• 한국자동차공학회논문집
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• 제19권1호
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• pp.17-24
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• 2011

TMED(Transmission Mounted Electric Device) parallel hybrid configuration can realize EV(Electric Vehicle) mode by disengaging the clutch between an engine and a transmission-mounted motor to improve efficiencies of low load driving and regenerative braking. In the EV mode, however, jerk can be induced since there are insufficient damping elements in the drive-train. Though the jerk gives demoralizing influence upon driving comport, adding a physical damper is not applicable due to constraints of the layout. This study suggests the jerk reduction control, composed of active damping method and torque profiling method, to suppress the jerk without hardware modification. The former method creates a virtual damper by generating absorbing torque in the opposite direction of the oscillation. The latter method reduces impulse on the mated gear teeth of the drive-train by limiting the gradient of traction torque when the direction of the torque is reversed. To validate the effectiveness of the suggested strategy, a series of vehicle tests are carried out and it is observed that the amplitude of the oscillation can be reduced by up to 83%.

• 전력전자학회논문지
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• 제14권4호
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• pp.268-277
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• 2009

본 논문은 DTC-PWM을 적용한 PMSM의 속도제어 방식을 제안한다. 제안된 DTC-PWM은 기존의 DTC 방식과 PWM을 결합한 방식으로 스위칭 신호를 발생하는 구조를 가진다. 제안된 방식에서 실제 토크는 기존의 DTC 방식과 같이 추종되지만, 스위칭 신호는 토크 오차와 제어규칙에 따라 PWM 방식으로 제어한다. 토크와 자속을 제어하기 위한 스위칭 신호는 하나의 유효전압벡터와 영전압벡터로 구성되는 비대칭 스위칭 방식이 적용된다. 제안된 방식은 SVPWM과 같이 복잡한 계산없이 간단한 PWM의 연산으로 제어기를 구성하여 토크와 자속을 연속적으로 제어할 수 있다. 제안된 방식은 PMSM의 속도 제어 실험을 통하여 그 성능을 검증하였다.

• 전기학회논문지
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• 제59권10호
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• pp.1797-1802
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• 2010

This paper proposes a new fuzzy speed controller based on the Takagi-Sugeno fuzzy method to achieve a robust speed control of a permanent magnet synchronous motor(PMSM). The proposed controller requires the information of the load torque, so the second-order load torque observer is used to estimate it. The LMI condition is derived for the existence of the proposed fuzzy speed controller, and the LMI parameterization to calculate the gain matrices of the controller is provided. It is proven that the augmented control system including the fuzzy speed controller and the load torque observer is exponentially stable. To evaluate the performance of the proposed fuzzy speed controller, the simulation and experimental results are presented under motor parameter and load torque variations. Finally, it is clearly verified that the proposed control method can be used to accurately control the speed of a permanent magnet synchronous motor.

• Transactions on Control, Automation and Systems Engineering
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• 제4권4호
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• pp.347-355
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• 2002

Obstacle avoidance of underactuated robot manipulators using switching computed torque method (SCTM) is presented. One fundamental feature of this novel method is to use partly stable controllers (PSCs) in order to fulfill the ultimate control objective. Here, we use genetic algorithms (GAs) to acquire the optimum switching sequence of the control actions for a given time frame with the available set of elemental controllers, depending on which links/variables are controlled. The effectiveness of the concept is illustrated by taking a three-degrees-of-freedom (DOF) manipulator and showing enhanced performance of the proposed control methodology.

