• Proceedings of the KIPE Conference
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• 2002.07a
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• pp.170-173
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• 2002

시스템이 슬라이딩모드의 존재조건을 만족하는 경우, 전동기의 상태가 전동기의 파라미터에 의존하지 않고 결정되는 절환 초평면에 수렴하기 때문에 파라미터에 불감한 응답을 나타낸다. 본 연구는 소형 유도전동기에 의한 외란 및 파라미터의 변동에 대하여 로바스트(robust)와 동시에 정확한 응답을 나타내는 교류서보 전동기 구동시스템을 실현하는 것이다. 이를 실현하기 위해서 가변구조 제어이론에 기초한 슬라이딩모드 제어를 적용하여 유도전동기 자계 슬립주파수형 벡터제어를 실현한다. 이상적인 전동기에 대한 시뮬레이션의 결과에 의해서 관성, 점성마찰계수, 부하 토오크 등 의 파라미터의 변동 및 외란에 대하여 로바스터성이 있다는 것을 알 수 있고 슬라이딩모드 제어의 도입이 교류전동기 서보제어에 유효한 것을 확인하였다.

• Proceedings of the KIPE Conference
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• 2003.07b
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• pp.799-802
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• 2003

시스템이 슬라이딩모드의 존재조건을 만족하는 경우, 전동기의 상태가 전동기의 파라미터에 의존 하지 않고 결정되는 절환 초평면에 수렴하기 때문에 파라미터에 불감한 응답을 나타낸다. 본 연구는 소형 유도전동기에 의한 외란 및 파라미터의 변동에 대하여 로바스트(robust)와 동시에 정확한 응답을 나타내는 교류서보 전동기를 이용한 서보 시스템을 설계한 것이다. 이를 실현하기 위해서 가변구조 제어 이론에 기초한 슬라이딩모드 제어규칙을 결정하고 유도전동기 자계 슬립주파수형 벡터제어를 실현한다.

• Proceedings of the KIPE Conference
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• 2003.11a
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• pp.56-59
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• 2003

This paper presents new interpolation algorithm for measuring high resolution position information which is propered to nano servo control motor using analog quadrature encoder. In the past, there is a large memory and two high price A/D converter for high resolution analog quadrature encoder interpolation. but this paper show that it can make high resolution interpolate using small memory, one A/D converter and comparator. Experimental results show that the proposed algorithm for high resolution position is useful.

• Proceedings of the KIEE Conference
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• 2002.11c
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• pp.218-223
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• 2002

광 디스크 드라이브에서의 서보 제어시스템에는 광 픽업에서 발생된 레이저 빔을 디스크 기록면의 데이터 트랙에 정확히 위치시키기 위한 제어 계를 갖고 있다. 광 디스크의 고배속화에 따른 외란의 주파수 대역의 증가에 따라 더욱 더 높은 샘플링 주파수로 레이저 빔의 위치 제어를 필요로 하게 되고, 여러 가지 알고리즘의 증가로 인해 DSP의 연산 부담은 증가하게 된다. 본 논문에서는 서보 제어에 필요한 알고리즘의 최적화된 하드웨어/소프트웨어 시스템을 구현하고 이를 이용한 실험 결과를 제시한다.

• Proceedings of the KIEE Conference
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• 2002.11d
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• pp.109-111
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• 2002

It requires to study on accurate control skill for the technical improvement of servo system require. It needs to study on brake that has constant-torque speed range as load. In this paper, braking torque of eddy current brake between electromagnet stator and rotating disk are analyzed. The torque-speed characteristics and proper disk construction are presented in here. From the computer simulation results, it was found that eddy current braking torque is linear or approximately constant over the desired speed range depending on the rotor material, disk construction, pole number and pole displacement of stator, these are confirmed by experimental results.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.43-43
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• 2000

In this paper, we introduce a case study of developing a miniature humanoid robot that has 16 degrees of freedom and is able to perform statically stable walking. The developed humanoid robot is 37cm tall and weighs 1,200g. RC servo motors are used as actuators. The robot can walk forward and turn to any direction on even surface. It equipped with a small digital camera, so it can transmit vision data to a remote host computer via wireless modem. The robot can be operated in two modes; One is a remote-controlled mode, in which the robot behaves according to the command given by a human operator through the user-interface program running on a remote host computer, the other is a stand-alone mode, in which the robot behaves autonomously according to the pre-programmed strategy. The user-interface program also contains a robot graphic simulator that is used to produce and verify the robot's gait motion. In our walking algorithm, the ankle joint is mainly used lot balancing the robot. The experimental results shows that the developed robot can perform statically stable walking on even surface.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.137-137
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• 2000

In this research. we developed Tire Roller Prototype which is operated hydraulic transmission system. For develop the theoretically computer aided system, we practiced the simulation of hydraulic system and dynamic modeling and will compare with the experiment results of Tire Roller Prototype. We conceptualize the new hydraulic system and derive the equations of motion for dynamic analysis. Finally, we will design the controller, which can manage the hydraulic circuit of servo mechanism system. We define new hydraulic system and integrate modeling of Tire Roller through simulation of h\ulcornerdraulic system and design of controller. From above procedure. Hydraulic transmission system characteristics and target performance can be investigated. To follow the required performance, we select the parts of Tire Roller. We manufactured the prototype of Tire Roller, and will install the equipment for experiment.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.141-141
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• 2000

In the recent day, fatigue life prediction techniques play a major role in the design of components in th ground vehicle industry. Full scale durability testing in the laboratory is an essential of any fatigue life evaluation of components or structure of the automotive vehicle. Component testing is particularly important in today's highly competitive industries where the design to reduce weight and production costs must be balanced with the necessity to avoid expensive service failure. Generally, multi-axis durability testing simulator is used to car교 out the fatigue test. In this paper, the operation software for simultaneously driving 3-axis simulator is developed and the real-time signals of input-output data are displayed in window of PC. Moreover, the displacements and the loads of 3-axis actuators are calibrated separately and the operating characteristics of the actuators are evaluated.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1996.11a
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• pp.658-661
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• 1996

For ultraprecision positioning, the use of the twist roller-type friction drive is proposed. In our study, it is difficult to decrease the resolution of positioning below 100 nm when we use general servo motors. Therefore we propose the feed hive with a small lead like a the cam-roller type traction drive leadscrew and modify it more accurately. By using the semi-loop control system, the positioning resolution of the drive can be 22.4 nm, where the pulse per revolution of the motor is 655360 and the the lead is 0.734 mm.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1996.11a
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• pp.671-677
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• 1996

This paper proposes a study on the effects of motion errors for acceleration/ deceleration types. The proposed motion errors are consisted of two errors : one due to transient response of servomechanism and the other due to gain mismatching of positioning servo motor. They are derived from using laplace transformation for the block diagram of general purpose feed drive system. In order to minimize them, the paper proposes second order polynomial regression model by using orthogonal array method which describes one of experimental methodolgies. The validity and reliability of the study was veri lied on a vertical machining center equipped with FANUC 0MC through a series of experiments and analyses.