• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.329-332
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• 1997

This paper deals with the attitude control problem of nonlinear MIMO propeller setup. Multivariable GPC[Generalized Predictive Control] is adopted as the main controller, and it is implemented by TMS320C31 in the current paper. The main object of control is to move the propellers to wanted positions. System identification is performed to configure the system. Performance of the multivariable predictive controller implemented is shown via some experiments, which shows the controller meets the adequate control purpose.

• Speech Sciences
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• v.9 no.3
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• pp.17-24
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• 2002

The goal of this research is the real-time implementation of an AEC (Acoustic Echo Canceller) using the floating-point digital signal processor of TMS320C31. We employ an FIR-type adaptive filter with the conventional NLMS (Normalized Least Mean Square) algorithm for the adaptation of filter coefficients. We program and optimize the system in the assembler level to make it run in real-time. With 8 kHz sampling rate, the implemented AEC requires $46\;\mu$sec and $77\;\mu$sec computational time per sample for 128-and 256-tap filter, respectively. It corresponds to 37% and 62% of maximum computational ability of TMS320C31 DSP.

• Proceedings of the IEEK Conference
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• 2000.06e
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• pp.155-158
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• 2000

In this paper, For operator's conveniency of the mobile robot, achieved the system which control the robot by adopting the speaker independently isolated word recognition and by implementing the real time with TMS320C31. and This paper using the Tri-ultrasonics range finder to detect obstacles and implements the mobile robot. In this paper, DSP processor (TMS320C31) is used signal processing for speech recognition in the real time and Micro processor(80C196KC) is controling the ultrasonics range finders.

• Proceedings of the IEEK Conference
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• 2003.07e
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• pp.2212-2215
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• 2003

In this paper, we proposed speech feature vector extractor for embedded system using TMS 320C31 DSP chip. For this extractor, we used algorithm using cepstrum coefficient based on LPC(Linear Predictive Coding) that is reliable algorithm to be is widely used for speech recognition. This system extract the speech feature vector in real time, so is used the mobile system, such as cellular phones, PDA, electronic note, and so on, implemented speech recognition.

• Proceedings of the KIEE Conference
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• 1998.11b
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• pp.564-566
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• 1998

A robot manipulator is a nonlinear time varying MIMO system. Therefore, when a robot manipulator operates at high speeds, the performance of pursuing its trace becomes worse due to the increased nonlinearity of system. Several nonlinear control methods are introduced for solving this problem. But, these methods need a large amount of calculations, so it is necessary to use the controller equipped with a faster and more efficient processing ability. In this paper, we designed the Rhino XR-3 Robot Controller which controls five joints concurrently. To reduce the size of the controller and to control 6 dc-servo motors in real time, we use the TMS320c31, the high-speed digital signal processor.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 1996.03a
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• pp.79-84
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• 1996

This paper presents a new approach to the design of adaptive control system using DSPs(TMS320C31) for robotic manipulators to achieve trajectory tracking by the joint angles. Digital signal processors are used in implementing real time adaptive control algorithms to provide an enhanced motion control for robotic manipulators. In the proposed control scheme, adaptation laws are derived from the improved Lyapunov second stability analysis method based on the adaptive model reference control theory. The adaptive controller consists of an adaptive feedforward controller, feedback controller, and PID type time-varying auxillary control elements. The proposed adaptive control scheme is simple in structure, fast in computation, and suitable for implementation of real-time control. Moreover, this scheme does not require an accurate dynamic modeling, nor values of manipulator parameters and payload. Performance of the adaptive controller is illustrated by simulation and experimental results for a SCARA robot.

• Proceedings of the KIEE Conference
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• 1996.07b
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• pp.1222-1224
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• 1996

The Hong Ik Direct Drive Arm(HIDDA) is a SCARA typed direct drive manipulator with two degrees-of-freedom(DOF) using the direct drive motor of the NSK company. The direct NSK motors are used to give a large torque directly to the link, to reduce the modeling errors from the gears and chains. But, since the nonlinear coupling torques are transferred to the motor shaft without any reduction, we must consider a dynamic control algorithm. In this paper, we designed a robot controller for the HIDDA using a TMS320C31, which has the highest performance among the third DSP chips in the TI company. And we developed the integrated environment software of the robot management system to give the users an easy way of programming, running and simulation of the robot on the PC.

• The Journal of Korean Institute of Electromagnetic Engineering and Science
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• v.12 no.5
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• pp.817-826
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• 2001

In this paper, we implemented QPSK(Quadrature Phase-Shift Keying) modem which is widely used for communication systems, using a general Digital Signal Processor(DSP), TM320C31. Up to now, almost all of communication systems consist of hardware. However, the implemented system herein is composed of software and hardware part. Software part includes the modulation process, before passing D/A(Digital-to-Analog Converter) and the demodulation process, after passing A/D(Analog-to-Digital Converter) in IF(Intermediate Frequency) node. Hardware part is related to input, output and process of signal. To demonstrate the successful implementation of modem, the output results obtained from DSP processor are compared with the simulated result on the personal computer.

• Journal of the Semiconductor & Display Technology
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• v.3 no.1
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• pp.21-26
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• 2004

Recently with the development of power switching device and DSP which has peripheral devices to control AC servo system, the servo technology has met a new development opportunity. Those things make it possible to reduce the time of developing a AC servo system. Fixed point DSP such as TMS320F240x, and TMS320F28x series have a disadvantage in calculating floating number where TMS320C32 or TMS320C31 are floating point DSP. However they usually become a complex hardware system to implement the AC servo system and it increases the cost. In this study, a DSP based AC servo system with a 3-phase PMSM is proposed. The newly produced DSP TMX320F28l2-version C which has the performance of fast speed, 150MIPS, and a rich peripheral interface such as a 12bit high speed AD converter, QEP(Quadrature Encoder Pulse) circuit, PDPINT(Power Drive Protect Interrupt), SVPWM module and dead time module are used. This paper presents a method to overcome fixed point calculating using scaling all parameters. Also space vector pulse width modulation (SVPWM) using off-set voltage and a digital PI control are implemented to the servo system.

• Journal of the Korean Institute of Illuminating and Electrical Installation Engineers
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• v.21 no.10
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• pp.73-81
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• 2007

To improve the capability of instantaneous torque control, a design method of an MRAC-based adaptive current controller for a PMSM servo motor is proposed. In the synchronous frame current controller, a new control inputs can be obtained through the decoupling compensation. Using this, a desired controller bandwidth can be assigned However, the control performance may be degraded due to disturbances caused by the parameter variations or dead time of the switch. To improve these drawbacks, an adaptive current controller is proposed and the design method is obtained using the hyperstability theory. The asymptotic stability is proved and the effectiveness is verified through simulations and experiments using DSP TMS320C31.