• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.1022-1027
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• 2003

The Motion controllers provide the sophisticated performance and enhanced capabilities we can see in the movements of robotic systems. Several types of motion controllers are available, some based on the kind of overall control system in use. PLC (Programmable Logic Controller)-based motion controllers still predominate. The many peoples use MCU (Micro Controller Unit)-based board level motion controllers and will continue to in the near-term future. These motion controllers control a variety motor system like robotic systems. Generally, They consist of large and complex circuits. PLC-based motion controller consists of high performance PLC, development tool, and application specific software. It can be cause to generate several problems that are large size and space, much cabling, and additional high coasts. MCU-based motion controller consists of memories like ROM and RAM, I/O interface ports, and decoder in order to operate MCU. Additionally, it needs DPRAM to communicate with host PC, counter to get position information of motor by using encoder signal, additional circuits to control servo, and application specific software to generate a various velocity profiles. It can be causes to generate several problems that are overall system complexity, large size and space, much cabling, large power consumption and additional high costs. Also, it needs much times to calculate velocity profile because of generating by software method and don't generate various velocity profiles like arbitrary velocity profile. Therefore, It is hard to generate expected various velocity profiles. And further, to embed real-time OS (Operating System) is considered for more reliable motion control. In this paper, the structure of chip-based precision motion controller is proposed to solve above-mentioned problems of control systems. This proposed motion controller is designed with a FPGA (Field Programmable Gate Arrays) by using the VHDL (Very high speed integrated circuit Hardware Description Language) and Handel-C that is program language for deign hardware. This motion controller consists of Velocity Profile Generator (VPG) part to generate expected various velocity profiles, PCI Interface part to communicate with host PC, Feedback Counter part to get position information by using encoder signal, Clock Generator to generate expected various clock signal, Controller part to control position of motor with generated velocity profile and position information, and Data Converter part to convert and transmit compatible data to D/A converter.

• Transactions of the Korean Society of Automotive Engineers
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• v.23 no.1
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• pp.25-33
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• 2015

This paper presents the d-q axis equivalent circuit model of an interior permanent magnet (IPM) which includes the iron loss resistance. The model is implemented to be able to run in real-time on the FPGA-based HIL simulator. Power electronic devices are removed from the motor control unit (MCU) and a separated controller is interfaced with the real-time simulated motor drive through a set of proper inputs and outputs. The inputs signals of the HIL simulation are the gate driver signals generated from the controller, and the outputs are the winding currents and resolver signals. This paper especially presents iron loss prediction which is introduced by means of comparing the torque calculated from d-q axis currents and the desired torque; and minimizing the torque difference. This prediction method has stable prediction algorithm to reduce torque difference at specific speed and load. Simulation results demonstrate the feasibility and effectiveness of the proposed methods.

• Proceedings of the KIPE Conference
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• 2010.07a
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• pp.432-433
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• 2010

본 논문에서는 직렬형 디젤 하이브리드 전기 트럭 구동을 위한 견인 전동기 제어 시스템 개발에 대해 소개한다. 높은 출력 밀도를 요구하는 복합형 전기 차량의 특성을 고려하여 매입형 영구자석 동기전동기를 선정하고, 대전류 고효율 시스템 구성을 위해 수랭식 MCU(Motor Control Unit)를 개발 하였다. 또한 빠른 토크 응답 특성과 넓은 영역의 속도 운전을 위한 약자속 제어 기법을 적용하였으며, 전체 시스템 효율을 향상시키기 위해 단위 전류당 최대 토크 제어 기법(MTPA)이 사용 되었다. 개발 된 제어 시스템 및 제어 기법을 실험을 통해 검증 하였다.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.15 no.9
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• pp.5440-5445
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• 2014

Many studies have examined robot control using human bio signals but complicated signal processing and expensive hardware are necessary. This study proposes a method to recognize a human's hand motion using a low-cost EMG sensor and Flex sensor. The method to classify movement of the hand and finger is determined from the change in output voltage measured through MCU. The analog reference voltage is determined to be 3.3V to increase the resolution of movement identification through experiment. The robotic hand is designed to realize the identified movement. The hand has four fingers and a wrist that are controlled using pneumatic cylinders and a DC servo motor, respectively. The results show that the proposed simple method can realize human hand motion in a remote environment using the fabricated robotic hand.

• Journal of Institute of Control, Robotics and Systems
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• v.16 no.3
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• pp.245-248
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• 2010

Almost all of control schemes proposed so far have been designed in the continuous-time domain theoretically. Actual systems, however, have been implemented in the discrete-time domain since Micro Control Unit(MCU) and/or microprocessors have been used for the controllers. Thus, the overall system turned to be a sampled-data system, and generally speaking, the ultimate error cannot converge to zero in the actual system even though the proposed control algorithm showed the asymptotic stability in the continuous-time domain. In this paper, therefore, the ultimate error bound of a sampled data system with a short sampling period has been investigated. The ultimate error is shown to be related in the sampling period.

