• Proceedings of the KSR Conference
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• 2011.10a
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• pp.3079-3085
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• 2011

Through Korean Urban Maglev Program started in 2006, an urban maglev train was developed and the demonstration line is under construction as of now in 2011. The target speed of the developed maglev train is 110km/h, and the core technologies for super speed maglev trains over 500km/h are being studied. The propulsion and levitation systems of the super speed maglev train under consideration consist of linear synchronous motors (LSM) and levitation electromagnets which also act as a mover of LSM. In addition, guidance electromagnets are used to ensure stable running on curved tracks during super speed operation. The levitation and guidance control is focused on in this paper. For experimental purpose, a small maglev train is being manufactured, and its levitation and guidance controller is studied. The main task of the controller is to maintain the gap between the corresponding electromagnet and the guideway constantly. In general, measurements of the gap, acceleration and current and so on are utilized, and the gap control is implemented independently for each electromagnet. In this paper, the levitation and guidance system is modelled considering mechanical interactions, and the levitation and guidance controller is proposed based on this model. The developed controller is verified by various simulations using MATLAB/Simulink.

• Proceedings of the KSR Conference
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• 2011.10a
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• pp.2365-2372
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• 2011

The Cogging Torgue is non-uniform torgue in motor which causes noise and vibration to synchronous motors such as BLDC motor, and regardless of load current, is generated by the interaction between permanent magnet rotor and stator slot which is the force of tangential direction that tends to move into the position where the magnetic energy of motor system is minimal. such Cogging Torgue shall be considered in design stage since it is the main factor of motor's noise and vibration. Understanding that Cogging Torgue is generated by the interaction between relatively low stage harmonic flux density gab of permanent magnet rotor and steel slot of stator. This study proposes the method if reducing Cogging Torgue using response surface method which is a kind of design if experiment.

• Proceedings of the KSR Conference
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• 2011.10a
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• pp.1832-1837
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• 2011

This paper presents the optimal permanent magnet shape on the rotor of an interior permanent magnet motor to reduce the core losses and improve the performance. As permanent magnet has conductivity inherently, it causes huge amount of eddy current losses by the slot harmonics with concentrated winding. This loss is roughly 100 times larger than that of distributed winding in high speed operation and it cannot be ignored, especially on traction motors. Each eddy current loss on permanent magnet has been investigated in detail by using FEM(Finite Element Method) instead of EMCNM(Equivalent Magnetic Circuit Network Method) in order to consider saturation and non-linear magnetic property. Simulation-based DOE(Design Of Experiment) is also applied to avoid large number of analyses according to each design parameter and consider expected interactions among parameters. Consequently, the optimal design to reduce the core loss on the permanent magnet while maintaining or improving motor performance is proposed by an optimization algorithm using regression equation derived and lastly, the core loss reduction on the proposed shape of the permanent magnet is verified by FEM.

• Journal of the Korean Society for Precision Engineering
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• v.29 no.8
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• pp.818-823
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• 2012

In order to predict necking behaviour of aluminium sheets, a crystal plasticity model is introduced in the finite element analysis of tensile test. Due to the computational limits of time and memory, only a small part of tensile specimen is subjected to the analysis. Grains having different orientations are subjected to numerical tensile tests and each grain is discretized by many elements. In order to predict the sudden drop of load carrying capacity after necking, a well-known Cockcroft-Latham damage model is introduced. The mismatch of grain orientation causes stress concentration at several points and damage is evolved at these points. This phenomenon is similar to void nucleation. In the same way, void growth and void coalescence behaviours are well predicted in the analysis. For the comparison of prediction capability of necking, same model is subjected to finite element analysis using uniform material properties of polycrystal with and without damage. As a result, it is shown that the crystal plasticity model can be used in prediction of necking and fracture behavior of materials accurately.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.62 no.4
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• pp.495-501
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• 2013

In the present study, a BLDC motor for a pump in which a neodymium PM is replaced with a Ferrite PM has been developed in preparation for the cost increase and to ensure the stability of the resource supply. One of the currently used motors for pumps is a BLDC motor having an interior PM wherein a rare-earth PM is adopted. However, a BLDC motor for a pump is designed to have large airgap because of the use of a waterproof insulator according to its structural characteristics, and therefore, a SPM structure is suitable. Hence, an SPM BLDC motor in which a Ferrite PM is used is designed. Nevertheless, the use of Ferrite instead of rare-earth materials causes a deterioration in the performance of the electric motor, such as a decrease in the BEMF and the maximum power of the motor and the irreversible demagnetization of the PM. In order to mitigate such disadvantages, an optimized design of the BLDC motor is developed by changing each design parameter and by improving the electromagnetism structure.

