• 대한기계학회논문집A
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• 제28권8호
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• pp.1093-1098
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• 2004

This paper presents a close-loop feedback control scheme, which can simultaneously satisfy multiple conflicting control performances, for a high speed positioning system driven by a brushless D.C. motor. With the dynamic model of the motor and proportional-plus-derivative feedback controllers selected as sample controllers, the convex combined feedback controller is formulated for implementing a direct-drive manipulator. Experimental results show that the developed multiple simultaneous specification(MSS) controller can meet desired control performances; maximum overshoot and rise time.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 1998년도 춘계학술대회논문집; 용평리조트 타워콘도, 21-22 May 1998
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• pp.211-217
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• 1998

A disk rotor dynamic analysis program called by DR. DAP is developed for disk drive spindle systems to analyze dynamic characteristics in operation and to estimate the effects of excitation sources. It is applicable to design for stabilization and to select parts of disk drive spindle systems. The disk drive spindle system in this program is modeled as a flexible shaft with multiple flexible disks, which is supported by bearings and driven by electric motor, and its complicated coupled vibration characteristics are analyzed by using a substructure synthesis technique with the assumed-modes method. All the coupled modes of interest can be well predicted by the example of a three disk hard disk drive with the three tuning parameters. It is also shown that, with the introduction of the excitation sources associated with the defects of ball bearing systems, the magnetic unbalance of spindle motor, the program can well predict the stability of the system, i.e., the possibility of resonance.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2003년도 학술회의 논문집 정보 및 제어부문 B
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• pp.649-652
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• 2003

In this paper, we presents a vector control method for the parallel-connected motor drive system. The new estimation scheme of rotor flux position is presented to reduce sensitivity due to load difference between the motors. To confirm the validity of the proposed control method. we compare a simulation result of the proposed control method with that of the conventional indirect vector control method. The simulation results show that the proposed control method is more effective for change in load torque and motor parameters.

• Journal of Power Electronics
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• 제8권4호
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• pp.291-300
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• 2008

In this paper power system and drive-train for omni-directional autonomous mobile robots with multiple energy storage units are presented. Because in proposed system, which is implemented in soccer robots, the ability of power flow control from of multiple separated energy storage units and speed control for each motor are combined, these robots can be derived by more than one power source. This capability, allow robot to diversify its energy source by employing hybrid power sources. In this research Lithium ion polymer batteries have been used for main and auxiliary energy storage units because of their high power and energy densities. And to protect them against deep discharge, over current and short circuit, a protection circuit was designed. The other parts of our robot power system are DC-DC converters and kicker circuit. The simulation and experimental results show proposed scheme and extracted equations are valid and energy management and speed control can be achieved properly using this method. The filed experiments show robot mobility functions to perform the requested motion is enough and it has a high maneuverability in the field.

• International Journal of Fuzzy Logic and Intelligent Systems
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• 제16권4호
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• pp.238-245
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• 2016

Inverters are considered the basic building blocks of industrial electrical drive systems that are widely used for various applications; however, the failure of electronic switches mainly affects the constancy of these inverters. For safe and reliable operation of an electrical drive system, faults in power electronic switches must be detected by an efficient system that is capable of identifying the type of faults. In this paper, an open switch fault identification technique for a three-phase inverter is presented. Single, double, and triple switching faults can be diagnosed using this method. The detection mechanism is based on stator current analysis. Discrete wavelet transform (DWT) using Daubechies is performed on the Clarke transformed (-) stator current and features are extracted from the wavelets. An artificial neural network is then used for the detection and identification of faults. To prove the feasibility of this method, a Simulink model of the DWT-based feature extraction scheme using a neural network for the proposed fault detection system in a three-phase inverter with an induction motor is briefly discussed with simulation results. The simulation results show that the designed system can detect faults quite efficiently, with the ability to differentiate between single and multiple switching faults.

• 대한전기학회논문지
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• 제33권12호
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• pp.480-484
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• 1984

A speed control system of multiple induction motors is presented in this paper. The system consists of a single CSI, several wound retor type induction motors, and the choppers which control the rotor current of motors. Some performance characteristics are studied, and the closed control loop is suggested.

