• 대한전기학회논문지:시스템및제어부문D
• /
• 제54권12호
• /
• pp.705-712
• /
• 2005

This paper deals with speed-sensorless control of an AC servo motor using Fuzzy-Tuning High Gain Observer(FTHGO). Resolver or encoder can be used to measure a rotor speed, but it has a limit to detect motor speed precisely. To solve this problem, it is studied to measure a speed of an AC servo motor without sensor. In this paper, the gain of an observer to estimate motor speed is properly set up and designed using the fuzzy control theory. It calculates the differentiation of the rotor current of the AC motor and estimates the rotor speed using it. Proposed speed sensorless control is performed using the estimated speed as the control variable. Designed FTHGO is applied to AC servo motor to verify the feasibility of the proposed observer. Feasibility of the FTHGO proposed in this paper is proven comparing the experimental results with/without the speed sensor.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 1992년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 19-21 Oct. 1992
• /
• pp.393-400
• /
• 1992

The DC(Direct-Current) servo motor has widely used for many application areas, FA(Factory Automation), OA(Office Automation) and home applications. But DC servo motor needs periodical inspection because it has brush and commutator. Recently, AC servo motor has expanded it's application areas due to for the development of the power semi-conductor and control technology. But it has large torque ripple for it's small number of commutation. And it also has cogging torque due to permanent magenet rotor. Therefore it can't run balence rotarion. Many torque ripple reduction methods are published. In this paper, phase advanced method adopted for torque ripple reduction of AC servo motor. In this research, AC servo motor torque characteristic variation surveied under the phase advance control through the computer simulation. Under the simulation, the load inertia varied from 0.0001[Kg.m$^{2}$] to 0.0314[Kg.m$^{2}$]. The result os nonlinear simulation, torque and speed ripple of AC servo motor under the phase advance control reduced approximately 50[%] and 10[%]. And maximum torque of AC servo motor under phase advance control condition increased about 5[%] as compare with fixed switching time.

• 한국정보통신학회:학술대회논문집
• /
• 한국정보통신학회 2018년도 추계학술대회
• /
• pp.235-237
• /
• 2018

구조물 건축분야에서의 슬라이딩 공법의 우수성에도 불구하고 유압식 동력제어 방식의 문제점을 개선하기 위하여 AC 유도전동기 서보제어장치를 구조물 건축 분야의 동력제어기술로 활용함으로서 정밀제어 및 생산성 향상에 기여 할 수 있다. Induction Motor Servo Controller를 기반으로 PC와 MITY(MS) Servo의 복잡한 조합을 이용한 이동성슬라이딩 공법 시스템 개발을 제안 하였다.

• 대한전기학회:학술대회논문집
• /
• 대한전기학회 1992년도 하계학술대회 논문집 B
• /
• pp.1211-1214
• /
• 1992

본 논문에서 제안한 Fara DS Series의 AC SERVO (DC BRUSHLESS) MOTOR 제어기는 ROBOT, CNC, 각종 공작기계및 FA기기에서 MOTOR를 구동 원으로 사용하는데 사용되는 제품이다. AC SERVO MOTOR DRIVE의 Inverter에 IGBT(Insulated Gate Bipoler Transistor)를 사용하여 Switching 주파수를 높임으로써 Motor를 가변속 제어할때 발생하는 소음 및 진동을 극소화 하였다. 또한 일반적으로 Motor 속도제어를 급감속으로 제어할때 Servo Motor의 비선형 특성으로 인한 전류위상을 보상하여 모든 동작구간에서 최적의 상태의 제어가 되도록 개발하였다. 그리고 다양한 User Option 기능을 내장하여 User가 원하는 제어대상에 효과적으로 적용할 수 있도록 하였다. 아울러 MOTOR 제어기에 내장 된 다수의 보호기능을 통해서 Motor운전중 발생하는 이상상태에 대해 제어기를 보호할 수 있도록 하였다. 제안한 제어기는 부하변동, 전압변동, 온습도변동에 대해 속도변동율을 최소화 함으로써 ROBOT, CNC등 FA분야에서 폭넓게 이용할수 있다.

• 대한임베디드공학회논문지
• /
• 제14권6호
• /
• pp.339-346
• /
• 2019

Multi-axis servo systems are widely used in various fields such as industiral systems for improving production efficiency, robotics and complex systems where many mechanical devices and sensor systems are connected. Such a servo system requires that the servo control technique to realize the synchronization of the drive shaft in the steady state and transient conditions and to control so as to follow the target track in order to improve product precision and production efficiency. In addition, embedded type hardware is required for smooth control of the entire multi-axis system. Therefore, this paper uses hardware based on FPGA which is widely used in digital signal processing field and various control system because hardware design change is easy and parallel processing is possible. In addition, Labview based servo motor control program was studied that can control the servo motor by ensuring the performance and flexibility of the FPGA and follow the target trajectory according to various speed processing and accurate timing synchronization.

