• Transactions of the Korean Society of Mechanical Engineers A
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• v.21 no.2
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• pp.297-304
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• 1997

This paper presents a systematic design method of an anti-swing control law for overhead cranes. A velocity servo system for the trolley of a crane is designed based on the dynamics of the trolley and its load. The velocity servo system compensates for the effects of load swing on the trolley dynamics so that the velocity servo is independent of load swing. The velocity servo system is used for the design of a position servo system for the trolley via the loop shaping method. The position servo system and the swing dynamics of the load are then used to design an angle control system for load swing based on the root locus method. The combined position servo and the angle control systems constitute the overall control system. In the presence of low frequency disturbances, the proposed control law guarantees accurate position control for the trolley and fast damping for load swing. Furthermore, the performance of the proposed control law is independent of the mass of the load. Experimental results on a prototype crane show the effectiveness of the proposed anti-swing control law.

• Journal of the Korean Society for Precision Engineering
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• v.18 no.9
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• pp.147-155
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• 2001

A new displacement type web position control system for cold mills using QFT is presented. The control system features an inner-outer cascaded system in which the inner loop provides the position tracking control of the hydraulic system and the outer loop provides the position regulation control of the web. By the sensitivity analysis and computer simulation, it is verified that the proposed control system has better robust stability and performance than the conventional control system.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.26 no.1
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• pp.31-38
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• 2002

A new steering-type web position control system for cold mills using QFT is presented. The control system features an inner-outer cascaded system in which the inner loop provides the position tracking control of hydraulic system and the outer loop provides the position regulation control of the web. By the sensitivity analysis and computer simulation, it is verified that the proposed control system has better robust stability and performance than the conventional PH) control system.

• Journal of the Korea Safety Management & Science
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• v.17 no.3
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• pp.363-370
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• 2015

In this paper, the control technique of the stepping motor using back electromotive force(B-EMF) without encoder is investigated. The stepping motor generally uses the rotary encoder to detect the rotor position. Since this method increases the cost and the motor configuration size, the new closed-loop control method applied for the B-EMF was implemented by using current detect circuit, AD-converter, and micro controller unit(MCU). The control loop of stepping motor became very simplified. The current change of stepping motor measured by the amplifier was measured and analyzed, when the missing step is occurred. Based on the data from current feedback, position errors were compensated and confirmed by using AD-converter.

• The Proceedings of the Korean Institute of Illuminating and Electrical Installation Engineers
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• v.9 no.4
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• pp.55-61
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• 1995

Variable structure control (VSC) can be used for the control of power plants required stability and robustness such as elevator control. It has no overshoot and is insensitive to parameter variations and disturbances in the sliding mode where the system structure is changed with the sliding surface in the center. But in the real system, VSC has a high frequency chattering which has a bad influence upon the control system proformances. In this paper, to alleviate the high frequency chattering, a binary controller (BC) with inertial type external loop is implemented by DSP and applied to position control of brushless DC motor. Binary controller has external loop to generate the continuous control input with the flexible variation of primary loop gain. Thus it has the property of chattering alleviation in addition to advantages of the conventional variable structure control.

• Journal of Drive and Control
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• v.16 no.3
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• pp.23-32
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• 2019

This study proposed a fault tolerant control algorithm for electro-hydraulic brake systems where permanent magnet synchronous motor (PMSM) drive is adopted to boost the braking pressure. To cope with motor position sensor faults in the PMSM drive, a braking pressure controller based on an open-loop speed control method for the PMSM was proposed. The magnitude of the current vector was determined from the target braking pressure, and motor rotational speed was derived from the pressure control error to build up the braking pressure. The position offset of the pump piston resulting from a leak in the hydraulic system is also compensated for using the open-loop speed control by moving the piston backward until it is blocked at the end of stroke position. The performance and stability of the proposed controller were experimentally verified. According to the results, the control algorithm can be utilized as an effective means of degraded control for electro-hydraulic brake systems in the case that a motor position sensor fault occurs.

• Proceedings of the KIEE Conference
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• 1996.07a
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• pp.15-17
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• 1996

In this paper, a modified microstep drive of PM step motor is presented. The open-loop drive of a step motor is attractive and widely accepted in applications of speed and position controls. However, the performance of the step motor is limited under the open-loop drive. The closed-loop control is advantages over the open-loop control not only in that step failure never occurs but that the motion is much quicker and smoother. However, a high resolution sensor is needed for detecting position and speed. The modified microstep drive is constructed as a microstep drive with speed feedback. The advantages of the proposed method is that the controller can be designed by a low resolution sensor and is simpler than other closed-loop controller. A concept of vector control is used for verifying the proposed scheme. Simulations show the performance of the proposed method and a comparison with a classic drive method.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1996.11a
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• pp.189-193
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• 1996

Piezoelectric actuator is widely used in precision positioning applications due to its excellent positioning resolution. However, serious hysteresis nonlinearity of the actuator deteriorates its open loop positioning capability. Generally, a nonlinear hysteresis model is used in feedforward loop to improve positioning accuracy. In this study, however, a simple lead compensator is proposed as a substitution for a complex nonlinear hysteresis model and tested through experiments for precision position control.

• Proceedings of the KIEE Conference
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• 1994.11a
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• pp.147-149
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• 1994

Binary control with integral COFB is presented to alleviate the chattering. Binary control system consists of the main loop and the external loop which transforms the gain of main loop smoothly, and can generate the continuous control input under the existence of the delay and the switching frequency limitation of the controller. Therefore, it has the properties of chattering alleviation, in addition, advantages of the conventional variable structure control. To confirm the validity of the developed controller, position control of brushless DC motor with binary controller as a position controller is performed.

• Proceedings of the Korean Society Of Semiconductor Equipment Technology
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• 2006.10a
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• pp.178-183
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• 2006

Effect of coulomb friction and backlash on the single loop posit ion control has been studied for the precision position control. We studied and showed the limit cycle on the single loop system which used a ball screw that had the backlash. Also, We made an inner loop with a classical velocity and torque controller which was forcing the $i_d$ current to be zero by using a permanent-magnet synchronous motor and composed the outer loop with linear sensor for sensing a position of the loader. We have been shown a good result by using the dual loop through numerical simulation method.