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Son, Hungsun
Electromechanical Systems & Control Lab (ESCL)
Research Interests
  • Magnetic field modeling
  • Actuator and sensor
  • Robotics and Automation

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Control system design and input shape for orientation of spherical wheel motor

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dc.contributor.author Son, Hungsun ko
dc.contributor.author Lee,Kok-Meng ko
dc.date.available 2014-04-10T02:36:06Z -
dc.date.created 2014-02-07 ko
dc.date.issued 2014-03 ko
dc.identifier.citation CONTROL ENGINEERING PRACTICE, v.24, no.1, pp.120 - 128 ko
dc.identifier.issn 0967-0661 ko
dc.identifier.uri https://scholarworks.unist.ac.kr/handle/201301/4071 -
dc.description.abstract This paper presents control system design of a multi degrees-of-freedom (DOF) spherical wheel motor (SWM) in a class of ball-joint-like direct drive actuators to control orientation of the shaft. Three controllers (model based open-loop (OL), two closed-loop (CL) controllers) based on a push-pull torque model have been developed from rotor dynamics and magnetic field model referred to here as Distributed Multipole (DMP) model which provides accurate torque computation. The model based OL controller along with three control input shapes has been examined for the inclination control. Their results offer physical intuition, practical effectiveness, and also demonstrate the accuracy of magnetic field and torque computation. Then, two feedback controllers, a PD controller with and without the observer, have been developed for regulating its rotor inclination and experimentally evaluated against the OL controller. Finally, the performance on each controller has been compared to show the effect of the controllers on transient response. The experimental results verify control system design and demonstrate the motion capability of the SWM. While the experimental results illustrate the ability to control, they also reveal constraints and limitations of the controllers and provide insights for future design of control systems for the SWM. ko
dc.description.statementofresponsibility close -
dc.language 영어 ko
dc.publisher PERGAMON-ELSEVIER SCIENCE LTD ko
dc.title Control system design and input shape for orientation of spherical wheel motor ko
dc.type ARTICLE ko
dc.identifier.scopusid 2-s2.0-84892543372 ko
dc.identifier.wosid 000331497700011 ko
dc.type.rims ART ko
dc.description.wostc 0 *
dc.description.scopustc 0 *
dc.date.tcdate 2014-10-18 *
dc.date.scptcdate 2014-07-12 *
dc.identifier.doi 10.1016/j.conengprac.2013.11.013 ko
dc.identifier.url http://www.scopus.com/inward/record.url?partnerID=HzOxMe3b&scp=84892543372 ko
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