• Proceedings of the KIEE Conference
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• 1996.07a
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• pp.148-150
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• 1996

This paper describes method of microstepping current control for linear pulse moor. The control method witch electrically subdivides 1 step of a LPM 125 micro step is realized using micro-step algorithm. The resolution of the system for microstepping is improved also by microstep control of driving current, which is followed by the increase of microstep subdivision coefficient, the precise position and velocity control of LPM can be realized and stabilization of the system is improved.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1997.04a
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• pp.288-292
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• 1997

Positioning accuracy largely depends on the variation of friction force in guide table, geometric accuracy of feed unit like as ballscrew and controllable accrecy of servo unit, in general. This paper deals with improvement of microstep resolution about hydrostatic table. Torque control mode have a advantage in microstep test, and more stable than velocity control mode in low velocity motion. Hydro static table have the elastic behavior within several .mu.m, so different character exist between the elastic motion and rolling motion. Integral gain is dominant than other gain in elastic motion. In order to improve response time in elastic motion,increasing gain is suggested within the stable region.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1996.04a
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• pp.448-455
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• 1996

In this study, to reduce vibration of step motor we use Microstep control. Microstep control of stepmotor is usually thought of as an extension of conventional stepmotor control technology. The essence ofmicro stepping is that we divide the full step of a stepmotor into a number of substep called microstep and cause the stepmotor to move through a substep per input pulse. In ideal case, bycontrolling the individual phase currents of a two-phase step motor sinusoidally we can get uniform torque and step angles. But due to the monlinear characteristics of the step motor, we need to compensate current waveform to improve the overall smoothness of the conventional micro stepping system. We implement digital Pulse Width Modulation(PWM) driver to drive step motor and microphone was used for detecting vibration. Driver enables speed change automatically byincreasing or decreasing micro stepping ratio which we call Automatic Switching on the Fly. To compensate the torque harmonics, Neural Networks is applied to the system and we foundcompensated optimal input current waveform. Finally we can get smooth motion of step motor in a wide range of motor speed.

• The Transactions of the Korean Institute of Electrical Engineers B
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• v.49 no.10
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• pp.637-645
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• 2000

This study was represented the improvement of the flexible position control for linear motion of hybrid type linear pulse motor(HLPM). The driving method used a minute 125 microstep drive instead of full step drive method. The digital control method was applied to the PI control for more stable position control, at this time the PI control parameters have gained by a Ziegler-Nichols turning method. The loop transfer function of control system was combined with both motor transfer function and digital PI control equation. Such, the proper for digital PI control system is verified to through the simulation and experimental result of the stability step response and bode plot with proper gain and phase margin.

• Journal of the Korean Society for Precision Engineering
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• v.14 no.5
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• pp.118-127
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• 1997

In this study, We use microstep control to reduce vibration of step motor. Microstep control of step motor is usually thought of as an extension of conventional step motor control technology. The essence of micro stepping is that we divide the full step of a step motor into a number of substep called microstep and cause the stepmotor to move through a substep per input pulse. In ideal case, by controlling the individual phase currents of a two-phase step motor sinusoidally we can get uniform torque and step angle. But due to the nonlinear characteristics of the step motor, we need to compensate current waveform to improve the over-all smoothness of the conventional micro stepping system. We implement digital Pulse Width Modul- ation (PWM) driver to drive step motor and microphone was used for detecting vibration. Driver enables speed change automatically by increasing or decreasing micro stepping ratio which we call Automatic Switching on the Fly. To compensate the torque harmonics, neural network is applied to the system and we found compensated optimal input current waveform. Finally we can get smooth motion of step motor in a wide range of motor speed.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.13 no.10
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• pp.2147-2153
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• 2009

A Hybrid type Linear Pulse Motor(LPM) for low cost is designed as single side stator structure. The static and dynamic characteristics measurement systems are designed. Experimental measurement systems, which measure the static and dynamic characteristic of the LPM, are uggested for the prototype LPM. It becomes known the values of the thrust forces. Finally the microstep drive method is adopted to the drive of prototype LPM. The waveform difference is measured between the microstep method and rectangular wave. From the experimental results, it can be confirmed that the repetitive ripple of the thrust force of the prototype LPM are reduced by taking the microstep drive method.

• 제어로봇시스템학회:학술대회논문집
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• 1992.10b
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• pp.340-343
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• 1992

Fundamental positioning characteristics of a dual-axis Sawyer linear motor are described. The Sawyer motor is capable of high positional accuracy. An electronic control unit of the motor whose velocity is proportional to the frequency of the electric current was produced in our laboratory. The positioning system was constructed using two Sawyer motors, an air bearings suspension unit and an electronic control unit. The stable motion of the motor was confirmed on the open loop operation. The adjustable operating conditions were the live load of 1 kg, the maximum acceleration of 1.2G and the maximum velocity of 350 mm/s. Absolute positioning accuracy was improved within .+-.5.mu.m, on microstep operating conditions of dividing one pitch of 508.mu.m into 508 steps. The following two conclusions were obtained. An accelerating-cruising-decelerating control is effective for reduction in the travel time required. Also, microstep operation is effective for improving the resolution of position.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2006.05a
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• pp.278-281
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• 2006

A Hybrid type LPM(Linear Pulse Motor) is designed as single side stator structure. Experimental results are shown that the static and dynamic characteristics. By the computer simulation, the permanent magnet design method is also clarified to desired thrust force. And microstep driver is adopted to the position controller to the designed LPM. The driver suppressed position errors within ${\pm}1501{\mu}m$.

• 전기의세계
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• v.31 no.1
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• pp.68-73
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• 1982

An accurate mathematical model of permanent magnet stepping motor is proposed. On the basis of this model, micro-stepping control is experimented. A comparison is made between the Data experimented by micro-stepping control and the data predicted by the proposed model and by Leenhouts' earlier model. The result shows that the proposed model is more accurate than the earlier model, and micro-stepping can be attained by dividing a given step electrically, without adding much complexity to the control circuit, or degrading the speed of stepping motors.

• The Transactions of the Korean Institute of Electrical Engineers B
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• v.49 no.3
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• pp.131-137
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• 2000

2 phase 8 pole HB-type(flat-type) Linear Pulse Motor can be used as the high precision position actuator because of its many advantages (simple control circuit, high stiffness characteristics, etc). Also, using the microstep drive, its noise and vibration can be reduced considerably and positional resolution may be increased further. But, $20^{\circ}$tapered tooth shape to reduce the normal force have an much effect on the static thrust force characteristics. And, because of hybrid-type LPM, interaction between the permanent magnet and the excitation current have an effect on the various characteristics of LPM. Hence, in this paper, the effect of tooth shape on static thrust force characteristics was analyzed using the air gap permeance by finite element method. For analyzing the effect of unbalance between the m.m.f of permanent magnet and the m.m.f of excitation current, unbalanced m.m.f coefficient $\sigma$ were introduced with the permenace matrix and switching matrix.