• 한국인터넷방송통신학회논문지
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• 제20권5호
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• pp.79-88
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• 2020

본 연구에서는 태양광 패널 청소 로봇이 진공 패드 압력을 이용하여 경사진 패널 위를 미끄러짐 없이 효율적으로 주행하는 방법을 제안한다. 이 방법에서는 로봇을 경사로 패널에 고정시키기 위해 로봇 발에 부착된 고무 패드의 압력을 진공으로 만들게 된다. 구동 방식으로 Linkage 매커니즘을 적용하여 미끄러짐을 방지함과 동시에 중량을 감소하여 소모전력을 낮추는 방법을 제안하였다. 로봇의 안전한 구동을 위하여 솔레노이드 밸브, 근접 센서, 엔코더를 사용하여 로봇의 움직임을 감지하며, 주행할 때 고무 패드의 압력을 제어하여 안전한 경사로 주행을 가능하게 하였다. 로봇의 전진 동작을 위하여 다중의 솔레노이드 밸브들의 동작 시퀀스를 완성하여 양쪽 발에 부착된 6개의 진공패드가 진공 및 대기압을 정확하게 형성 할수 있도록 제어하여 이동 중 미끄러짐 없이 전진할 수 있게 하였다. 마지막으로 주행 및 회전 실험을 통해 36도의 태양광 패널에서 직진 및 회전 동작을 수행할 수 있음을 확인하였다.

• International Journal of Safety
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• 제3권1호
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• pp.32-37
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• 2004

Recently KAERI has developed the severe accident management guidance to establish Korea standard severe accident management system. On the other hand the PC-based severe accident training simulator SATS has been developed, and the MELCOR code is used as the simulation engine. SATS graphically displays and simulates the severe accidents with interactive user commands. The control capability of SATS could make a severe accident training course more interesting and effective. In this paper the development and functions of the electrical hypertext guidance module HyperKAMG and the SATS-HyperKAMG linkage system for the severe accident management are described.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1987년도 한국자동제어학술회의논문집(한일합동학술편); 한국과학기술대학, 충남; 16-17 Oct. 1987
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• pp.753-758
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• 1987

The purpose of ocean thermal energy conversion (OTEC) plant control is to provide stable power efficiently by appropriately regulating the seawater flow rates and the working fluid flow rate under conditions of continually changing seawater temperatures. This paper describes digital control of working fluid flow rate based on an adaptive control theory for the "Imari 2" OTEC plant at Saga University. Provisions have been made for linkage between the software of the adaptive control theory and the hardware of the OTEC plant. In implementing the working fluid flow rate control, if persistency of excitation conditions are lost, the algorithm of identification often exhibits bursting phenomena. To avoid this difficulty, the stopping-and-starting rule for identification was derived and was used for the working fluid flow rate control. Satisfactory control performance was then obtained by using this digital control system.ol system.

• 전력전자학회:학술대회논문집
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• 전력전자학회 1999년도 전력전자학술대회 논문집
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• pp.71-75
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• 1999

In this paper, we present the 3DOF force-reflecting interface which allows to acquire force of object within a virtual environment. This system is composed of device, virtual environment model, and force-reflecting rendering algorithm. We design a 3 DOF force-reflecting device using the parallel linkage, torque shared by wire, and the controller of system applied by impedance control algorithm. The force-reflecting behaviour implemented as a function position is equivalent to controlling the mechanical impedance felt by the user. Especially how force should be supplied to user, we know using a God-Object algorithm. As we experiment a system implemented by the interface of 3D virtual object and 3DOF force-reflecting interface, we can feel a contact, non-contact of 3D virtual object surface and sensing of push button model.

• 전력전자학회:학술대회논문집
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• 전력전자학회 2003년도 추계학술대회 논문집
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• pp.178-181
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• 2003

This paper presents a position sensorless control system of Switched Reluctance Motor(SRM) using Neural Network. The basic algorithm of this scheme is based on the flux linkage characteristic according to the phase currents and rotor position. A sufficient experimental data was used for neural network training. The proposed position sensorless control system was realized using TMS320F240 DSP. The experimental result shows some good results, and verifies the possibility of this algorithm.