• Journal of Institute of Control, Robotics and Systems
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• v.20 no.5
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• pp.495-502
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• 2014

This paper proposes a method to generate diverse robot facial expressions and facial gestures in order to help long-term HRI. First, nine basic dynamics for diverse robot facial expressions are determined based on the dynamics of human facial expressions and principles of animation for even identical emotions. In the second stage, facial actions are added to express facial gestures such as sniffling or wailing loudly corresponding to sadness, laughing aloud or smiling corresponding to happiness, etc. To evaluate the effectiveness of our approach, we compared the facial expressions of the developed robot when the proposed method is used or not. The results of the survey showed that the proposed method can help robots generate more realistic facial expressions.

• Journal of Power Electronics
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• v.12 no.1
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• pp.58-66
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• 2012

SRMs(Switched Reluctance Motors) are much interested in high speed applications due to the mechanical robustness, simple structure and high efficiency. In spite of many advantages of SRMs, a higher torque ripple discourages the adoption of SRMs in a high speed application. This paper presents a simple negative torque of tail current compensation scheme using a modified TSF(Torque Sharing Function) for the high speed SRMs. Because of the short commutation in the high speed region, the negative torque from the tail current makes the high torque ripple. In order to reduce and compensate the negative torque from tail current, the proposed control scheme produces an additional compensating torque with a reference torque in the active phase winding. And the compensating value is dependent on the tail current of the inactive phase winding. Furthermore, the switching signals of the outgoing phase are fully turned off to restrict the extended tail current, and the torque error of the outgoing phase is compensated by the incoming phase. The proposed modified TSF control scheme is verified by the computer simulations with 30,000[rpm] high speed 4/2 SRM. The simulation and experimental results show the effectiveness of the proposed control scheme.

• Journal of Power Electronics
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• v.12 no.1
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• pp.120-127
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• 2012

Fault diagnosis technique of electrical drives is becoming more and more important, since voltage fed converter system has become industrial standard in many applications. Many studies have been conducted an inverter fault diagnosis for induction motors. However, there are few researches about fault diagnosis of 3-phase ac/dc PWM (Pulse Width Modulation) converter compared to the dc/ ac inverter. The ac/dc converter is the opposite of dc/ac inverter at current flow. Also, inverter and converter have different current patterns under the same condition of IGBT (Insulated gate bipolar transistor) open switch fault. Therefore, it is difficult to apply intact diagnosis methods of inverter to the converter. This paper proposes modified fault detection methods for IGBT open switch fault in 3-phase ac/dc PWM converter by modifying established fault diagnostic methods for dc/ac inverters.

• Transactions of the Korean Society of Automotive Engineers
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• v.19 no.1
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• pp.117-124
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• 2011

Automotive engines require strategies to fulfill the emission regulations in terms of NOx and PM. A dramatic reduction in NOx and PM emissions could be achieved with high pressure injection, innovative combustion strategies and EGR. Recently, Lean NOx Trap (LNT) and Urea-SCR are considered as more practical strategy to suppress the engine-out emissions substantially for copying with severe regulation. These systems need to reduce the reducing agent injection system which has a huge impact on NOx purification efficiency. In this paper, different three injectors have been used to investigate spray characteristics and engine emission test was conducted to clarify the effect of these injectors on the NOx reduction.

• Journal of Institute of Control, Robotics and Systems
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• v.19 no.5
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• pp.450-456
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• 2013

This paper suggests the target tracking method improved for the collaboration of the quad rotor type UAV (Unmanned Aerial Vehicle) and omnidirectional Unmanned Ground Vehicle. If UAV shakes or UGV moves rapidly, the existing method generates a phenomenon that the tracking object loses the tracking target. To solve the problems, we propose an algorithm that can track continually when they lose the target. The proposed algorithm stores the vector of the landmark. And if the target was lost, the control signal was inputted so that the landmark could move continuously to the direction running out. Prior to the experiment, Proportional and integral control were used in 4 motors in order to calibrate the Heading value of the omnidirectional mobile robot. The landmark of UGV was recognized as the camera adhered to UAV and the target was traced through the proportional-integral-derivative control. Finally, the performance of the target tracking controller and proposed algorithm was evaluated through the experiment.