• Title/Summary/Keyword: position control system

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Permanent Magnet Synchronous Motor Vector Control Using Rectangular 2 Hall Sensors (구형파 2-Hall Sensor를 이용한 영구자석형 동기전동기의 벡터 제어)

  • Won, Chung-Yuen;Kong, Tae-Woong;Lee, Jung-Hyo;Yu, Jae-Sung;Lee, Won-Cheol;Kim, Jae-Hyung
    • Journal of the Korean Institute of Illuminating and Electrical Installation Engineers
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    • v.22 no.2
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    • pp.120-127
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    • 2008
  • This paper proposes a new vector control method using two rectangular hall sensors instead of using the expensive encoder and resolver. The proposed method estimates the speed and motor position by using the quadruple of two hall sensors signals instead of encoder signal. The proposed new speed estimation method is stable under the rated speed range. This algorithm will be able to moderate prices of the whole system and apply to the condition unfitted with encoder and resolver.

A Study on PID Gain Auto Tuning for Steering Type mobile robot (조향형 이동로봇을 위한 PID 이득 자동 튜닝에 관한 연구)

  • Jung, Se-Young;Yang, Tae-Kyu
    • Journal of Satellite, Information and Communications
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    • v.11 no.4
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    • pp.39-43
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    • 2016
  • In this paper, we propose PID gain auto tuning method in steering type mobile robot. PID controller gain select method are various methods. Ziegler-Nichols step tuning method is one method tuning in PID controller. Use step tuning method find a the first gain and did experiment in steering mobile robot. and Make a new the second gains from the first gains. After appling the second gain in PID controller, Where perform observe for convergence time and stabilization error. Experiments result the second gain are useful in real steering mobile robot system.

PLL Control Method for Precise Speed Control of Slotless PM Brushless DC Motor Using 2 Hall-ICs (2 Hall-ICs를 이용한 Slotless PM Brushless DC Motor의 정밀속도제어를 위한 PLL 제어방식)

  • Woo M. S.;Yoon Y. H.;LEE T. W.;Won C. Y.;Choe Y. Y.
    • Proceedings of the KIPE Conference
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    • 2004.07b
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    • pp.665-669
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    • 2004
  • Generally, Slotless PM BLDC drive system is necessary that the three Hall-ICs evenly be distributed around the stator circumference and encoder be installed in case of the 3 phase motor. So, the Hall-ICs are set up in this motor to detect the main flux from the rotor, and the output signal from Hall-ICs is used to drive a power transistor to control the winding current. However, instead of using three Hall-ICs and encoder, we used only two Hall-ICs for the permanent magnet rotor position and for the speed feedback signals, and also for a microcontroller of 16-bit type (80C196KC) with the 3 phase Slotless PM BLDC whose six stator and two rotor designed. Two Hall-IC Hc and $H_B$ are placed on the endplate at 120 degree intervals, and with these elements, we can estimate information of the others phase in sequence through a rotating rotor.

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Inertia Identification Algorithm for High Performance Speed Control of Electric Motor (고성능 전동기 속도제어를 위한 관성추정 알고리즘)

  • Lee Sang-Cheol;Kim Heung-Geun;Choi Jong-Woo
    • The Transactions of the Korean Institute of Power Electronics
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    • v.10 no.5
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    • pp.436-442
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    • 2005
  • This paper proposes an estimation algorithm to find the moment of inertia, which is essential to design high performance controller for motor drive system. The algorithm finds the moment of inertia observing the position error signal, which contains an error information of moment of inertia, generated by speed observer. Moreover, the proposed algorithm is easily realized in the observer-based speed detection method. The simulation and experimental results are also presented to confirm the performance of moment of inertia estimation method, which shows that the moment of inertia converges to the actual value within several seconds. The speed control responses and the designed speed controller performance match well.

Performance Improvement of Sensorless PMSM Drives using Motor Friendly Output Filter (전동기 친화형 출력필터를 이용한 영구자석 동기전동기의 센서리스 구동 성능 향상)

  • Bu, Han-Young;Baek, Seung-Hoon;Han, Sang-Hoon;Cho, Young-Hoon
    • The Transactions of the Korean Institute of Power Electronics
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    • v.25 no.4
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    • pp.329-332
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    • 2020
  • A back-electromotive force (back-EMF) estimator for a permanent magnet synchronous motor (PMSM) uses the three-phase voltage references of a current controller to estimate rotor position. However, owing to voltage drops caused by the nonlinear characteristics of switches and passive components, the actual voltage in the motor and the three-phase voltage reference may not match. This study proposes a sensorless control method using a sine-wave output filter applied between the motor drive system and PMSM. The precise voltage in the motor can be measured with the sine-wave output filter and applied to the input of the estimator. Moreover, given that the voltage in the motor can be measured precisely at extremely low speeds, the stable operation range of the back-EMF estimator can be secured. Experimental results show that the proposed sensorless control method has stable operation at extremely low speeds compared with conventional sensorless control.

