• Proceedings of the IEEK Conference
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• 1998.06a
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• pp.955-957
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• 1998

Switched reluctance motor(SRM) has the advantages of simple structure, low rotor inertia, and high poer rate per unit volume. However, position sensor isessential in SRM in order to synchronize the phase excitation to the rotor position. The position sensors increase the cost of drive system, and tend to reduce system reliability. This paper investigtes the speed control of sensorless SRM. The proposed system consists of position detection circuit, dwell angle controller, digital logic commutator, PI speed controller and 4-phase inverter. The performances in the proposed system are verified through the experiment.

• Journal of the Korean Institute of Telematics and Electronics S
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• v.34S no.1
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• pp.16-25
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• 1997

This paper shows the development of the high accuracy vehicle positioning algorithm using the differential technique in vehicle tracking systems form the existing vehicle position which is acquired from the global positioning system (GPS). The control center receives the satellite ephemerise data and pseudorange correction from the reference station, and vehicle position from the moving vehicle. The pseudorange is calculated with the satellite position and the vehicle position, and corrected by pseudorange correction. Using this corrected pseudorange and kalman filter, more improved vehicle positioning data were obtained.

• Proceedings of the IEEK Conference
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• 2002.06e
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• pp.157-160
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• 2002

When the teleoperation system has a signal transmission time delay between slave system and control system, the position tracking performance of the slave system and system stability are likely to be deteriorated. This paper proposes a force reflecting position control scheme for teleoperation system with signal transmission time delay. The proposed scheme not only satisfy the system internal stability but also improves the position tracking performance with disturbance rejection capability. The simulation results show that the proposed control method provides excellent performances.

• KIEE International Transaction on Electrical Machinery and Energy Conversion Systems
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• v.5B no.2
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• pp.189-195
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• 2005

This paper presents a new velocity estimation strategy for a non-salient permanent magnet synchronous motor drive without high frequency signal injection or special PWM pattern. This approach is based on the d-axis current regulator output voltage of the drive system, which contains the rotor position error information. The rotor velocity can be estimated through a rotor position tracking PI controller that controls the position error at zero. For zero and low speed operation, the PI gain of the rotor position tracking controller has a variable structure according to the estimated rotor velocity. Then, at zero speed, the rotor position and velocity have sluggish dynamics because the varying gains are very low in this region. In order to boost the bandwidth of the PI controller during zero speed, the loop recovery technique is applied to the control system. The PI tuning formulas are also derived by analyzing this control system by frequency domain specifications such as phase margin and bandwidth assignment.

• Journal of the Korean Institute of Telematics and Electronics B
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• v.33B no.2
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• pp.10-19
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• 1996

This paper presents a finger-shaped multisensor system which can measure the tyep and position of a target surface by contactl. The multi-sensor system consists of a sphere-shpaed optical tactile sensor located at the finger tip and a force/torque sensor located at the joint of a finger. The optial tactile sensor determines the type and position of the target surface using the shape and position of the CCD image of the touching area generated by a contact between the sensor and the taget surface. The force/torque sensor also determines the position and surface normal vector by applying the distributionof forces and torques t the contact point to the equations of finger shape. The measurements on the position and surface normal vector at a contact point obtined by two individual sensors are fused using a statistical method. The integrated sensor system has 0.8mm error in position measurement and 1.31$^{\circ}$ error in normal vector measurement. The developed sensor system has many applications, such as autonomous compliance control, automatic grasping and recognition, etc.

• Journal of international Conference on Electrical Machines and Systems
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• v.3 no.3
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• pp.252-255
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• 2014

In the case of long-stator linear drives, unlike rotative drives for which speed or position sensors are a single unit attached to the shaft, these sensors extend along the guideway. The position signal transmitted from maglev vehicle can't meet the need of the real-time propulsion control. In this paper the position estimator for propulsion inverter driving long stator linear synchronous motor (LSLSM) in high speed maglev train is proposed. In order to get the higher resolution of the position information transmitted from vehicle, Full order state observer is proposed for position estimator.

• Proceedings of the KIEE Conference
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• 2003.11b
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• pp.299-303
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• 2003

Position decision system embody to interpret for observation target position. Observation target is observed at observation post of 3 places. CCD cameras of observation post is achieved turning control by stepping motor. Controller interpret observation target's position to use direction and angle information of observation post. Controller and observation post used PIC16F877. PIC16F877 achieves rotation control of stepping motor and distance arithmetic of observation target. Result that measure this system 50 times was achieved correct position interpretation of 47 times. Position interpretation failure of 3 times was construed for cause in used controller special quality.

• The Transactions of the Korean Institute of Electrical Engineers B
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• v.48 no.11
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• pp.625-631
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• 1999

In this paper, an accurate position control using new estimator which estimates the instantaneous speed and accurate position with a low precision shaft encoder is proposed. The overall performance of position control system is strongly depend on the accuracy of the position information and the performance of the speed controller in low speed range. In this paper the position and speed of the motor are obtained from Kalman filter which is an optimal full order estimator. This estimator has good performance even in very low speed range include standstill. The simulation and experimental results confirm the validity of the proposed estimation and control scheme.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.34 no.2
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• pp.183-189
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• 2010

A localization system for indoor robots is an important technology for robot navigation in a building. Our localization system imports the GPS system and consists of more than 3 satellite beacons and a receiver. Each beacon emits both an ultrasonic wave and radio frequency. The receiver in the robot computes the distance from it to the beacon by measuring the flying time difference between ultrasonic wave and radio frequency. It then computes its position with the distance information from more than 3 beacons whose positions are known. However, the distance information includes errors caused from the ultrasonic sensors; we found it to be limited to within one period of a wave (${\pm}2\;cm$ tolerance). This paper presents a method for predicting the maximum position error due to distance information errors by using Taylor expansion and singular value decomposition (SVD). The paper also proposes a measuring parameter such as sensitivity to represent the accuracy of the indoor robot localization system in determining the robot's position with regards to the distance error.

• Journal of Positioning, Navigation, and Timing
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• v.4 no.1
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• pp.33-41
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• 2015

Compact Network Real-Time Kinematic (RTK) is a method that combines compact RTK and network RTK, and it can effectively reduce the time and spatial de-correlation errors. A network RTK user receives multiple correction information generated from reference stations that constitute a network, calculates correction information that is appropriate for one's own position through a proper combination method, and uses the information for the estimation of the position. This combination method is classified depending on the method for modeling the GPS error elements included in correction information, and the user position accuracy is affected by the accuracy of this modeling. Among the GPS error elements included in correction information, tropospheric delay is generally eliminated using a tropospheric model, and a combination method is then applied. In the case of a tropospheric model, the estimation accuracy varies depending on the meteorological condition, and thus eliminating the tropospheric delay of correction information using a tropospheric model is limited to a certain extent. In this study, correction information modeling accuracy performances were compared focusing on the Low-Order Surface Model (LSM), which models the GPS error elements included in correction information using a low-order surface, and a modified LSM method that considers tropospheric delay characteristics depending on altitude. Both of the two methods model GPS error elements in relation to altitude, but the second method reflects the characteristics of actual tropospheric delay depending on altitude. In this study, the final residual errors of user measurements were compared and analyzed using the correction information generated by the various methods mentioned above. For the performance comparison and analysis, various GPS actual measurement data were collected. The results indicated that the modified LSM method that considers actual tropospheric characteristics showed improved performance in terms of user measurement residual error and position domain residual error.