• Journal of IKEEE
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• v.23 no.1
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• pp.254-260
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• 2019

The failure rate of bidirectional dc-to-dc converter is predicted through the failure mode and effect analysis (FMEA) and the fault-tree analysis (FTA) considering the operational risk. In order to increase the driving voltage of the electric vehicle efficiently, the bidirectional converter is attached to the front of the inverter. It has a boost mode for discharging battery power to the dc-link capacitor and a buck mode for charging the regenerative power to the battery. Based on the results of the FMEA considering the operating characteristics of the bidirectional converter, the fault-tree is designed considering the risk of the converter. After setting the design parameters for the MCU for the electric vehicle, we analyze the failure rate of the capacitor due to the output voltage ripple and the inductor component failure rate due to the inductor current ripple. In addition, we obtain the failure rate of major parts according to operating temperature using MIL-HDBK-217F. Finally, the failure rate and the mean time between failures (MTBF) of the converter are predicted by reflecting the part failure rate to the basic event of the fault-tree.

• Proceedings of the KIPE Conference
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• 2010.11a
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• pp.343-344
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• 2010

화석연료의 고갈로 인하여 친환경 자동차에 대한 연구와 상용화가 급속도로 진행되면서 점점 대형 차종으로 그 범위가 넓어지고 있다. 대형 차종에 적용되는 전기동력 시스템의 MCU(Motor Control Unit), GCU(Generator Control Unit), DC/DC 컨버터 등과 같은 전장품도 그 용량이 커지면서 상용화를 위해 효율적인 측면도 많이 부각되지만 스위칭 소자, 변압기, 초크, 다이오드 등에서 동작으로 인해 열이 발생하고 제품의 구조상 밀폐된 공간에 장착이 되기 때문에 발열로 인한 동작의 신뢰성과 제품의 내구성에 큰 영향을 미치게 된다. 그중 가장 발열이 심한 IGBT(Insulated Gate Bipolar Transistor) 등과 같은 스위칭 소자에서 발생하는 열을 효과적으로 냉각시키기 위해 수냉구조가 필수적이며 동일한 조건의 수압, 유량에 보다 높은 방열특성을 가지기 위해 냉각구조에 대한 해석이 제품을 개발 전에 선행되어야 한다. 본 논문에서는 유로의 냉각핀 형상과 유로 구조에 따라 방열특성이 어떠한 차이가 있는지 시뮬레이션 프로그램을 통하여 비교하고, 모사발열체를 이용한 방열부의 냉각 성능 시험과 다이나모 환경의 최대 출력 시험을 통하여 방열 특성을 확인하였다.

• Journal of IKEEE
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• v.23 no.1
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• pp.261-265
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• 2019

We analyze the failure rate change of a conventional bidirectional converter and a modified one which moves an output capacitor towards propulsion battery. We analysis of the circuit structural homogeneity and the difference between both converters, and confirm that the capacitor working voltage is reduced by changing the capacitor position. After obtaining the capacitor failure rate according to voltage stress factor and operating temperature, it is applied to the fault-tree of the bidirectional converter to obtain the overall failure rate of the converter. We analyzes the advantages and disadvantages of design changes by comparing and analyzing the failure rate and mean time between failures (MTBF) according to operating temperature and capacitance value.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.67 no.4
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• pp.531-537
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• 2018

This paper propose a bidirectional dc-to-dc converter employing dual inductor for current ripple reduction. Conventional bidirectional dc-to-dc converter uses a single inductor for two different modes; boost and buck; therefore it is difficult to satisfy the optimized inductance value for each mode. To improve this problem, the proposed converter adds two switches, a diode, and one inductor. By proper switching of the additional switch, the proposed converter operates with a inductor in boost mode, but it works with dual inductor in buck mode. Hence in both modes the proposed bidirectional converter can be operated with optimized inductance values. Most of all the optimized inductance in buck mode can reduce the current ripple and its effective value(rms), which are directly related to the temperature increase resulted in short lifetime of battery. To verify the validity of the proposed approach, we first analyzes the operation of the proposed converter theoretically, and implement computer-aided simulations and experiments using a prototype.

• Journal of the Institute of Electronics and Information Engineers
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• v.50 no.5
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• pp.269-274
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• 2013

To proportionally control the electronic valve position of the actuator, we designed and fabricated PCU, CPT, and rotary absolute optical encoder for the detection of absolute angular position in the actuator. We also designed and constructed the test system by using DAQ hardware and Labview. We designed PCU to convert 1-5 V, 0-5 V, 0-10 V, 2-10 V voltage signals and 4-20 mA current signals to the voltage signals in the common 0.5-2.5 V range. We designed CPT to output 4-20 mA current signals corresponding to the valve positions based on the PWM signal input from the MCU. We also designed 20 bit optical encoder by using infrared LED and infrared transistor and made the serial communication with the main board possible. When we tested PCU and CPT with DAQ hardware and Labview software, they operated correctly with the small errors within ${\pm}0.003$ V and ${\pm}0.01$ mA, respectively, showing that our actuator has the excellent performance to employ as the industrial proportional-valve-actuator. The resolution of the encoder was $11.25^{\circ}$ and the maximum revolution to detect was 32,768.