• Transactions on Control, Automation and Systems Engineering
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• v.4 no.4
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• pp.347-355
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• 2002

Obstacle avoidance of underactuated robot manipulators using switching computed torque method (SCTM) is presented. One fundamental feature of this novel method is to use partly stable controllers (PSCs) in order to fulfill the ultimate control objective. Here, we use genetic algorithms (GAs) to acquire the optimum switching sequence of the control actions for a given time frame with the available set of elemental controllers, depending on which links/variables are controlled. The effectiveness of the concept is illustrated by taking a three-degrees-of-freedom (DOF) manipulator and showing enhanced performance of the proposed control methodology.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2011.10a
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• pp.52-56
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• 2011

Recently, KARI(Korea Aerospace Research Institute) has been developing a modern 11.5m diameter four bladed bearingless main rotor system, and this rotor system can be used for 7,000lb class helicopter. Flexbeam and torque tube can be considered as the key structural components, and large elastic twist of flexbeam induced by pitch control motion of torque tube can influence the nonlinear aeroelastic behavior. In this paper, the dynamic characteristic analysis results of bearingless rotor system were presented. In order to construct a input model and validate the analysis procedures, calculated results using the comprehensive helicopter analysis program CAMRAD II were compared with the measured natural frequencies and lag damping data from small-scale wind tunnel test. Next, the analysis model was extended to a full-scale model, and the dynamic analysis results were presented.

• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.22 no.2
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• pp.187-192
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• 2012

Recently, KARI(Korea Aerospace Research Institute) has been developing a modern 11.5 m diameter four bladed bearingless main rotor system, and this rotor system can be used for 7,000 lb class helicopter. Flexbeam and torque tube can be considered as key structural components, and large elastic twist of flexbeam induced by pitch control motion of torque tube can influence the nonlinear aeroelastic behavior. In this paper, the dynamic characteristic analysis results of bearingless rotor system were presented. In order to construct a input model and validate the analysis procedures, calculated results using the comprehensive helicopter analysis program CAMRAD II were compared with the measured natural frequencies and lag damping data from small-scale wind tunnel test. Next, the analysis model was extended to a full-scale model, and the dynamic analysis results were presented.

• The Transactions of the Korean Institute of Electrical Engineers B
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• v.51 no.11
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• pp.612-615
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• 2002

The main advantages of Disk type Single-Phase Switched Reluctance Motor (DSPSRM) is the simple construction, rugged structure, low manufacturing cost and simple driving circuit. It is especially possible to make the short axial length of DSPSRM. Therefore, it is suitable to setup this motor in a narrow space. This paper presents the shape design to maximize the average torque of DSPSRM that is achieved by 3D Finite Element Method (3D FEM) considering the nonlinear of magnetic material. The characteristics of two different rotor shapes are compared. The design parameters, such as the rotor and stator pole arc, are selected to the parametric study. The effect of pole arc ratios on the torque performance is investigated. From these results, the optimal pole arc to produce the maximum torque is determined.

• Proceedings of the KIEE Conference
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• 1998.07a
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• pp.257-259
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• 1998

The Switched Reluctance Motor (SRM) has good properties to the adjustable speed control. But, high torque ripple and noise decrease this merit and make unstable state. Also, because of the saturation in the magnetic circuit, it is difficult to predict the inductance profile. If the inductance pronto is known, it's possible to make flat-top torque by applying some control strategy. This paper suggests method to develope flat-top torque using a Artificial Neural Network(ANN) method that can calculate a nonlinear inductance profile.

• Journal of Institute of Control, Robotics and Systems
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• v.9 no.7
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• pp.556-562
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• 2003

This paper presents new attitude error differential equations to define attitude errors as the rotation vector for inertial navigation systems. Attitude errors are defined with the rotation vector between the reference coordinate frame and the platform coordinate frame, and Platform dynamics to the reference coordinate frame due to platform torque command errors are defined. Using these concepts for attitude error definition and platform dynamics, we have derived attitude error differential equations expressed in original nonlinear form for GINS and SDINS and showed that these are equivalent to attitude error differential equations expressed in known linear form. The relation between attitude errors defined by the rotation vector and attitude errors defined by quaternion is clearly presented as well.

• The Transactions of the Korean Institute of Electrical Engineers
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• v.43 no.5
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• pp.747-752
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• 1994

The switched reluctance motor has high efficiency over a wide range of speed and torque. However the switched reluctance motor exhibit comparatively low efficiency in the chopped excitation which produces additional inverter losses. This paper examines the optimal efficiency operation using choppingless excitation under the changed supply voltage. The excitation is designed to produce the required torque and speed satisfying the optimal efficiency in a nonlinear switched reluctance motor. The optimal algorithm is applied to 119 operation points which are chosen over the full range of driving torque and speed. The result in this paper indicate the improved efficiency comparing to the efficiency obtained by both switched and chopped excitataions under a fixed supply voltage.

• Journal of Electrical Engineering and Technology
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• v.8 no.4
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• pp.945-950
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• 2013

This paper deals with the ellipse permanent magnet machines for the minimization of torque ripple based on electromagnetic field theory. On the basis of a magnetic vector potential and a two dimensional (2-D) polar system, analytical solutions for flux density due to permanent magnet (PM) and current are obtained. In particular, the analytical solutions for mathematical expressions of magnets with different circumferential thicknesses can be solved introducing improved magnetization modeling techniques. The analytical results are validated extensively be nonlinear finite element solutions, a reduction of torque ripple can be achieved.

• Journal of Institute of Control, Robotics and Systems
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• v.7 no.1
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• pp.1155-1161
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• 2001

We propose an adaptive nonlinear control algorithm for high precision tracking and stabilization of LOS(Line-of-Sight). The friction parameters of the LOS gimbal are estimated by off-line evolutionary strategy and the friction is compensated by estimated friction compensator. Especially, as the nonlinear control input in a small tracking error zone is enlarged by the nonlinear function, the steady state error is significantly reduced. The proposed algorithm is a direct adaptive control method based on the Lyapunov stability theory, and its convergence is guaranteed under the limited modeling error or torque disturbance. The performance of the pro-posed algorithm is verified by computer simulation on the LOS gimbal model of a moving vehicle.

• International Journal of Precision Engineering and Manufacturing
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• v.3 no.4
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• pp.87-93
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• 2002

In this study, basic concepts of magnet were introduced, and dynamic characteristics of magnet coupling were explored. Based on these characteristics, it was proposed how to analyze transverse and torsional vibrations of a spindle system with magnet coupling. Proposed theoretical approaches were applied to a precision power transmission system machined for this study, and the transverse and torsional vibrations were simulated. The force on magnet coupling was shown as a form of nonlinear function of the gap and the eccentricity. Also, the form of torque transmitted by magnet coupling was considered as a sinusoidal function. Main spindle connected to a coupling of a follower part was assumed to be a rigid body. Nonlinear partial differential equation was derived to be as a function of angular displacement. By using the equation, torsional vibration analysis of a spindle system with magnet coupling was performed. Free and forced vibration analyses of a spindle system with magnetic coupling were explored by using FEM.