• Journal of Drive and Control
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• v.17 no.2
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• pp.28-37
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• 2020

It is difficult to analytically derive the relationship among volumetric displacement, flowrate, torque, and rotation speed regarding an instantaneous position of gerotor hydraulic pumps/motors. This can be explained by the geometric shape of the rotors, which is highly complicated. Herein, an analytical method for the instantaneous torque, rotation speed, flowrate, and volumetric displacement of a pump/motor is proposed. The method is based on two physical concepts: energy conservation and torque equilibrium. The instantaneous torque of a pump/motor shaft is determined for the posture of rotors from the torque equilibrium. If the torque equilibrium is combined with the energy conservation between the hydraulic energy of the pump/motor and the mechanical input/output energy, the formula for determining the instantaneous volumetric displacement and flowrate is derived. The numerical values of the instantaneous volumetric displacement, torque, rotation speed, and flowrate are calculated via the MATLAB software programs, and they are illustrated for the case in which inner and outer rotors rotate with respect to fixed axes. The degrees of torque fluctuation, speed fluctuation, and flowrate fluctuation can be observed from their instantaneous values. The proposed formula may provide a better understanding of the design or analysis process of gerotor pumps/motors.

• Journal of the Korean Institute of Telematics and Electronics T
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• v.36T no.3
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• pp.64-71
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• 1999

In this paper, two degree of freedom parallelogram link mechanism is used as DD(Direct-drive) robot mechanism. In parallelogram link mechanism, two motors being established in each base frame, the mass of motor itself is not loaded to anther motor; the number of links are increased, the mass of arm being lighter; with the estabilishment of link parameter, nonlinearity such as the centrifugal force disappears; at the same time anti-interference between motors can be realized. And to realize highy-accurate drive of parallelogram link DD robot manipulator, to improve the learning speed through the design of leaning control system using neural network, to raise adapting power to the varied work objects; the learning control algorithm is composed of neural network and feedback controller in this paper.

• Journal of Electrical Engineering and Technology
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• v.12 no.1
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• pp.486-493
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• 2017

Refineries and chemical plants with isolated power systems that have a limited power supply are more susceptible to voltage changes from disturbances compared to power systems connected with a power company. Furthermore, most loads in such cases are induction motor loads, and therefore, transient voltage characteristics when starting a high-capacity motor must be examined. In general, high-capacity motors are customized appropriately to the load performance curve by the manufacturer during the construction of an industrial plant. Subsequently, when complying with the voltage drop permitted by international standards during the design process, power supply equipment such as transformers and generators is overdesigned. Therefore, a novel analysis is necessary on standards for startup and constraint voltage drops, as well as on identifying the voltage drop limitations for starting high-capacity motors in refineries and chemical plants with isolated power systems. In this study, field tests on an industrial plant were conducted, and simulations modeled under conditions identical to those of the field test system were performed using the general-purpose program ETAP in order to compare the results.

• Advances in robotics research
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• v.2 no.2
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• pp.113-127
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• 2018

Robotics and automation are rapidly growing in the industries replacing human labor. The idea of robots replacing humans is positively influencing the business thereby increasing its scope of research. This paper discusses the development of an experimental platform controlled by a robotic arm through Robot Operating System (ROS). ROS is an open source platform over an existing operating system providing various types of robots with advanced capabilities from an operating system to low-level control. We aim in this work to control a 7-DOF manipulator arm (Robai Cyton Gamma 300) equipped with an external vision camera system through ROS and demonstrate the task of balancing a ball on a plate-type end effector. In order to perform feedback control of the balancing task, the ball is designed to be tracked using a camera (Sony PlayStation Eye) through a tracking algorithm written in C++ using OpenCV libraries. The joint actuators of the robot are servo motors (Dynamixel) and these motors are directly controlled through a low-level control algorithm. To simplify the control, the system is modeled such that the plate has two-axis linearized motion. The developed system along with the proposed approaches could be used for more complicated tasks requiring more number of joint control as well as for a testbed for students to learn ROS with control theories in robotics.

• Proceedings of the KIPE Conference
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• 2013.11a
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• pp.63-64
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• 2013

Induction motors' faults detection is almost a popular topic among researchers. Monitoring the output of motors is a key factor in detecting these faults. (Short-time) Fourier, (continuous, discrete) wavelet, and extended Park vector transformations are among the methods for fault detection. One major deficiency of these methods is not being able to detect the severity of faults that carry low energy information, e.g. in ball bearing system failure, there is absolutely no way to detect the severity of fault using Fourier or wavelet transformations. In this paper, the authors have applied the Discrete Wavelet Transform (DWT) frequency-domain analysis to detect bearing faults in an induction motor. In other words, in discrete transform which the output signal is decomposed in several steps and frequency resolution increases considerably, the frequency-band analysis is performed and it will be verified that first of all, fault sidebands become more recognizable for detection in higher levels of decomposition, and secondly, the inner race bearing faults turn out easier in these levels; and all these matter because of eliminating the not-required high energy components in lower levels of decomposing.

