• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.85.1-85
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• 2001

A phase lock loop (PLL) circuit is a wellknown electronic circuit in communication engineering and other areas. In this paper, we present application of the PLL and fuzzy logic for DC motor control which are mixed well to be more effective for motor control. With this scheme, the control system can reach the set point rapidly, especially, it can eliminate noises. In addition, the PLL makes the system to have more stability; whereas, fuzzy logic controls helping PLL to be able to lock rapidly for a good response. The experiment result shows that the proposed control system works more efficacious. By performance comparison between the pure PLL control and the hybrid architecture of PLL with the fuzzy control, the result reveals the hybrid control ...

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.139.4-139
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• 2001

The thesis propose the sensorless vector control method that estimates the rotor speed using stator current. The estimated speed is used as feedback in a vector control system. The conventional MRAS structure has a problem the error output is decreasing as estimated speed error is increasing and the estimation performance is not robust when mutual inductance has been changed. In the proposed method, error output is proportional to estimated speed error. The described technique is less complex, robust to variations of mutual inductance. This new method can achieve much wider bandwidth speed control than that of the conventional MRAS structure.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.171.1-171
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• 2001

This paper describes the design and implementation of a new type of a force reflective joystick. It has single degree of freedom that is actuated by motor and brake pair. The use of motor and brake allows various objects to be simulated without the stability problem and related safety issues involved with high torque motors only. The joystick performance is measured by its ability to simulate various test objects. Simple test objects are modeled as a benchmark test of the system´s performance and to evaluate different control approaches for hybrid motor/brake actuator. The force output joystick is capable of simulating forces in a variety of virtual environments. This device demonstrates the effectiveness of a hybrid motor/brake haptic actuator.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.156.5-156
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• 2001

Stabilized tracking platform in a missile consisting of a flat planar antenna, pitch/yaw gimbals, gear trains, and current controlled DC drive motors for pitch and yaw gimbal must have a capability to track a target as an inertial sensor in the presence of missile body motion such as maneuvering and vibration. Because of this reason, tracking a target from dynamic platform requires a servo architecture that includes a outer tracking loop(position loop) and inner rate loop that stabilizes the line of sight(LOS). This paper presents a gimbaled platform model including nonlinear phenomena due to viscous and Coulomb friction based on experimental data and torque equilibrium equation, the design concept for the inner tacholoop having P controller structure ...

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.137.2-137
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• 2001

We have been developed an intelligent mobile robot with an artificial olfactory function to recognize odours and to track odour source location. This mobile robot also has been installed an engine for speech recognition and synthesis, and is controlled by wireless communication. An artificial olfactory system based on array of 7 gas sensors has been installed in the mobile robot for odour recognition, and 11 gas sensors also are located in the bottom of robot to track odour sources. 3 optical sensors are also included in the intelligent mobile robot, which is driven by 2 D.C. motors, for clash avoidance in a way of direction toward an odour source. Throughout the experimental trails, it is confirmed that the intelligent mobile robot is capable of not only the odour recognition using artificial neural network algorithm, but also the tracking odour source using the step-by-step approach method ...

• 제어로봇시스템학회:학술대회논문집
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• 2002.10a
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• pp.68.2-68
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• 2002

The purpose of this paper is to monitor ECU's self-diagnostic signal without wire. In order to measure the ECU's self-diagnostic signal, the interfaced circuit is developed to communicate ECU with a designed display terminal according to the ISO, SAE regulation of communication protocol standard. An 80C196KC processor is used for communicating ECU's self-diagnostic signal and communication data are sent to PDA monitoring system that is based on the Windows CE. Software on PDA is developed to monitor the ECU's self-diagnostic signal in which RS232 port is programmed by half duplex method. The algorithms for measuring the ECU's self-diagnostic signals are verified to mo...

• Journal of Institute of Control, Robotics and Systems
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• v.10 no.4
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• pp.377-384
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• 2004

Nowadays, control systems consist of smart sensors, smart actuators, and controllers connected via fieldbus. Some devices such as motors in plant environments generate high degrees of EMI or noise. This noise may cause communication errors and make the successful transmission of data longer. Therefore, the noise condition has to be considered at the design of a reliable control system based on a network. This paper presents a scheduling method of task and message to guarantee the given end-to-end constraints under noise environments. A noise model with multi-sources of noise is used, and the analysis method of message's response time is presented when the noise model is applied to CAN (Controller Area Network). Two kinds of noise models are applied to an example system, and the effect to each control loop s end-to-end response time is analyzed. We believe that the proposed method help system designers design the control system guaranteeing its requirements under noise environment.

• Journal of Institute of Control, Robotics and Systems
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• v.6 no.10
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• pp.888-893
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• 2000

This paper deals with the development of an automatic design software for DC servo motor control, which provides good performance with rapid response and velocity control accuracy. In the proposed method, the design is automatically executed using Matlab, and iterative learning control algorithms are used in the design process. We applied this method to 50W, 100W, 200W, 300W, 500W, 750W, 1.8kW and 4.5kW DC servo motors which are widely used in the industry. We compare the results of the manual tuning design method with that of the automatic design method presented in this paper. From the experimental results, we can find that the performance of the proposed method is better than that of the manual tuning design method.

• 제어로봇시스템학회:학술대회논문집
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• 2002.10a
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• pp.105.6-105
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• 2002

Contents 1We developed a new type of lower part of the human-sized BWR (biped walking robot) driven by a new actuator based on the ball screw which has high strength and high gear ratio. Each leg of the robot is composed of three pitch Joints and one roll joint. In all, a 8 degree-of-freedom robot was developed. A new type of actuator for the robot is proposed, which is composed of four bar link mechanism driven by the ball screw. The BWR was designed to walk autonomously by adapting small DC motors for the robot actuators and has an embeded controller system including host computer, batteries and motor drivers. In the performance test, we had basic stable walking data so far, but we f...

• 제어로봇시스템학회:학술대회논문집
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• 1991.10a
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• pp.504-510
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• 1991

SAMSUNG Electronics has developed a SCAR.A robot system, SM3, which is applicable to several assembly, inspection, and adjustment tasks. This robot system drives by AC servo motors has attained a .theta.1 and .theta.2 axis maximum composite speed of 5.4 m/sec, a repeatability of .+-.05 mm, and a cycle time of 1.2 sea. The robot controller based on three 8086 and one 8087 processors consists of the main controller, the joint position controller, and the motor controller. The robot controller has plentiful self-diagnosis and control capabilities, and can be interfaced to other external device. The robot language FARAL Is designed such that every task is easily programmed. In this paper, the main features of the body, controller, and FARAL of SM3 will be described. In particular, the control method designed for a stable and fast robot motion will be explained. Finally, the future development will be addressed.