기전 시스템의 구동 모터 선정 방법과 견마로봇용 지뢰탐지 구동 장치에의 적용

최창환,정승호,김석환,이정엽,최덕선,정상철,박용운,Choi, Chang-Hwan,Jung, Seung-Ho,Kim, Seok-Hwan,Lee, Jeong-Yeob,Choe, Tok-Son,Chung, Sang-Chul,Park, Yong-Woon 한국군사과학기술학회 2007 한국군사과학기술학회지 Vol.10 No.4

This paper presents a motor selection technique for a manipulator design that is used in a multipurpose dog-horse robot. Since the dynamics of a manipulator and its servo drives are closely related to each other, it requires a repetitive analysis to determine a suitable motor. In order to simplify this procedure, Straete et al. proposed a simple normalization method to separate the load dependent terms and the motor dependent terms. This technique is adopted in this paper for selecting a motor in designing a manipulator.

Optimal Voltage Vector Selection Method for Torque Ripple Reduction in the Direct Torque Control of Five-phase Induction Motors

Kang, Seong-Yun,Shin, Hye Ung,Park, Sung-Min,Lee, Kyo-Beum The Korean Institute of Power Electronics 2017 JOURNAL OF POWER ELECTRONICS Vol.17 No.5

This paper presents an improved switching selection method for the direct torque control (DTC) of five-phase induction motors (IMs). The proposed method is conducted using optimal switching selection. A five-phase inverter has 32 voltage vectors which are divided into 30 nonzero voltage vectors and two zero voltage vectors. The magnitudes of the voltage vectors consist of large, medium, and small voltage vectors. In addition, these vectors are related to the torque response and torque ripple. When a large voltage vector is selected in a drive system, the torque response time decreases with an increased torque ripple. On the other hand, when a small voltage vector is selected, the torque response time and torque ripple increase. As a result, this paper proposes an optimal voltage vector selection method for improved DTC of a five-phase induction machine depending on the situation. Simulation and experimental results verify the effectiveness of the proposed control algorithm.

Optimal Voltage Vector Selection Method for Torque Ripple Reduction in the Direct Torque Control of Five-phase Induction Motors

Seong-Yun Kang,Hye Ung Shin,Sung-Min Park,Kyo-Beum Lee 전력전자학회 2017 JOURNAL OF POWER ELECTRONICS Vol.17 No.5

This paper presents an improved switching selection method for the direct torque control (DTC) of five-phase induction motors (IMs). The proposed method is conducted using optimal switching selection. A five-phase inverter has 32 voltage vectors which are divided into 30 nonzero voltage vectors and two zero voltage vectors. The magnitudes of the voltage vectors consist of large, medium, and small voltage vectors. In addition, these vectors are related to the torque response and torque ripple. When a large voltage vector is selected in a drive system, the torque response time decreases with an increased torque ripple. On the other hand, when a small voltage vector is selected, the torque response time and torque ripple increase. As a result, this paper proposes an optimal voltage vector selection method for improved DTC of a five-phase induction machine depending on the situation. Simulation and experimental results verify the effectiveness of the proposed control algorithm.

Optimal Voltage Vector Selection Method for Torque Ripple Reduction in the Direct Torque Control of Five-phase Induction Motors

강성윤,신혜웅,박성민,이교범 전력전자학회 2017 JOURNAL OF POWER ELECTRONICS Vol.17 No.5

This paper presents an improved switching selection method for the direct torque control (DTC) of five-phase induction motors (IMs). The proposed method is conducted using optimal switching selection. A five-phase inverter has 32 voltage vectors which are divided into 30 nonzero voltage vectors and two zero voltage vectors. The magnitudes of the voltage vectors consist of large, medium, and small voltage vectors. In addition, these vectors are related to the torque response and torque ripple. When a large voltage vector is selected in a drive system, the torque response time decreases with an increased torque ripple. On the other hand, when a small voltage vector is selected, the torque response time and torque ripple increase. As a result, this paper proposes an optimal voltage vector selection method for improved DTC of a five-phase induction machine depending on the situation. Simulation and experimental results verify the effectiveness of the proposed control algorithm.

단일 인버터 기반 에어컨용 실외기 팬 모터 병렬운전에서의 무효전력보상기를 이용한 맥동저감 기법

윤철(Chul Yun),권우현(Woo-Hyen Kwon),조내수(Nae-Soo Cho) 대한전기학회 2016 전기학회논문지 Vol.65 No.12

This paper proposes analysis and suppression method for reactive power vibration of the slave motor caused by back-EMF mismatch between the master and the slave motor and stator resistance during middle-low speed operation. The master and slave motors are parallel connected dual SPMSMs(Surface mounted Permanent Magnet Synchronous Motors) fed by a single inverter. To suppress vibration of reactive power, RPC(Reactive Power Compensator) proposed in this paper analyzes flux-axis current vibration of the slave motor that occurs in middle-low speed operation using a mathematical model of the fan motor. And RPC adds vibration components detected from flux-axis current of the slave motor to flux-axis current of the master motor. The results of experiment conducted verify the efficacy of the proposed method.

750W 삼상유도전동기 등가회로 시험법의 슬립선정에 관한 연구

허진,박용준 대한전기학회 2022 전기학회논문지 Vol.71 No.6

Manufacturers are using the equivalent circuit test method that can be used as a method to calculate the characteristics of the 750W three-phase motor without a motor-specific tester called the dynamometer. By selecting the slip within the limited range of the calculated output that varies depending on the slip, the test result by improved equivalent circuit method can be obtained close to the result measured by the dynamometer. And by analyzing the reproducibility of these test results and the error with the dynamometer method, and confirming their validity, it is intended to be used as a standard for the slip selection method.