• Journal of Advanced Marine Engineering and Technology
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• v.32 no.8
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• pp.1278-1284
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• 2008

Electric propulsion motors are operated from a variable frequency drive, which supplies power to motors at a frequency appropriate to the desired speed. The objective of this study was to evaluate power converters for shipboard applications and to recommend converters that meet lower harmonic distortion levels and torque ripples. Two systems were studied in detail : Cyclo-converters and PWM-converters. Cyclo-converters are the obvious choice where size, weight and efficiency are the most critical issues. However they have a disadvantage in power factor and they produce severe torque ripples in the motor which makes them unacceptable without special systems. PWM-converters produces better motor current waveform and eliminates common mode voltage issues at the motor, but suffers a multiple stages of power conversion and the isolating transformer. Results of this case study show that PWM-converters are more advanced and efficient drives for induction motor of electric propulsion ship.

• The Transactions of the Korean Institute of Electrical Engineers B
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• v.48 no.3
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• pp.97-103
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• 1999

This paper investigates reduction of acoustic noise and cogging torque in a BLDC motor with larger stator slot open width. Using energy method, cogging torque is analytically determined with airgap MMF function and airgap permeance function and confirmed by FEM analysis. It shows that the cogging torque is firstly governed by NL GNL BNL with the fundamental period of NL, where NL is the least common multiple of the number of slots and the number of poles, GNL, airgap permeance function and BNL, airgap MMF function. It also shows that there exist several tooth width which minimizes the cogging torque, for the motors that smaller slot open width or stator teeth notching is not available. And it proposes a teeth pairing with two different tooth width which can effectively eliminate the cogging torque and thus the acoustic noise. Experimental results show that the proposed teeth pairing reduces the cogging torque by 85% and the acoustic noise by 3.1dB.

• The Transactions of the Korean Institute of Power Electronics
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• v.11 no.5
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• pp.417-425
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• 2006

This paper presents a new speed sensorless vector control scheme of Spindle Induction Motors(SIM) which can be successfully applied to at any speed including even zero speed. The proposed sensorless vector control of SIM uses rotor flux estimator with a variable bandwidth. This approach is based on the Closed-Loop Rotor Flux Observer(CLRFO) which includes a variable bandwidth of the PI controller. For low speed operation, the bandwidth of CLRFO has a variable bandwidth structure according to the estimated rotor velocity. The experimental results show the satisfactory operation of the proposed sensorless algorithm.

• Journal of Advanced Marine Engineering and Technology
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• v.17 no.3
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• pp.60-69
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• 1993

The speed control associated with dc servo motors for direct-drive applications of mobile robot is considered in this study. Robot is moved by power wheeled steering of two dc servo motors mounted to it. In order to cooperate with micro-computer and to achieve the high-performance operation of dc servo motor, speed control system is composed of a digital Phase Locked Loop and H-type drive circuit. And the motor is driven by Pulse Width Modulations. In controlling PWM, it is modified to compose of H-type drive circuit with feedback diodes and switching transistor and design of control sequence so that it may show linear characteristics. As a result, speed characteristics of motor showed linear features. In order to get data on design of PLL control system, the parameters of 80[W[ motor & robot device is measured by simple software control. The PLL speed control system is schemed and designed by leaner drive circuit and measured parameters. A complete speed control system applied to 80[W] dc servo motor showed good linearity, stability and high response. Also, it is verified that the PLL speed control system has good compatibility as a mobile robot driver.

• Korean Journal of Air-Conditioning and Refrigeration Engineering
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• v.19 no.8
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• pp.585-592
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• 2007

Good cold start characteristics are essential for satisfactory operation of fuel cell vehicles. In this study, the melting process has been numerically investigated for a water tank used in fuel cell vehicles. The 2-D model of the tank containing ice and plate heaters was assumed and the unsteady melting process of the ice was calculated. The enthalpy method was used for the description of the melting process, and a FVM code was used to solve the problem. The feasibility study compared with other experiment showed that the developed program was able to describe the melting process well. From the numerical analysis carried out for different wall temperatures of the pate heaters, some important design factors could be found such as local overheating and pressurization in the tank.