• Journal of Institute of Control, Robotics and Systems
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• v.20 no.3
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• pp.323-332
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• 2014

Stepper motor is widely used in positioning applications due to its durability and high torque to inertia ratio as well as low cost and ability to be easily controlled with open-loop. Due to increased resolution of position control and improved stability of motion control, microstepping has drawn attention in industry since it was introduced in 1970s. With the increase in computational power and decrease in cost of embedded processors in recent years, drives and control systems for stepper motors have become more sophisticate than ever. Thus, closed-loop control methods have been developed to improve the performance of the stepper motors. In this paper, we review not only basic principles of conventional control methods used for stepper motors but also that of microstepping control. In addition, we surveyed recent development in nonlinear control methods applied to stepper motors. The nonlinear control methods are presented in the view of Lyapunov stability. Nonlinear torque disturbance observer, sliding mode control, and nonlinear phase compensation are also presented.

• Journal of Electrical Engineering and Technology
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• v.9 no.2
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• pp.478-488
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• 2014

Torque pulsation mechanism and highly nonlinear magnetic characterization of switched reluctance motors(SRM) lead to unfavorable torque ripple and limit the variety of applications in industry. In this paper, a modification method proposed for torque ripple minimization of SRM based on conventional torque sharing functions(TSF) to improve maximum speed of torque ripple-free operation considering converter limitations. Due to increasing phase inductance in outgoing phase during the commutation region, reference current tracking can be deteriorated especially when the speed increased. Moreover, phase torque production in incoming phase may not be reached to the reference value near the turn-on angle in which the incremental inductance would be dramatically decreased. Torque error for outgoing phase can cause increasing the resultant motor torque while it would be negative for incoming phase and yields reducing the motor torque. In this paper, a modification method is proposed in which phase torque tracking error for each phase under the commutation added to the other phase so that the resultant torque remained in constant level. This yields to extend constant torque region and reduce peak phase current when the speed increased. Simulation and experimental results for four phase 4 KW, 8/6 SRM validate the effectiveness of the proposed scheme.

• Journal of Power Electronics
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• v.13 no.6
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• pp.964-974
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• 2013

A modified direct torque control (DTC) method based on torque angle is proposed for interior permanent-magnet synchronous motor (IPMSM) drivers used in electric vehicles (EVs). Given the close relationship between torque and torque angle, proper voltage vectors are selected by the proposed DTC method to change the torque angle rapidly and regulate the torque quickly. The amplitude and angle of the voltage vectors are determined by the torque loop and stator flux-linkage loop, respectively, with the help of the position of the stator flux linkage. Furthermore, to satisfy the torque performance request of EVs, the nonlinear dead-time of the invertor caused by parasitic capacitances is considered and compensated to improve steady torque performance. The stable operation region of the IPMSM DTC driver for voltage and current limits is investigated for reliability. The experimental results prove that the proposed DTC has good torque performance with a brief control structure.

• Proceedings of the KIPE Conference
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• 2000.07a
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• pp.439-442
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• 2000

An adaptive nonlinear control of a brushless direct drive motor(BLDDM) is proposed. Comparing to the traditional PMSM the direct drive motor has smaller number of per pole and per phase slots to provide higher torque in low speed. This generic construction generates flux harmonics and finally results in unwanted torque harmonics. To control the speed a feedback linearization method is applied by choosing the $i_{ds}$ and $\omega_{m}$ as the output variables. The control of the flux harmonics is provided by using a flux observer with MRAC technique. As shown in the simula-tion results the proposed nonlinear speed controller has a good speed response in the steady state and robust to the flux variation

• Transactions of the Korean Society of Mechanical Engineers
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• v.19 no.8
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• pp.1869-1875
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• 1995

The adhesively bonded tubular single lap joint shows a nonlinear relationship between the applied torque and the resulting displacement under the static-torsional loading, which is induced from the nonlinear properties of the adhesive. However the torque transmission capability in the case of the dynamic-torsional loading is much less than that in the case of the static-torsional loading, the stress level of the adhesive is usually in the region of the linear stress and strain relation and the stress distributions of the joint can be obtained by the linear analysis. In this paper, a failure model for the adhesively bonded tubular single lap joint under the torsional fatigue loading was developed with respect to the adhesive thickness that was a critical factor in predicting the static torque transional-cyclic loadings was proposed.

• The Journal of the Korea institute of electronic communication sciences
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• v.8 no.6
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• pp.881-889
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• 2013

In this paper, a nonlinear and adaptive back-stepping control technique is proposed for a speed control of IPMSM(Interior Permanent Magnet Synchronous Motor). The gain of back-stepping controller(including integral value of the states error) is designed for stability of the system. In order to adapting fast in variation of load torque, the controller is including load torque estimator. The simulation is completed by using PSIM software. The simulation results show that the designed back-stepping controller make the system stable in the constant torque region, and has better tracking performance than a controller without the integral gain.

• Proceedings of the KIEE Conference
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• 1997.07a
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• pp.227-229
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• 1997

The torque of SRM is developed by phase currents and inductance variation. The inductance of torque generation region is nonlinearly varied according to phase current. By this nonlinear characteristics, torque ripple can be generated on the condition of constant current. Otherwise, phase current should be controlled instantaneously in accordance with inductance to reduce torque ripple. In this paper, the control system with neural network that can reduce torque ripple is suggested. In this control system, instantaneous inductance and optimal current waveform for smallest torque ripple is obtained by neural network. And this required optimal current waveform is regulated by voltage control.

• Journal of the Korean Institute of Illuminating and Electrical Installation Engineers
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• v.28 no.7
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• pp.48-54
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• 2014

This paper discusses study of torque ripple minimization employing an improved TDF(torque distribution function)-based instantaneous torque control to reduce acoustic noise and vibration problem of the SRM. As the flux linkage of the SRM is a nonlinear function of phase current and rotor position, design of optimal controller for the SRM is quite complicated. Hence, an accurate mathematical model considering the nonlinearity of the SRM is required. An improved TDF based torque control has been proposed in order to reduce the toque ripple at high speed operation. Dynamic simulation using Matlab/Simulink as well as Finite Element Analysis is presented. A prototype SRM for electric vehicle traction has been manufactured to validate the experimental results comparing the dynamic simulation results.

• Journal of the Korean Society for Precision Engineering
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• v.17 no.1
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• pp.68-75
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• 2000

In this paper, the robust controller design is performed for the speed control of the underwater vehicle diesel engine. Nonlinear model equations are acquired through the mathematical modeling using mean torque production model technique. It is very difficult to design the robust controller because those are high nonlinear and not expressed in terms of the matched uncertainty Therefore those are converted into the separable model into the linear nominal system and the nonlinear uncertainty term.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 1996.04a
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• pp.113-118
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• 1996

Nonlinear Attitude Dynamic Equation for rigid-body satellite is derived and linearzed. Estimator using Kalman filter and controller are designed. Controller using LQR technique implemented on satellite under torque disturbance shows much better performance than those by using of Bang-Bang technique.