• ETRI Journal
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• 제38권4호
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• pp.645-653
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• 2016

This paper demonstrates the performance of a metal-substrate power module with multiple fabricated chips for a high current electrical application, and evaluates the proposed module using a 1.5-kW sinusoidal brushless direct current (BLDC) motor. Specifically, the power module has a hybrid structure employing a single-layer heat-sink extensible metal board (Al board). A fabricated motor driver IC and trench gate DMOSFET (TDMOSFET) are implemented on the Al board, and the proper heat-sink size was designed under the operating conditions. The fabricated motor driver IC mainly operates as a speed controller under various load conditions, and as a multi-phase gate driver using an N-ch silicon MOSFET high-side drive scheme. A fabricated power TDMOSFET is also included in the fabricated power module for three-phase inverter operation. Using this proposed module, a BLDC motor is operated and evaluated under various pulse load tests, and our module is compared with a commercial MOSFET module in terms of the system efficiency and input current.

• Journal of Power Electronics
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• 제17권2호
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• pp.442-452
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• 2017

This paper deals with the input-output modeling of a vector controlled PMSM drive system and design of a simple multiple model adaptive control (MMAC) scheme with desired transient responses. We present a discrete-time modeling technique using closed-loop identification that can experimentally identify the equivalent models in the d-q coordinates. A bank of linear models for the equivalent plant of the current loop is first obtained by identifying them at several operating points of the current to account for nonlinearity. Based on these models, we suggest a simple q-axis MMAC combined with a fixed d-axis controller. After the current controller is designed, another equivalent model including the current controller in the speed control loop shall be similarly obtained, and then a fixed speed controller is synthesized. The proposed approach is demonstrated by experiments. The experimental set up consists of a surface mounted PMSM (5 KW, 220V, 8 poles) equipped with a flywheel load of 220kg and a digital controller using DSP (TMS320F28335).

• 대한전기학회논문지
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• 제38권4호
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• pp.269-278
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• 1989

When the induction motor is operated by CSI, the commutation capacitance in the CSI circuit is increased according to the increase of large capacitor system. The output voltage spikes are generated at the moment of charge and discharge of the commutation capacitor. Also, since output current comprise a great number of harmonics, torque ripples of the motor are generated, having bad effects on the motor. In this study, by adopting the 18-phase multiple high Frequency Current Source Inverter (HFCSI), torque ripples generated by the voltage spikes are mostly eliminated except the 17th and 19th harmonics. To reduce the voltage spikes comprised in the output voltage, particularly, the methods of eliminating the cause of bad effect upon the motor are proposed in this paper. In the proposed method, by using additional voltage Clamping Curcuit (VCC), it is possible to select the values of commutation capacitor energy loss in commutating, the commutating capacitor, and the capacitor in the clamping circuit.

• 문화기술의 융합
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• 제9권3호
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• pp.677-682
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• 2023

인간형 로봇을 구동하기 위해서 로봇 내부에는 많은 수의 모터와 센서가 사용된다. 다수의 구동기를 연결할 때 생기는 배선의 문제를 해결하기 위해 통신 네트워크에 기반한 제어기를 사용해왔는데 구성 비용면에서 유리하고, 신뢰성이 높은 통신 프로토콜인 CAN이 주로 사용되었다. 제어기의 구조 측면에서 상위 제어기에 알고리즘을 탑재하기 쉬운 속도 제어형 구조가 선호되고 있는데, 이때 CAN의 낮은 통신 대역폭이 문제가 되며, 충분한 통신 대역폭을 얻기 위해 이전에는 다수의 CAN 네트워크로 분리해서 통신망을 구성하였다. 본 논문에서는 높은 통신 대역폭을 얻기 위해 고속의 FlexRay와 저속의 CAN 통신망이 계층적으로 연결된 다중 모터 제어 시스템에 대해 전송시간 지연에 대한 안정도 분석을 수행하고 허용된 전송시간 내에 센서 정보와 구동 신호를 전달하기 위한 게이트웨이의 구성과 노드 할당 방법에 관하여 연구한다. 제안된 계층적 네트워크 기반 제어시스템은 다중 모터제어 시스템의 제어성능을 높이고 안정도를 확보하는 데 이바지할 수 있을 것으로 기대한다.