• Proceedings of the Korean Society of Precision Engineering Conference
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• 2013.05a
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• pp.813-814
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• 2013

• Journal of IKEEE
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• v.16 no.3
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• pp.235-243
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• 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.

• Journal of Power Electronics
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• v.4 no.4
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• pp.228-236
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• 2004

This paper describes the optimal current-control of a permanent magnet synchronous motor by the use of robust and simple current controllers, based upon the analytical procedure known as the inverse LQ (ILQ) design method. The ILQ design method is a strategy for finding the optimal gains based on pole assignment without solving the Riccati equation. It is very important to keep the motor in robust servo-lock. By experiments and simulations, we will show that the ILQ optimal servo-system with servo-lock is more insensitive at low speeds to variations in armature inductance than the standard PI servo-system. Variations in armature inductance have the greatest influence on the responses of a servo-system.

• Journal of the Korean Society for Precision Engineering
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• v.16 no.3 s.96
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• pp.154-163
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• 1999

In this paper, an ultra precision positioning system has been developed using dual servo loop control. For positioning system having long distance with ultra precision , the combination of global stage and micro stage was required. A servo motor based ball screw is used as a global stage and the piezo actuator as a micro stage. For the improvement of positional precision, the digital Chebyshev filter is implemented in the developed to dual servo system. Therefore, the positional repeatability has been achieved within ${\pm}$ 10 mm, and this technique can be applied to develop precision semiconductor equipments such as lithography steppers and probers.

• IEMEK Journal of Embedded Systems and Applications
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• v.18 no.5
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• pp.209-215
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• 2023

This study proposes an AC servo motor control program structure and its implementation method to efficiently integrate 13 types of additional compensation algorithms into the basic FOC (field-oriented control) algorithm program. Various compensation algorithms are necessary to enhance the stability and performance of machine tools by compensating for interference from disturbances and vibrations. Each compensation algorithm is implemented as a separate, independent function and called from a switch-case statement in the ISR (interrupt service routine) of the PWM (pulse-width modulation) device. The advantages of this approach include facilitating not only debugging and testing but also reducing the possibility of errors during the program development phase. Thus, it is easy to add and activate each specific compensation algorithm for the program update during the program operation phase. The implemented motor control program was experimented with a single-axis feed shaft testbed driven by a commercial AC servo motor control drive board and a 750 Watts SPMSM (surface-mounted permanent magnet synchronous motor), and the results verified its normal operation and performance improvement.

• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 2004.04a
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• pp.153-156
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• 2004

This Paper deals with speed control of DC servo motor using a Fuzzy-Sliding observer. Speed sensor detect a speed of rotor continuously. But It have a limit as a driving speed to detect speed precisely. So it is problem to improve the performance of the driving system To solve the problem, it is studied to detect a speed of DC motor without sensor In particular, study on the method to estimate the speed using the observer is performed a lot. In this parer, the gain of the observer is properly set up using the fuzzy control and sliding observer that have a superior transient characteristic and is easy to implement compared the exist ing method is designed. It estimate the derivative of the armature current directly using the armature current measured in the DC motor. It estimate the speed of the rotor using the differentiation. It is Proposed speed sensor less control method using the estimated speed. Optimal gain of Luenberger observer is set up using the fuzzy control and adapted speed control of DC servo motor. It is proved excellence and feasibility of the presented 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 200W DC servo motor start ing system.

• The Transactions of the Korean Institute of Electrical Engineers P
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• v.57 no.3
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• pp.244-249
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• 2008

This paper deals with speed control of DC servo motor using a Fuzzy tuning observer. Speed sensor detect a speed of rotor continuously. But it have a limit as a driving speed to detect speed precisely. So it is problem to improve the performance of the driving system. To solve the problem, it is studied to detect a speed of DC motor without sensor. In particular, study on the method to estimate the speed using the observer is performed a lot. In this parer, the gain of the observer is properly set up using the fuzzy observer. The fuzzy observer has a superior transient characteristic and is easy to implement compared the existing method is designed. It estimate the derivative of the armature current directly using the armature current measured in the DC motor. It estimate the speed of the rotor using the differentiation. It is proposed speed sensorless control method using the estimated speed. Optimal gain of Luenberger observer is set up using the fuzzy observer and adapted speed control of DC servo motor low speed operation. It is proved excellence and feasibility of the presented 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 200W DC servo motor starting system.

• Proceedings of the KIEE Conference
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• 2005.07d
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• pp.2747-2749
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• 2005

This paper presents an intelligent control system for an ac servo motor dirve to track periodic commands using a neural network. AC servo motor drive system is rather similar to a linear system. However, the uncertainties, such as machanical parametric variation, external disturbance, uncertainty due to nonideal in transient state. therefore an intelligent control system that isan on-line trained neural network controller with adaptive learning rates.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.29 no.2 s.233
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• pp.311-317
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• 2005

NC controller parameters are fixed when the controller is combined with a machine. However, the characteristics of controller could be changed as it has being used by the machine or other environmental conditions. Ultimately, it results in tool positioning accuracy changing. The loading torque in servo motor also influences on the positioning accuracy. This study focus on a measuring and analysing method for verifying the angular positioning accuracy of NC servo motor. We used a high resolution A/D converter for acquiring analogue signal of rotary encoder in servo motor. Generating tool path by the combination of axial movements (X,Y,Z) is compared with the encoder signals with the servo motor torque. The current variation signal is also read from the servo motor power using a hall sensor and converted to the motor torque. The method of analysing proposed in this study will be used for determining the gains (tuning) of parameter in NC controller, when the controller is set up at a machine initially or the controller condition is changed during the work.

• Journal of Advanced Marine Engineering and Technology
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• v.17 no.3
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• pp.60-69
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• 1993

The speed control associated with dc servo motors for direct-drive applications of mobile robot is considered in this study. Robot is moved by power wheeled steering of two dc servo motors mounted to it. In order to cooperate with micro-computer and to achieve the high-performance operation of dc servo motor, speed control system is composed of a digital Phase Locked Loop and H-type drive circuit. And the motor is driven by Pulse Width Modulations. In controlling PWM, it is modified to compose of H-type drive circuit with feedback diodes and switching transistor and design of control sequence so that it may show linear characteristics. As a result, speed characteristics of motor showed linear features. In order to get data on design of PLL control system, the parameters of 80[W[ motor & robot device is measured by simple software control. The PLL speed control system is schemed and designed by leaner drive circuit and measured parameters. A complete speed control system applied to 80[W] dc servo motor showed good linearity, stability and high response. Also, it is verified that the PLL speed control system has good compatibility as a mobile robot driver.