Global Minimum-Jerk Trajectory Planning of Space Manipulator

  • Huang Panfeng;Xu Yangsheng;Liang Bin
    • International Journal of Control, Automation, and Systems
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    • v.4 no.4
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    • pp.405-413
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    • 2006
  • A novel approach based on genetic algorithms (GA) is developed to find a global minimum-jerk trajectory of a space robotic manipulator in joint space. The jerk, the third derivative of position of desired joint trajectory, adversely affects the efficiency of the control algorithms and stabilization of whole space robot system and therefore should be minimized. On the other hand, the importance of minimizing the jerk is to reduce the vibrations of manipulator. In this formulation, a global genetic-approach determines the trajectory by minimizing the maximum jerk in joint space. The planning procedure is performed with respect to all constraints, such as joint angle constraints, joint velocity constraints, joint angular acceleration and torque constraints, and so on. We use an genetic algorithm to search the optimal joint inter-knot parameters in order to realize the minimum jerk. These joint inter-knot parameters mainly include joint angle and joint angular velocities. The simulation result shows that GA-based minimum-jerk trajectory planning method has satisfactory performance and real significance in engineering.

Constraint Operator for the Kinematic Calibration of a Parallel Mechanism

  • Lee, Min-Ki;Kim, Tae-Sung;Park, Kun-Woo;Kwon, Sung-Ha
    • Journal of Mechanical Science and Technology
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    • v.17 no.1
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    • pp.23-31
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    • 2003
  • This paper introduces a constraint operator for the kinematic calibration of a parallel mechanism. By adopting the concept of a constraint operator, the movement between two poses is constrained. When the constrained movements are satisfied, the active joint displacements are taken and inputted into the kinematic model to compute the theoretical movements. A cost function is derived by the errors between the theoretical movement and the actual movement. The parameters that minimize the cost function are estimated and substituted into the kinematic model for a kinematic calibration. A single constraint plane is employed as a mechanical fixture to constrain the movement, and three digital indicators are used as the sensing devices to determine whether the constrained movement is satisfied. This calibration system represents an effective, low cost and feasible technique for a parallel mechanism. A calibration algorithm is developed with a constraint operator and implemented on a parallel manipulator constructed for a machining center tool.

A Study on the Automatic Control for Collision Avoidance of the Ships (선박의 충돌회피를 위한 자동제어에 관한 기초적 연구)

  • Lee, Seung-Keon;Kwon, Bae-Jun
    • Journal of Navigation and Port Research
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    • v.26 no.1
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    • pp.8-14
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    • 2002
  • The collisions of vessel at sea show high among the whole marine accidents. Especially, the accidents of fishing vessels take the largest portion of the collisions. Therefore, a technique to reduce these accidents should be developed. The automatic control for avoiding collision suggested in this study consists of two steps. The first is recognizing collision risk with fuzzy Theory and the other is maneuvering the model ship on the basis of collision risk calculated from the first step. The information form the position and estimated time of collision point(DCPA and TCPA) is used to assess the collision risk. To verify this system, a fishing vessel was simulated according to MMG mathematical model. The simulations result shows quite good application in avoiding the collision of ship.

The Effect of Electroacupuncture on Concentration and Activity of CK, ALP, and IgG in Serum and Central Nervous System of Rats (전침자극이 중추신경계 손상 흰쥐에서 CK, ALP, IgG 효소활성도에 미치는 영향)

  • Ha, Mi-Sook;Park, Rae-Joon
    • The Journal of Korean Physical Therapy
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    • v.22 no.2
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    • pp.47-53
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    • 2010
  • Purpose: This study investigated the effect of electroacupuncture stimulation on changes in blood biochemistry in spinal cord injury (SCI) rats whose cords were damaged by 6-hydroxydopamine (6-OHDA). Methods: Twenty-one Sprague-Dawley adult male rats were assigned to one of three groups: normal (n=7), control (n=7) and experimental group (n=7). The experimental group received electroacupuncture (Es-160, ITO, Japan) for 15 minutes in the form of low frequency (2 Hz) stimulation to the zusanli point. After treatment, we observed motor behavior recovery using the inclined plane test. We also measured serum and CNS concentrations and activities of enzymes including creatine kinase (CK), alkaline phosphatase (ALP), and Immunoglobulin G (IgG). Statistical analysis was done using one-way analysis of variance (ANOVA). Results: Concentrations of CK, ALP and IgG were lower in the experimental group than in the control group. Functional recovery was evaluated by the maximal angle of the inclined board on which rats could maintain their initial position. This allowed us to monitor progressive locomotor recovery. The maximal angles of the inclined plane test were higher in the experimental group than in the control group (p<0.05). Conclusion: The results of this study showed that electroacupuncture to the zusanli point has a therapeutic effect on functional recovery after SCI.

Development of Magnetic Force Modeling Equipment for Magnetic Levitation Systems (자기부상시스템의 자기력 모델링 시스템 개발)

  • Yang, Ji-Hyuk;Kim, Seuk-Yun;Lee, Young-Sam;Kwon, Oh-Kyu
    • Journal of Institute of Control, Robotics and Systems
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    • v.17 no.4
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    • pp.321-327
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    • 2011
  • This paper proposes an equipment and an algorithm for modeling the magnetic force of electromagnets in magnetic levitation systems. We assume that the magnetic force model is represented in terms of a 2D lookup table. The 2D lookup table is constructed by applying noncausal filtering and interpolation to data measured by the proposed modeling equipment. The proposed modeling equipment is designed such that it can measure the magnetic force exerted on the levitation object while it changes the voltage applied to the electromagnet and position of the levitation object. The algorithm of making a 2D lookup table has two stages. The data measured by the proposed modeling equipment is smoothed by a noncausal filter and then the 2D lookup table is obtained by interpolating filtered data. The proposed modeling method has advantages of time-saving, model consistency, and chance of automation for mass production. We show the validity of proposed method through control experiments.