분산정보를 이용한 특징 선택과 PCA-ELM 기반의 유도전동기 고장진단 기법 개발

이대종(Dae-Jong Lee),전명근(Myung-Geun Chun) 한국조명·전기설비학회 2010 조명·전기설비학회논문지 Vol.24 No.8

본 논문은 클래스 내와 클래스 간의 분산정보를 이용한 주파수 성분의 선택적 추출기법과 PCA-ELM 기반의 유도전동기 고장진단 시스템을 제안한다. 제안된 방법은 취득된 전류신호를 DFT에 의해 주파수 영역으로 변환한 후 분산정보를 이용하여 고장상태별로 차별성이 큰 순서대로 주파수 성분을 추출한다. 다음 단계로 선택된 주파수 성분에 대해서 PCA를 이용하여 고장상태별 특징들을 추출한다. 마지막 단계는 학습속도가 매우 우수한 ELM분류기에 의해 유도전동기의 상태를 진단하게 된다. 다양한 부하에 대하여 몇몇의 전기적 고장과 기계적 고장 하에서 획득한 데이터를 이용하여 제안된 방법의 타당성을 검증한다. In this paper, we proposed selective extraction method of frequency information and PCA-ELM based diagnosis system for three-phase induction motors. As the first step for diagnosis procedure, DFT is performed to transform the acquired current signal into frequency domain. And then, frequency components are selected according to discriminate order calculated by variance As the next step, feature extraction is performed by principal component analysis (PCA). Finally, we used the classifier based on Extreme Learning Machine (ELM) with fast learning procedure. To show the effectiveness, the proposed diagnostic system has been intensively tested with the various data acquired under different electrical and mechanical faults with varying load.

단일 인버터로 두 대의 영구자석 동기전동기 병렬운전에 대한 공진특성해석

윤철(Chul Yun),권우현(Woo-Hyen Kwon) 대한전기학회 2017 전기학회논문지 Vol.66 No.4

This pap4er analyzes resonance characteristics of a slave motor that is not controlled by load and parameter differences between Dual motors during parallel operation in middle-low speed. Dual SPMSMs(Surface mounted Permanent Magnet Synchronous Motor) connected in parallel to a single inverter controlled by the master and slave control in this paper. Based on the stability analysis of the SPMSM for a variation of torque angle, the 6th nonlinear state equation of the torque angle variation in the SIMM(Single Inverter Multi Motor) structure is derived according to a mathematical model for the dual motors. In general, an analysis of the 6th order nonlinear state equation is complex. Therefore, a resonance frequency generated from the slave motor is found from the characteristic equation of the 2nd order system obtained by linearization and model reduction near steady state operation point. Through simulations and experiments, it is confirmed that the stability analysis of the SPMSMs and state equation models are useful for the variation of the torque angle analyzed in this paper.

경직성 양하지 마비아의 하지의 선택적 운동 조절 능력이 보행 시 관절 움직임에 미치는 영향

신현희 ( Hyun Hee Shin ),오태영 ( Tae Young Oh ),서혜정 ( Hye Jung Seo ),서무정 ( Mu Jung Seo ) 대한물리의학회 2012 대한물리의학회지 Vol.7 No.3

Background & Purpose The purpose of this study is to evaluate the impairment of SVMC(selective voluntary motor control) of the lower extremity by assessing each joints of lower limb and to analyze the motional relationship between each joints of lower limb using SCALE(Selective Control Assessment of the Lower Extremity) during the swing phase of gait cycle in children with spastic diplegia. Method 11 children with spastic diplegia CP who could walk independently and 10 normal developing children were participated. SCALE(Selective Control Assessment of the Lower Extremity) assessments were conducted for 11 children with CP. Gait analysis were accomplished in all participants. Qualisys motion analysis was used as a statistical tool to assess the motional relationship between hip joint, knee joint and ankle joint in each limb. We used descriptive statistics, cross-tabulation, independent t-test, linear regression to analysis motional relationship between each joints of lower limb using by SPSS ver.17.0. Result Firstly, there were significant differences in SCALE scores between the cerebal palsy group and the control group in knee joint(p<0.05), but no significant difference in hip and ankle joints during the swing phase of gait cycle. Secondly, the difference of SCALE scores showed no statistical motional difference in knee and ankle joints during the swing phase, and showed significant motional difference in hip joints during the swing phase(p<0.05). Thirdly, there was a liner relationship between the motion of hip and ankle joints during the swing phase. Conclusion The nature of SVMC(selective voluntary motor control) in each joints of the lower limb may reflect the ability of gait, thus SCALE may be used for assessing and for treating the cerebal palsy patients who are able to walk independently. Also we knew that the impairment of SVMC(selective voluntary motor control) increases from the proximal to the distal joints.

Selection and Design of Drive Modules for Robot Joint Based on Dynamic Load Characteristics

서정무,류세현,서장호,정현교 제어·로봇·시스템학회 2017 International Journal of Control, Automation, and Vol.15 No.2

This paper presents the selection and design process of joint motors and gears for robot systems. Thevelocity, acceleration, and torque profiles of each joint that satisfy a given task are calculated using dynamic andkinematic analysis, and the required motor torque to drive the joint is calculated with respect to the combination ofmodule inertia and gear ratios. Considering energy efficiency, motor parameters, and switching characteristics ofthe inverter, the correlation between the module inertia and gear ratio for driving joints is investigated, and the finalcombination is determined by referring to commercial gear data sheets. From the determined motor inertia, variousmotor designs are possible. To compare the performance and determine the optimal model, performance metrics ofdrive motors, torque matching, coil temperature, and the motor constant, are proposed and the significance of thesefigures are discussed.