• 한국공작기계학회:학술대회논문집
• /
• 한국공작기계학회 1999년도 추계학술대회 논문집 - 한국공작기계학회
• /
• pp.405-410
• /
• 1999

Hydraulic pipeline between servo valve and actuator affect the dynamic characteristics of electrohydraulic servo systems in serveral ways. This paper deal with the speed control of oil hydraulic gear motor using electrohydraulic servo valve. The frequency and transient response of electrohydraulic servo valve coupled to a gear motor is anlayzed. In particular, the effect of short and long hydraulic pipelines between servo valve and gear motor is investigated. The dynamic characteristics of the speed control systems of gear motor with short pipeline is first described via frequency response experiments with small signal linearized analysis. Loner pipeline is applied distributed parameter pipeline model with consideration of frequency dependent viscous friction.

• 전기학회논문지P
• /
• 제56권3호
• /
• pp.129-135
• /
• 2007

This paper deals with speed-sensorless control of DC servo motor using Neuro-Fuzzy Observer. DC servo motor has very low rotor inertia and excellent response characteristic and it is very useful to control torque and speed. It is easy to detect the voltage and current and resolver or encoder is used to measure a rotor speed. But it has a limit as a driving speed to detect speed precisely. So it is problem to improve the performance of the driving system. To solve this problem, it is studied to detect a speed of DC servo motor without sensor. In particular, study on the method to estimate the speed using the observer is performed a lot. In this paper, the gain of the observer is properly set up using the Neuro-Fuzzy control and Neuro-Fuzzy Observer that have a superior transient characteristic and is easy to implement compared the existing method is designed. It calculates the differentiation of the rotor current directly using the rotor current measured in the DC servo motor and estimates the speed of the rotor using the differentiation. Proposed speed sensorless control method is performed using the estimated speed. Also, it is proved feasibility of the proposed observer from the comparison tested a case with a speed sensor and a case without a speed sensor which used a highly efficient drive and 200[w] DC servo motor starting system.

• 전기전자학회논문지
• /
• 제16권3호
• /
• pp.235-243
• /
• 2012

In this study, we developed two legged multi-joint robot by using wireless servo motor that was applied by wireless sensor network technology, which is widely used recently, and performed an experiment of walking method of two legged multi-joint robot. We constructed the star network with servo motors which were used at each joint of two-legged robot. And we designed the robot for operation by transmission of joint control signal from main control system or by transmission of the status of each joint to the main control system, so it operates with continuously checking the status of joints at same time. We developed the humanoid robot by using wireless digital servo motor which is different from existing servo motor control system, and controlled it by transmitting the information of angles and speeds of robot joints to the motor(node) as a feedback through main control system after connecting power and setting up the IDs to each joint. We solved noisy problem generated from wire and wire length to connection point of the control device by construction of the wireless network instead of using existing control method of wiring, and also solved problem of poor real time response to gait motion by controlling the position with continuous transmission of control signals to each joint. And we found that the effective control of robot is able by performing the simulation on walking motion in advance with the developed control algorithm which was downloaded into installed memory. Also we performed the stable walking with two-legged robot by attaching pressure sensor to robot sole. And we examined the robot gait operated by application of calculated algorithm on robot movement to each joint. In this study, we studied the method of controlling robot gait motion by using wireless servo motors and measured the torque applied to each joint, and found that the developed wireless servo motor by ZigBee sensor network offers easier control of two legged robot gait and better circuit configuration of it than the existing wired control system could do.

• 대한전기학회:학술대회논문집
• /
• 대한전기학회 1988년도 추계학술대회 논문집 학회본부
• /
• pp.321-324
• /
• 1988

This paper presents the result of driving performance analysis of PMSM type AC servo motor based on control system using a microprocessor. The experiment using the microprocessor is tested with a 120[v], 200[w] PMSM type AC servo motor. The PWM signal generated in the microprocessor for the servo motor voltage is chapped by power transistor modules to change the AC servo motor speed. The torque of the AC servo motor with a permanent magnet can be easily controlled over a wide range by changing the AC servo motor current.

• 대한전기학회논문지:시스템및제어부문D
• /
• 제53권5호
• /
• pp.338-344
• /
• 2004

This paper presents a sensorless speed control of a DC servo motor using a fuzzy-sliding observer in the presences of load disturbances. A fuzzy-sliding observer is proposed in order to estimate the speed of a motor rotor. First, a sliding observer is used to estimate the derivative of the armature current directly using the armature current mesured in the DC servo motor. Second, the optimal gain of the Luenberger observer is set up using the fuzzy control. Experimental results show the good performance in the DC servo motor system with the proposed fuzzy-sliding observer.