• Journal of the Korean Society of Industry Convergence
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• v.18 no.1
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• pp.53-60
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• 2015

For high-accuracy position control of a linear motor, it has been proposed a nonlinear controller including a synchronization algorithm. Linear motors are easily affected by force ripple, friction, and parameter variations because there is no mechanical transmission to reduce the effects of model uncertainties and external disturbances. Synchronization error is also caused by skew motion, model uncertainties, and force disturbance on each axis. Nonlinear effects such as friction and ripple force are estimated and compensated for. The synchronization algorithm is used to reduce the synchronous error of the two side pillars. The performance of the controller is evaluated by computer simulations.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.2575-2580
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• 2005

In this paper, we address two position control scheme; the lead-lag control and the sliding mode control 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 simply. The sliding mode control algorithm is more effective than the lead-lag control algorithm to reduce effects from movements and disturbances of other axis.

• Proceedings of the IEEK Conference
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• 2000.06e
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• pp.159-162
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• 2000

This paper addresses the design and implementation problem of the mobile robot with the synchronous driving mechanism that consists of modular control systems based on the Universal Serial Bus (USB). Recently, the USB have attracted the hardware developers'interests due to its low cost, compatibility, and extenability. In particular, the USB enables us to organize the whole system in the modular manner very easily, and this property plays a very important role in shortening the developing time in implementing the target system, for example, the mobile robot system. In this paper, we implement the USB motion controller and the USB ultrasonic sensor system and verified the validity and the effectiveness of the proposed system through the real experiments including the mobile robot navigation and the environment recognition.

• Journal of Institute of Control, Robotics and Systems
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• v.8 no.1
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• pp.5-14
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• 2002

This study presents a solution to control a Permanent Magnet Synchronous Motor without sensors based on the superposition principle. Because the proposed method of sensorless theory is very simple to compute the estimated angle, computing time to estimate the 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. The performance of a sensorless architecture allows an intelligent approach to reduce the complete system costs of the 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 on the new controller without sensors and its applications.

• Earthquakes and Structures
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• v.24 no.1
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• pp.1-9
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• 2023

A model for calculating structure interacted mechanics is proposed. A structural interaction model and controller design based on tuned mass damping (TMD) was developed to control the induced vibration. A key point is to introduce a new analytical model to evaluate the properties of the TMD that recognizes the motion-dependent nonlinear response observed in the simulations. Aiming at the problem of increased current harmonics and low efficiency of permanent magnet synchronous motors for electric vehicles due to dead time effect, a dead time compensation method based on neural network filter and current polarity detection is proposed. Firstly, the DC components and the higher harmonic components of the motor currents are obtained by virtue of what the neural network filters and the extracted harmonic currents are adjusted to the required compensation voltages by virtue of what the neural network filters. Then, the extracted DC components are used for current polarity dead time compensation control to avert the false compensation when currents approach zero. The neural network filter method extracts the required compensation voltages from the speed component and the current polarity detection compensation method obtains the required compensation voltages by discriminating the current polarity. The combination of the two methods can more precisely compensate the dead time effect of the control system to improve the control performance. Furthermore, based on the relaxed method, the intelligent approach of stability criterion can be regulated appropriately and the artificial TMD was found to be effective in reducing cross-wind vibrations.

• Journal of Astronomy and Space Sciences
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• v.8 no.1
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• pp.85-98
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• 1991

Geomagnetism was used to control the attitude of the small scientific satellite at low altitude in sun-synchronous orbit. First, we analyzed the telemetry data. The rotation state of the satellite, can be known from the magnitude and variations of the magnetic field which is measured from the 3 axis magnetometer. In axisymmetric case, it is possible to control the attitude of the satellite by changing the rotation velocity of each 3 axis. The algorithm and the program were developed to calculate the supply time of the current operating the magnetorquer. This attitude control can be applied when the satellite is in tumbling motion and after passive control is attained by the Gravity gradient boom.

• Journal of Drive and Control
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• v.13 no.2
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• pp.1-9
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• 2016

In this paper, an elementary force fighting problem was investigated. The problem is encountered when a double-rod type EHA(electro-hydrostatic actuator) is combined with a single-rod type EHA to build a redundant actuator system with synchronized motion. When the rod-side chambers of the two different types of EHAs have the same effective piston areas and are simultaneously pressurized by an external load, the two EHAs behave identically, sharing the external load equally. However, when the piston head-side chamber of the single rod type EHA, having a larger effective area than the rod-side chamber, is pressurized by the external load, an abnormal force fighting between the two EHAs occurs, unless their pump speeds are properly decoupled. In this study, the output drive forces of each EHA were obtained from the cylinder pressure signals and applied to the position control for each EHA to maintain the balance between their pump speeds. Adding minor force difference feedback loops to the position control, the force fighting phenomena could be eliminated and steady state synchronization errors were reduced. The power consumption of the pumps also could be remarkably reduced, avoiding unnecessarily high load pressures to the pumps.

• Proceedings of the KIEE Conference
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• 2011.07a
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• pp.848-849
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• 2011

Rotating machines are using gears to change the rotary motion into the linear motion, on the other hand, linear motors have a accurate position control and excellent dynamic characteristics because of generating a thrust force directly. But the important problem, one of the linear motor is a high thrust force ripple. Thrust force ripple has a bad effect on the position accuracy and the dynamic characteristics, so it is necessary to reduce the thrust force ripple. Cogging is one of the cause that affect thrust force ripple. Cogging has some connection with the GCD between pole pitch and teeth pitch It is proposed method to reduce a thrust ripple of the linear motor that chamfering, skew, and so on. In this paper, the module phase set shift(MPSS) is used to reduce a thrust force ripple that has a similar effect to skew. And propose a method that reduce a thrust force ripple more by use of chamfering.

• Journal of the Korean Society for Precision Engineering
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• v.16 no.11
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• pp.197-203
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• 1999

Increasing demands on precision machining have necessitated the tool to move not only position error as small as possible, but also with smoothly varying feedrates. Because of the lack of accurate and efficient algorithms for generation of 3-dimensional lines and circles, a full accomlishment for available machine tool resolution is generally unavailable. In this paper, a reference-pulse type 3-axis PC_NC milling system is developed for the precision machining of complex shapes in 3-dimensional space. Three AC servomotors are used as the actuator instead of the hand wheel to operate a 3-axis milling machine under the same mechanical structure. A PC is used to handle the control signal calculation for various types of motion command. To achieve the synchronous 3-axis motion, a real-time reference-pulse 3-dimensional linear and circular interpolator based on the intersection criteria is developed in software. The performance test via computer simulation and actual machining have shown that the PC-NC milling system is useful for the machining of arbitrary lines and circles in 3-dimensional space.

• Proceedings of the KIEE Conference
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• 2009.07a
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• pp.1640_1641
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• 2009

Dynamic friction and force ripple are the most predominant factors that affect the positioning accuracy of permanent magnet synchronous motor(PMSM) servo drives system, and it is desirable to compensate them in finite time with a continuous control law. In this paper, based on LuGre dynamic friction model, a robust adaptive skidding mode controller is proposed to compensate the nonlinear effect of friction and force ripple. The controller scheme consists of a PD component and a robust adaptive sliding mode controller for estimating the unknown system parameter. Using Lyapunov stability theorem, asymptotic stability analysis and position tracking performance are guaranteed. Simulation results well verify the feasibility and the effectiveness of the proposed scheme for high0precision motion trajectory tracking.