• Proceedings of the KIPE Conference
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• 2001.07a
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• pp.397-400
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• 2001

This paper presents a implementation of digital sensorless position control system of surface permanent-magnet synchronous motor (SPMSM) drive with a direct torque control (DTC). The system are stator flux and torque observer of stator flux feedback control model that inputs are current and voltage sensing of motor terminal with estimated rotor angle for a low speed operating area, two hysteresis band controllers, an optimal switching look-up table, rotor speed estimator, and IGBT voltage source inverter by using fully integrated control software. The developed sensorless control system are shown a good motion control response characteristic results and high performance features using 1.0 (kW) purposed servo drive SPMSM.

• Journal of the Korean Society for Precision Engineering
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• v.22 no.7 s.172
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• pp.102-111
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• 2005

In this paper, we address a position control for a parallel stage, which is levitated and driven by electric magnetic force. This consists of a levitating object (called platen) with 4 permanent magnetic linear synchronous motors in parallel. Each motor generates vertical force for suspension against gravity and propulsion force horizontally as well. This stage can generate six degrees of freedom motion by the vertical and horizontal force. A dynamic equation of the stage system is derived based on Newton-Euler method and it's special Jacobian matrix describing a relation between the limited velocity and Cartesian velocity is done. There are proposed two control methods for positioning which are Cartesian space controller and Actuator space controller. The control performance of the Cartesian space controller is better than the Actuator space controller in task space trajectory while the Actuator space controller is simpler than the Cartesian space controller in controller realization.

• Journal of Institute of Control, Robotics and Systems
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• v.15 no.3
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• pp.306-314
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• 2009

The pelvis platform is the mechanical part which accomplishes the activities of diminishing the disturbances from the lower body and maintaining a balanced posture. When a biped robot walks, a lot of disturbances and irregular vibrations are generated and transmitted to the upper body. As there are some important machines and instruments in the upper body or head such as CPU, controller units, vision system, etc., the upper part should be isolated from disturbances or vibrations to functions properly and finally to improve the biped stability. This platform has 3 rotational degrees of freedom and is able to maintain balanced level by feedback control system. Some sensors are fused for more accurate estimation and the control system which integrates synchronization and active filtering is simulated on the virtual environment.

• Proceedings of the KIEE Conference
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• 2001.07e
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• pp.120-126
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• 2001

This paper presents a solution to control a PMSM(Permanent Magnet Synchronous Motor) without sensor. The control method is the presented superposition principle. This method of sensorless theory is very simple to compute estimated angle. The use of this system yields enhanced operations, fewer system components, lower system costs, efficient energy control system designs and increased efficiencies. A practical solution is described and its results are given in this study. The performance of a sensorless architecture allows an intelligent approach to reduce the complete system costs of digital motion control applications using the cheaper electrical sensorless motors. This paper deals with an overview of solutions in the sensorless PMSM control applications, whereby the focus will be the new sensorless controller and its applications.

• Proceedings of the KIEE Conference
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• 2005.07d
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• pp.2809-2811
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• 2005

In this paper, we address an active vibration control system, which suppresses the vibration engaged by magnetically levitated stage. The stage system consists of a levitating platen with four permanent magnetic linear synchronous motors in parallel. Each motor generates vertical force for suspension against gravity and propulsion force horizontally as well. This stage can generate six degrees of freedom motion via the vertical and horizontal forces. In the stage system, which represents the settling-time critical system, the motion of the platen vibrates mechanically. We designed an active vibration control system for suppressing vibration due to the stage moving. The command feedforward with inertial feedback algorithm is used for solving stage system's critical problems. The components of the active vibration control system are accelerometers for detecting stage tables's vibrations, a digital controller with high precise signal converters, and electromagnetic actuators.

• Proceedings of the KIEE Conference
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• 2002.07b
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• pp.756-760
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• 2002

This study presents a solution to control a Permanent Magnet Synchronous Motor without sensors. The control method is the presented superposition principle. This method of sensorless theory is very simple to compute estimated angle. Therefore computing time to estimate angle is shorter than other sensorless method. The use of this system yields enhanced operations, fewer system components, lower system cost, energy efficient control system design and increased efficiency. A practical solution is described and results are given in this Study. The performance of a Sensorless architecture allows an intelligent approach to reduce the complete system costs of digital motion control applications using cheaper electrical motors without sensors. This paper deals with an overview of sensorless solutions in PMSM control applications whereby the focus will be the new Controller without sensors and its applications.

• Journal of the Korean Institute of Illuminating and Electrical Installation Engineers
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• v.24 no.6
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• pp.75-82
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• 2010

In this paper, we developed a new MSRDS(Microsoft Robotics Developer Studio) simulator for a quadruped pet robot with synchronization of virtual and real robots. By using this simulator, it is possible to reduce time and cost for gait and motion design and it will help for commercialization of service pet robots. In the research point of view, the simulator can be used to examine the model differences between the virtual and the real robots. Since this simulator implements the coordinated control of the virtual and real robots, it can be used as an internet game using two remote pet robots.

• Journal of Institute of Control, Robotics and Systems
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• v.18 no.7
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• pp.627-631
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• 2012

Observable mathematical model of DDM (Direct Dirve Motor) was suggested. The motor that operates the object system directly is called DDM. DDM has many strong points, however, it has a significant disadvantage, that it is more sensitive to the external force than the motor with reduction gear. In other word, if the force is applied, air gap of the motor can be perturbed. This causes not only difficulty in motor control but also even more serious problem, such as the breakdown of motor. However, if the air gap variation can be estimated, it can help prevent these problems. DDM should be modeled to estimate the air gap variation. The type of researched DDM is PMSM (Permanent Magnet Synchronous Motor) and precedent model of PMSM includes only characteristics of electro-magnetic system and rotational motion. However, suggested model should also include characteristics of translational motion of rotor to estimate the air gap variation. Also, this model should satisfy observability condition, because state observer is designed based on this model.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2004.10a
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• pp.894-897
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• 2004

In this paper, we address a position control scheme for a stage system, which is levitated and driven by electric magnetic actuators. This consists of a levitating object (called platen) with 4 permanent magnetic linear synchronous motors in parallel. Each motor generates vertical force for suspension against gravity and propulsion force horizontally as well. This stage can generate six degrees of freedom motion by the vertical and horizontal forces. Dynamic equations of the stage system are derived based on Newton-Euler method and its special Jacobian matrix describing a relation between the Joint velocity and platen velocity is done. There are proposed two control schemes for positioning, which are Cartesian space controller and Joint space controller. The control performance of the Cartesian space controller is better than the Joint space controller in task space trajectory while the Joint space controller is simpler than the Cartesian space controller in controller realization.

• Journal of the Korean Institute of Illuminating and Electrical Installation Engineers
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• v.16 no.2
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• pp.71-80
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• 2002

According to the rapid growth of high speed and precise industry, the application of synchronous motor has been increased. In the application fields, these fast dynamic response is of prime importance. In particular, since the PMLSM(Permanent Magnet Linear Synchronous Motor) has characteristics of high speed, high thrust, it has been used in high-performance servo drive. From these reasons, it is recently used for high precise position control, and machine tool. In this paper, a study of the sliding mode with VSS (Variable Structure System) design for a PMLSM is presented. For fast and precise motion control of PMLSM, the compensation of disturbance and parameter variation is necessary. Hence we eliminate the reaching phase use of VSS that is changed to switching function and vector control using the state observer. And we proposed to sliding mode control algorithm so that realize fast response without overshoot, disturbance and parameter variation.