• Proceedings of the KIEE Conference
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• 2003.11c
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• pp.629-632
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• 2003

Piezo actuators are mainly used in precision position control system because of their high position resolution. Although there have been many approaches in open loop control of this, those method turn out to be not effective in precision control due to hysteresis and creep. To overcome the problems, closed loop PI control method is used in commercial products. However, it is very difficult to obtain fast response with conventional PI control although piezo actuator has fast response. In this paper, we propose a fuzzy PI control method with the proposed fuzzy PI controller, we obtains faster settling response over the conventional PI controller. We verify the effectiveness of the proposed method with experimental results.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.21 no.10
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• pp.1683-1693
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• 1997

In this paper, a new nonlinear dynamic model is derived for a 2-dimensional overhead crane based on a new definition of 2-degree-of-freedom swing angle, and a new anti-swing control law is proposed for the crane. The dynamic model and control law take simultaneous travel and traverse motions of the crane into consideration. The model is first linearized for small motions of the crane load about the vertical stable equilibrium. Then the model becomes decoupled and symmetric with respect to the travel and traverse axes of the crane. From this result, a decoupled anti-swing control law is proposed based on the linearized model via the loop shaping and root locus methods. This decoupled method guarantees not only fast damping of load-swing but also zero steady state position error with optimal transient response for the 2-dimensional motion of the crane. Finally, the proposed control method is evaluated by controlling the simultaneous travel and traverse motions of a 2-dimensional prototype overhead crane. The effectiveness of the proposed control method is then proven by the experimental results.

• 제어로봇시스템학회:학술대회논문집
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• 1987.10b
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• pp.588-593
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• 1987

In this study, direct-drive position controllers are designed and implemented for the flying vehicles actuating system with both positive and negative load factors, where the load factors are assumed proportional to the deflection angle of control surface. Its analog and digital controllers are verified through software simulation and hardware-in-the-loop simulation.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1995.10a
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• pp.565-568
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• 1995

This paper presents the position control of a closed-loop cylinder system using ER(electro-rheological)valve actuators. Following the field-dependent pressure analysis of the ER valve actuators on the basis of Bingham model of ER fluids, a 3 d.o.f. close-loop sylinder system having the heave, roll and pitch motions is proposed. The governing equations of motion are derived using Lagrange's equation, and a control model is established by considering system uncertain parameters such as load conditions. A sliding mode controller which has inherent robustness to system uncertainties is adopted to achieve robust tracking control performance. Tracking control results for sinusoidal trajectory were presented in order to demonstrate the effectiveness of the proposed control system.

• 제어로봇시스템학회:학술대회논문집
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• 1993.10a
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• pp.504-509
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• 1993

A heavy load driving system for the gun laying control is designed with the analysis of performance in pointing accuracy and speed. To eliminate the firing noise and high frequency system noise, a .PI. filter is implemented in conjunction with the PI velocity control. To incorporate the gunner's commands in the PID position control loop easily, a .mu.-processor is utilized in the position control loop. Main difficulties in the heavy load driving system exist in the design of motor drivers and heat sinkers. With an appropriate design of the motor drivers and heat sinkers, the performance of the gun laying system is analyzed by the simulation.

• Proceedings of the KIEE Conference
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• 2001.04a
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• pp.93-95
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• 2001

This paper describes detent force minimization techniques of Permanment Magnet Linear Synchronous Motor(PMLSM) for the improvement of control and the driver system to control the position and velocity, PMLSM are simulated by operating open-loop system and PI control system, and in actuality the control system is implemented by DSP based controller and PWM inverter to investigate the characteristics of both open-loop system and PI control system.

• Proceedings of the KIEE Conference
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• 2000.07d
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• pp.2368-2370
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• 2000

In this paper, we proposed an inverse hysteresis model to cancel the nonlinear hysteresis phenomenon of a piezoelectric actuator and design a feedback control system based on the inverse hysteresis model. The piezoelectric actuator performs much better in open-loop response. However, the nonlinear hysteresis phenomenon should be linearized and the closed-loop control should be executed to get the required performance in the area, where high-speed and high-accuracy are required. Thus, it is shown by simulation that a good position tracking performance can be obtained for the repetitive desired position trajectory.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2008.04a
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• pp.869-873
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• 2008

Optimization method for the open loop commutation time intervals in HDD spindle start-up control is presented in this paper. A hard disk drive(HDD) uses a sensorless brushless DC motor(BLDC) for the platter rotation. Because there is no direct sensor for the rotor position, open loop commutations after sensing the rotor position at a standstill using inductive sensing method are performed to speed up the rotor up to a certain speed where the zero crossings of the back electromotive force(EMF) are measurable. Therefore successful open loop commutations are necessary for the stable start-up control of the spindle motors. Random neighborhood search(RNS) algorithm is introduced as a optimization technic in this paper. Rotor speed and its standard deviation are used as a cost function and commutation intervals obtained from the spindle motion equation are used as initial parameter values for the RNS. With the help of the proposed method optimized open loop commutation time intervals for the very low start-up current are acquired and tested. The experimental results shows that the proposed method can decrease the start-up failure rate of a HDD spindle motor.

• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.18 no.10
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• pp.1065-1072
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• 2008

A HDD adopts a sensorless brushless DC (BLDC) motor as a spindle motor. Because there is no direct sensor measuring rotor position. open loop commutations with inductive sensing are used to increase the rotor speed up to a certain speed where the zero crossings of the back electromotive force (EMF) voltage are measurable. Therefore, successful open loop commutations are necessary for the stable start-up control of the spindle motors. In this paper, the time scale and the number of the open loop commutations are employed for design parameters to guarantee robustness to torque constant variation and initial rotor position. The design results are verified by experiments on a very low current start-up of the spindle motor with various environment. The experimental results show that the design results can decrease the start-up failure rate considerably.

• The Transactions of the Korean Institute of Electrical Engineers B
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• v.51 no.4
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• pp.187-194
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• 2002

Recently, the application of the linear machine far industrial field is remarkable increased, especially for the gantry machine, machine tool system and CNC. In these application fields, high dynamics position control performance Is essentially required in both the steady and the transient state. This pacer presents simple but powerful position control loop based on traditional PID controller. The presented position control algorithm, named 'Unified PID Position Controller'has great features for the linear machine drives such as no over-shoot phenomena and simple gain tuning strategy. Through the experimental results with commercial linear motors, it is shown that the proposed algorithm has excellent dynamics suitable fur linear motions.