• 전자공학회논문지SC
• /
• 제49권4호
• /
• pp.69-77
• /
• 2012

본 논문에서는 스텝모터(step motor)에 대한 PLL(phase locked loop) 타입의 위치제어 방법을 제안한다. 제안된 제어 방법은 기존의 개루프(open loop) 위치제어 방법의 주요 문제점인 급 가, 감속 시의 탈조 현상을 발생시키지 않으며 정지마찰력 때문에 발생되는 정상상태 위치오차를 완전히 없애준다. 또한 고속에서 더 큰 토크를 발생하여 구동 가능한 속도제어 범위가 더 크며 진동과 소음도 줄여준다. 제안된 제어기의 성능을 확인하기 위해 시뮬링크(Simulink)를 이용하여 스텝모터에 대해 시뮬레이션 한 결과를 제시한다.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 2003년도 ICCAS
• /
• pp.2072-2077
• /
• 2003

Animal-like robots are serving an important role as a linkage between biology and engineering. So, in this paper, we aim to develop a biomimetic microrobot that mimics the locomotion mechanism of a gastropod. This microrobot has 3 DOF (x, y translation and rotation), and has small size, unlimited traveling range, high resolution and low cost. Its movement can be made using propagation wave that is generated by the controllable sinusoidal voltage source and piezoelectric effects. This soft motion that can be generated by propagation wave and piezoelectric mechanism would be useful for the motion on the slippery surface. So we modeled the propagation wave mechanism including piezoelectric effect and friction on the contact surface, and could know the velocity of the microrobot is dependent on the driving frequency, input voltage peak, propagation wavelength and surface friction coefficient. With these results we design the microrobot, and accomplish its fabrication and experimentation. The development of this microrobot shall be aimed to design an autonomous moving actuator like animal. Also it can be used from micromanipulation system technology to biology and medicine.