and show stable performance. To investigate the horizontal turning performance, it is confirmed that the yaw rate controller is designed and stable yaw rate control is performed.