• Proceedings of the KIEE Conference
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• 1995.07a
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• pp.353-356
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• 1995

This paper proposes a simple identification method of the rotor time constant to solve the degradation of motor performance due to the difference between the rotor time constant of a controller and actual one in slip frequency type vector control scheme. The proposed method is based on rotor induced voltage equations and it is confirmed that immunity of the stator resistance thermal variation. The simulation results show that the proposed method suitably identifies the rotor time constant in steady state as well as in transient state.

• Proceedings of the KIEE Conference
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• 1995.07a
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• pp.219-223
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• 1995

This paper deals with the robust control system for parameter variations, fast responses and load torque variations. Frist, fuzzy-sliding adaptive control be used to. Fuzzy-sliding adaptive control is good at fast response. Second, there are many requests for selecting freely the moment of inertia, even though moment of inertia is determined with the materials, structure, shape, and size of the motors. Therefore we developed an inertia-lowering control system that uses torque observer to reduce the moment of inertia. Finally, using torque observer, torque control is done so as to compensate load torque. Consequently, the proposed system verified the superiority through the simulations using MATLAB.

• Proceedings of the KIEE Conference
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• 1995.07a
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• pp.224-226
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• 1995

This paper presents an algorithm that the gain of the slip calculator is correctly adjusted for the variation of the rotor resistance. In the indirect field oriented controller, if the gain (rotor resistance) of the slip calculator is set the incorrect value, the torque and the flux are not properly controlled. Using of the two torque angles (i.e. stationary torque angle and rotating torque angle), we estimate the rotor resistance, and then adjust the gain of the slip calculator for the variation of the rotor resistance. It has been realized to confirm the validity of the proposed algorithm by the simulation results.

• Proceedings of the KIEE Conference
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• 2004.05a
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• pp.77-79
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• 2004

Because robot hardware architecture generally is consisted of a few sensors and motors connected to the central processing unit, this type of structure is led to time consuming and unreliable system. For analysis, one of the fundamental difficulties in real-time system is how to be bounded the time behavior of the system. When a distributed control network controls the robot, with a central computing hub that sets the goals for the robot, processes the sensor information and provides coordination targets for the joints. If the distributed system supposed to be connected to a control network, the joints have their own control processors that act in groups to maintain global stability, while also operating individually to provide local motor control. We try to analyze the architecture of network-based humanoid robot's leg part and deal with its application using the CAN(Controller Area Network) protocol.

• Proceedings of the KIEE Conference
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• 2003.11c
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• pp.596-599
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• 2003

In this paper, we designed the digital pulse motor control chip including a circular interpolation function. The proposed algorithm in this paper is a nonparametric cure generation algorithm (Jordan's algorith) and a very simple algorithm. So the design for this algorithm used a small number of gates. Also an average error is fairly low. The max output speed is 4Mpps(Pulse per second), the max input frequency is 16MHz and the chip is useful for the stepping and servo motors. The software contains one or two, and many axes linear interpolation algorithm and two axes circular interpolation algorithm.

• Tribology and Lubricants
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• v.21 no.3
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• pp.142-148
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• 2005

In order to improve the fuel economy by design change of automatic transmission, various technologies such as increased shift stages, slip control of lock-up clutch and compact and low-weight design have been developed. And also many OEMs have developed their own ATFs as a part of these automatic transmissions. In this study, to investigate the effects of ATF characteristics on fuel economy, we got the worldwide OEM ATFs and made some reference fluids. And physical properties, frictional characteristics and fuel economy using dynamometer test for these fluids were evaluated. From the investigation, it was found that viscosities of ATFs are correlated with fuel economy in dynamometer test and reducing the viscosities made it possible to obtain fuel economy.

• Proceedings of the Korean Society of Tribologists and Lubrication Engineers Conference
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• 2001.06a
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• pp.265-270
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• 2001

Hip joint simulator which Is an essential device for evaluating the wear of biomaterials (ultrahigh molecular weight polyethylene, Co-Cr alloy, alumina, etc.) used in total hip joint replacement was developed. This hip joint simulator mimics the joint motion and joint loading of human gait by adapting the 4 degree of freedom in kinematic motion (flexing/extension, adduction/abduction, Internal rotation/external rotation) and axial loading, Four stations are operated by 8 servo-motors and harmony drives. Joint leading was imposed by displacement control from a ball screw, LM guide, and spring system. Each kinematic link system operates separately or coupled modes. A heater and a thermocouple were installed for keeping the body temperature in each station.

• Tribology and Lubricants
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• v.25 no.1
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• pp.31-37
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• 2009

상용화 마찰재를 사용하여 고온 열화에 대한 원료들의 영향을 연구하였다. 제한된 영역에서의 실험계획법에 의해 25개의 마찰재가 제작되었으며, 축소 마찰 시험기로 마찰, 마모특성을 조사하였다. 아라미드 섬유, 흑연, 구리섬유는 열화에 대한 저항성을 향상시켰으며, 반면 삼황화 안티몬, 지르콘은 열화현상을 가속시키는 것으로 나타났다. 이러한 결과는 각 원료들이 계면에 미치는 영향이 각기 다르기 때문으로 사료된다. 아라미드 섬유, 흑연, 구리섬유등은 계면을 안정화 시켰으며, 삼황화 안티몬, 지르콘등은 고온에서 불안정한 계면을 형성시키는 것으로 나타났다.

• Journal of the Korean Society for Precision Engineering
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• v.22 no.6 s.171
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• pp.98-108
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• 2005

Conventional robot manipulators actuated by motors with the speed reducer such as the harmonic drive have weakness in the load capacity, since the speed reducer does not have enough strength. To improve this, a new type of robot actuator based on the four-bar-link mechanism driven by the ball screw was constructed. Also, a new type of revolute robot manipulator composed of the developed actuators was developed. But, modelling errors occur due to the off-set from the nominal model since the exact modeling of the complex inertia variation of the four-bar-link actuator is very difficult. To control the proposed robot along the prescribed trajectory, a sliding mode control algorithm was applied with compensation function for the modeling errors. To show performance of the proposed controller, a computer simulation was performed, and its results was presented.

• Journal of the Korean Society for Precision Engineering
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• v.16 no.9
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• pp.166-171
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• 1999

An overhead crane system consists of trolley, girder, rope, object, trolley motor, girder motor, and hoist motor. An analytic model which derived from the modelling of the overhead crane system is nonlinear model which includes the swing and the twist angle of the object. this model consists of the equation of motion for motors and object. If the swing angle and the acceleration of Z for the object are small, this model becomes a simple nonlinear model which doesn't include the swing and the twist angle of the object. From the results of computer simulation, the characteristics of an actual overhead crane system could be predicted by the simple nonlinear model.