• 한국정밀공학회지
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• 제21권5호
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• pp.182-187
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• 2004

In an aging society, the mobility and the accessibility are considered sincerely for the elderly and the handicapped person. The slide-up seat system, which helps board and disembark a car via electric power was developed for the elderly, the handicapped and the families who accompany them. In this paper, critical factors and methods to design the mechanism and controller for safety and comfortableness are suggested. The performance of the system including linkage, electrical, and electronic parts was improved by changing the detail design and some parts after durability test for them.

• 전력전자학회논문지
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• 제4권5호
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• pp.455-461
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• 1999

본 논문에서는 가상환경 내의 물체로부터 역감을 얻을 수 있는 3자유도 힘 반향 장치를 제안한다. 이 시스템은 디바이스와 가상환경의 모델과 힘 반향 렌더링 알고리즘 등으로 구성되었다. 평행링크 메커니즘과 와이어에 의한 토크전달 그리고 임피던스 제어가 가능한 제어기를 사용해 3자유도 힘 반향 역감장치(Force-reflecting device)를 설계하였다. 위치 함수만으로 계산되는 힘 반향동작은 God-Object 알고리즘을 사용했다. 3차원 가상물체와 시험 제작한 역감장치(Force-reflecting device)를 인터페이스 실험을 통해 3차원 가상물체와 접촉과 비접촉 그리고 푸쉬 버튼을 만지는 느낌을 검출하였다.

• 전력전자학회:학술대회논문집
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• 전력전자학회 1996년도 창립기념 전력전자학술발표회 논문집
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• pp.13-16
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• 1996

A new instantaneous torque control technique is presented for a high performance control of a permanent magnet synchronous motor. Using the model reference adaptive system technique, the linkage flux of the motor is estimated and the torque is instantaneously controlled by the proposed torque controller combining with a variable structure control and space vector PWM. The proposed torque control provides the advantage of reducing the torque pulsation caused by the flux harmonics. This control strategy is applied to the high torque PM synchronous motor drives for direct drive systems and is implemented by using a software of the DSP TMS320C30. The experiments are carried out for this system and the results well demonstrate the effectiveness of the proposed control.

• 전력전자학회:학술대회논문집
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• 전력전자학회 1997년도 전력전자학술대회 논문집
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• pp.97-100
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• 1997

A new control method for the robust position control of a brushless DC(BLDC) motor using the asymptotically stable adaptive load torque observer is presented. A precision position control is obtained for the BLDC motor system approximately linearized using the field-orientation method. And the application of the load torque observer is published in [1] using fixed gain. However, the flux linkage is not exactly known for a load torque observer. Therefore, a model reference adaptive observer is considered to overcome the problem of the unknown parameter in this paper. And stability analysis is carried out using Liapunov stability theorem. As a result, asymptotically stable observer gain can be obtained without affecting the overall system response. The load disturbance detected by the asymptotically stable adaptive observer is compensated by feedforwarding the equivalent current having the fast response.

• 전력전자학회:학술대회논문집
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• 전력전자학회 2004년도 전력전자학술대회 논문집(1)
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• pp.201-205
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• 2004

A method for driving and position sensing of TSRM(Toroidal Switched Reluctance Motor) using the search coil is presented in this paper. Position information of the rotor is essential for SRM drives. The rotor position sensor such as an opto-interrupter or high performance encoder is generally used for the estimation of rotor position. However, these discrete position sensors not only add complexity and cost to the system but also tend to reduce the reliability of the drive system. In order to solve these problems, in the proposed method, rotor position detection is achieved using the voltage waveforms induced by the time varying flux linkage in the search coils, and then the appropriate phases are excited to drive the SRM. But the search coil EMF is generated only when the motor rotates. Therefore the rotor position sensing method at standstill is also suggested.