• 전력전자학회논문지
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• 제9권3호
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• pp.240-245
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• 2004

본 연구에서는 SRM의 최대 토크 운전을 위한 자기동조 제어방법을 연구하였다. SRM은 비선형적인 특성이 강하여 해석적인 방법으로 특성을 고찰하거나 속도 및 토크 제어가 어려운 단점이 있다. 따라서 본 논문에서는 최대 토크 운전을 위한 적절한 턴-온/오프각 제어를 자기동조방식(self-tuning method)에 의해 결정하는 방식을 제안하였다. 그리고 턴-온/오프각을 제어하기 위해 귀환되는 신호는 각각 엔코더 펄스수와 상전류의 증분값을 사용하였으며, 운전 중에 스스로 적절한 턴-오프각을 먼저 추종하고 다음으로 턴-온각을 추종하게 된다. 턴-온/오프각은 서로 종속적인 관계에 있으므로 최대 토크 값을 유지하기 위한 턴-온/오프각을 실시간 자기동조방식으로 제어하였으며, 실험을 통해 제안된 방식이 타당함을 확인하였다.

• Journal of Power Electronics
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• 제5권1호
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• pp.36-44
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• 2005

This paper presents an implementation of high performance control of a reluctance synchronous motor (RSM) using a neural network with a direct torque control. The equivalent circuit in a RSM, which considers iron losses, is theoretically analyzed. Also, the optimal current ratio between torque current and exiting current is analytically derived. In the case of a RSM, unlike an induction motor, torque dynamics can only be maintained by controlling the flux level because torque is directly proportional to the stator current. The neural network is used to efficiently drive the RSM. The TMS320C3l is employed as a control driver to implement complex control algorithms. The experimental results are presented to validate the applicability of the proposed method. The developed control system shows high efficiency and good dynamic response features for a 1.0 [kW] RSM having a 2.57 ratio of d/q.

• Journal of Electrical Engineering and Technology
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• 제10권1호
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• pp.251-260
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• 2015

The main purpose of this paper is to describe a DTC (direct torque control) method for four-switch brushless dc motor (BLDCM) drive. In the method, a novel voltage space vector modulation scheme, an optimal switching table, and a flux observation method are proposed. Eight voltage vectors are summarized, which are selected to control BLDCM in SVPWM pattern, and an optimal switching table is proposed to improve the torque distortion caused by midpoint current of the split capacitors. Unlike conventional flux observers, this observer does not require speed adaptation and is not susceptible to speed estimation errors, especially, at low speed. Global asymptotic stability of the flux observer is guaranteed by the Lyapunov stability analysis. DC-offset effects are mitigated by introducing a PI component in the observer gains. This method alleviates the undesired current and torque distortion which is caused by uncontrollable phase. The correctness and feasibility of the method are proved by simulation and experimental results.

• Journal of Power Electronics
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• 제19권4호
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• pp.956-967
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• 2019

This paper introduces a virtual signal injected maximum torque per ampere (MTPA) control strategy for direct-torque-controlled five-phase interior permanent magnet synchronous motor (IPMSM) drives. The key of the proposed method is that a high frequency signal is injected virtually into the stator flux linkage. Then the responding stator current is calculated and regulated to compensate the amplitude of the flux linkage. This is done according to the relationship between the stator current and the stator flux linkage. Since the proposed method does not inject any real signals into the motor, it does not cause any of the problems associated with high-frequency signals, such as additional copper loss and extra torque ripple. Simulation and experimental results are offered to verify the effectiveness of the proposed method.

• Journal of Advanced Marine Engineering and Technology
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• 제21권2호
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• pp.186-194
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• 1997

In this thesis, a new speed control algorithm based on the load torque observer theory is pro¬posed for the high performance speed control of a voltage source inverter to drive a 3 - phase induction motor. The proposed system becomes robust against disturbances using a feed -- for¬ward control of the load torque estimated at load torque observer. Computer simulation and experimental works using the proposed control confirm that transient response for the varia¬tion ofload torque becomes improved, compared with the conventional PI control method.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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• pp.339-342
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• 1996

In this paper, the method for controlling PUMA robot using F/T sensor is described. In the part of the setup automation, robot is used. The F/T sensor is located at robot end-effector and various experiments are executed such as peg in hole, gripping objects, tool changing, etc.