• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.840-843
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• 1996

This paper presents an adaptive cutting force controller for milling process, which can be attached to most commercial CNC machining centers in a practical way. The cutting forces of X,Y and Z axes measured indirectly from the use of currents drawn by AC feed-drive servo motors. A typical model for the feed-drive control system of a horizontal machining center is developed to analyze cutting force measurement from the drive motor. The pulsating milling forces can be measured indirectly within the bandwidth of the current feedback control loop of the feed-drive system. It is shown that indirectly measured cutting force signals can be used in the adaptive controller for cutting force regulation. The robust controller structure is adopted in the whole adaptive control scheme. The conditions under which the whole scheme is globally convergent and stable are presented. The suggested control scheme has been implemented into a commercial machining center, and a series of cutting experiments on end milling and face milling processes are performed. The adaptive controller reveals reliable cutting force regulating capability under various cutting conditions.

• Proceedings of the KIEE Conference
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• 1997.11a
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• pp.69-71
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• 1997

The direct drive motor is directly coupled by load. So, it is directly affected by load and disturbances. To control the direct drive motor, a robust controller is need. The main feature of variable structure system is that system trajectories are robust and insensitive to parameter variations and disturbances in the sliding mode. In this paper, adaptive variable structure controller, is used for the BLDD SM(Brushless Direct Drive Servo Motor) control. The chattering problem is reduced by using the saturation function.

• 유공압시스템학회:학술대회논문집
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• 2010.06a
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• pp.1-6
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• 2010

Direct Drive Valves (DDV) with electric closed loop spool position control are suitable for electrohydraulic position, velocity, pressure or force control systems including those with high dynamic response requirements. The spool drive device is a permanent magnet linear force motor which can actively stroke the spool from its spring centered position in both directions. This basic study is carried out to drive the design parameters for developing a domestic DDV. The static and dynamic characteristics of DDV are examined. The simulation results are compared with data of manufacture's catalog to show the validity of the modelling.

• Journal of Advanced Marine Engineering and Technology
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• v.31 no.4
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• pp.417-424
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• 2007

This paper presents a solution that an analytical model for an induction motor and the formula of regenerative power and instantaneous torque are derived. based on the spiral vector. The torque is controlled linearly through variations of the slip angular velocity, based on the field acceleration method (FAM). And also PWM inverter fed induction motor drives is schemed to be easily a regenerative drive. The voltage source inverter fed induction motor drives that regenerative power occurs with back current type is presented, to easily controlled the feedback power and to proper the adaption of energy shaving drives. The experimental tests verify the performance of the FAM, proving that food behavior of the drive is achieved in the transient and steady state operating condition, and are discussed to save the power that regenerative power is measured at the operating acceleration or deceleration of servo system.

• Journal of Drive and Control
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• v.16 no.4
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• pp.16-22
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• 2019

The electro-hydraulic training device (TP511) provided by Festo Didactic are widely used, but teaching materials do not include mathematical modeling. Thus, there is a limit for full-scale learning about the electro-hydraulic servo system by using this equipment. In this study, for the purpose of improving students' understanding of the classical control and modern control Festo's electro-hydraulic servo training device (TP511) was mathematically modeled and parameter values were calculated by examining the characteristics of each component. And P, PI, PD, and PID controllers highly used in the industrial field, were designed by using the root locus method to achieve the optimal gains and used for simulation and experiments using the Festo's electro-hydraulic servo training apparatus. The validity of the derived mathematical model and the calculated parameter values were verified through simulation and experiment. It was found that the p control can achieve the control target more effectively than the pid control for Festo's electro-hydraulic servo training system by using the root locus method.

• Proceedings of the KIEE Conference
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• 2004.11c
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• pp.726-728
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• 2004

In this paper, the gain of the observer is properly set up using the fuzzy control and Fuzzy-Sliding observer(FSQ) that have a superior transient characteristic and is easy to implement compared to the existing method is designed. It estimate the differentiation of the armature current directly using the armature current measured in the AC motor. It estimate the speed of the rotor using the differentiation. It is proposed speed sensorless control method using the estimated speed. Optimal gain of speed observer(Luenberger observer) was set up using the fuzzy control and adapted speed control of AC servo motor. To verify the performance of designed Fuzzy-Sliding observer, simulation compared with fixed speed observer gain of G.B Wang and S.S Peng's sliding observer is performed. Also, it was proved the excellence and feasibility of the proposed observer from the comparison test with a speed sensor and without a speed sensor which used a highly efficient drive and 400W AC servo motor starting system.

• Journal of the Korean Society for Precision Engineering
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• v.15 no.12
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• pp.142-147
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• 1998

Developing robot hands with multi-degree-of-freedom is one of the topics that researchers have recently begun to improve the limitation by adding flexibility and dexterity. In this study, an articulated servo-pneumatic robot hand system with direct-drive joints has been developed whose main feature is the minimization of the dimension. The servo-pneumatic system is advantageous to fabricate a dexterous robot hand system due to the high torque-to-weight and torque-to-volume ratio. This enables the design of a finger joint with an integrated rotary vane type actuator which produces high output torque without reduction gears, being very robust. In order to control the servo-pneumatic finger joints, a miniature proportional valve that can be attached to the robot hand is required. In this paper, a flapper nozzle type 4/3-way proportional directional valve has been designed and tested. The experimental results show that the developed valve can control a finger joint satisfactorily without much vibratory joint movements and acoustic noises.

• IEMEK Journal of Embedded Systems and Applications
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• v.8 no.3
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• pp.129-136
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• 2013

In this paper, a motion control system based on 2-axis gimbal system is designed and implemented to drive a high speed and precision. The proposed system consists of the RS-422 interface, 2-axis gimbal platform, servo control unit integrated with a high speed DSP chip-set, servo amplifier unit, potentiometer sensor unit, and resolver sensor unit. The servo control unit using the high speed DSP firmware is designed to get a fast response without an overshoot with step input and a RMS error of low probability with ramp input. The servo amplifier unit using a voltage control is designed to resolve the zero-crossing distortion for precise motion. To verify the performance and stability of the implemented system, experiments are performed through a measurement of the time and frequency domain response in a laboratory environment by using a PXI(PCI eXtentions for Instrumentation).

• Journal of Drive and Control
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• v.17 no.3
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• pp.15-25
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• 2020

The cycle time and power saving effect of a hydraulic hybrid injection molding machine using a servo motor are considered in this paper. In order to verify control characteristics, such as pressure and speed, experiments were performed with the hydraulic hybrid injection molding machine, clamping force of 110 ton. The power consumption and production cycle time of a conventional hydraulic injection molding machine were measured to compare its performances with the hydraulic hybrid injection molding machine. An injection molding machine with a clamping force of 1300 ton was used as the conventional machine, the hybrid machine was implemented by replacing its induction motors with servo motors. In the remodeled hybrid machine, experiments were performed to investigate how the displacement of the mold clamping pump affects the power consumption and production cycle time. The results showed that the production cycle time of the hybrid injection molding is similar to a conventional hydraulic injection molding machine but with a significant energy saving of about 40%.

• Journal of the Institute of Convergence Signal Processing
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• v.5 no.3
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• pp.210-215
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• 2004

The dynamic model of ac servo motor is influenced very much due to rotor resistance change and nonlinear characteristic. By using the sliding mode control the dynamic behavior of system can be made insensitive to plant parameter change and external disturbance. This paper describes the application of the sliding mode control for position control of ac servo motor. The control scheme is derived and designed. A design method based on external load parameters has been developed for the robust control of ac induction servo drive. The proposed control scheme are given based on the variable structure controller and slip frequency vector control. Simulated results are given to verify the proposed design method by adoption of sliding mode and show robust control for a change of shaft initial J, viscous friction B and torque disturbance.