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준공진형 프라이백 스위칭 레귤레이터를 적용한 SMPS의 방사노이즈 억제
나병훈(B. H. Ra),김영록(Y. R. Kim),박성우(S. W. Park),김진일(J. I. Kim) 전력전자학회 2005 전력전자학술대회 논문집 Vol.- No.-
본 논문에서는 30W급 스위칭형 직류전원장치(Switching Mode Power Supply : SMPS)에 준공진형 프라이백 스위칭 레귤레이터(quasi-resonant flyback switching regulator)를 적용하여 방사노이즈(radiation-noise)를 억제한 사례에 대하여 설명하고 있다. 기존의 PI社의 TOP IC 시리즈와 같이 보편적으로 사용되고 있는 일명, 하드 스위칭(hard-switching)형 레귤레이터를 사용할 경우, 고속 스위칭시에 스위칭 손실(switching loss)과 스위칭 노이즈(switching noise)가 발생한다. 이로 인하여 SMPS의 발열에 따른 효율저화와 방사 노이즈에 의한 전파방해 등이 문제점이 된다. 본 논문에서는 일본의 Sanken社에서 개발/시판중인 준공진형 스위칭 레귤레이터인 STR-F6000 IC 시리즈를 이용하여 프라이백 SMPS를 구성하여 방사노이즈를 저감하였다.
직렬탄성구동기를 이용한 장하지 보조기의 임피던스 보상방법
나병훈(Byeonghun Na),공경철(Kyoungchul Kong) 대한기계학회 2011 대한기계학회 춘추학술대회 Vol.2011 No.10
Recently, walking assistance systems are receiving a great attention according to the increase of elderly population. To effectively assist human motions, such systems are required to generate precise and large assistive torques. Moreover, the assistive systems should be light and compact for the comfort and safety issues. In this paper we designed lower extremity assistive device with compact rotary series elastic actuators(cRSEAs) that are designed considering those factors. A worm gear is utilized to amplify the motor torque in the limited space. Also, to generate joint torque as desired, a torsional spring is installed between the motor and the human joint. The device generates large assistive torques by using worm gear, but the large friction introduced by the warm gear makes the controller design challenging. In this paper, a feedback control algorithm is utilized to compensate for such undesired friction. The proposed method is verified by experiments.
주행형 역진자 시스템의 제어를 위한 퍼지 논리 기반의 비선형성 보상방법
나병훈(Byeonghun Na),박성호(Seongho Park),공경철(Kyoungchul Kong) 대한기계학회 2011 대한기계학회 춘추학술대회 Vol.2011 No.10
In this paper, a control method for a wheeled inverted pendulum system is proposed based on fuzzy logic. The wheeled inverted pendulum system estimates the inclination by processing inertial sensor measurements. For stability, the controller regards the inclination as an error and determines a control signal to reduce the error using PID control. While performance is highly dependent on the precision of the actuator, a large non-linearity inherent in the actuator is observed in practice, which deteriorates performance and stability. For this reason, we utilized the fuzzy logic to compensate for the non-linearity and to enhance robust stability of the wheeled inverted pendulum. The proposed method adaptively scales the calculated control signal to reject the non-linearity.
치타로이드 로봇을 위한 직접구동 방식의 선형구동기 설계 및 제어
나병훈(Byeonghun Na),최현진(Hyunjin Choi),공경철(Kyoungchul Kong) 대한기계학회 2012 대한기계학회 춘추학술대회 Vol.2012 No.11
Several legged robots developed in recent years have proved that they are an effective transportation system on an uneven terrain. Particularly, four-legged robots are receiving a great attention in robotics field due to their gait stability and robustness to disturbances. Many robotics engineers are investigating and developing the locomotion speed, as well as the stability and robustness, of the quadruped robots. The high-speed locomotion makes many challenges in the development of actuation systems, design, and control algorithms. In this paper, a direct-driven linear actuation system for the high-speed running robot is introduced. The design of the proposed actuator follows the principle of brushed DC motor systems. The mechanical and electrical characteristics of the proposed actuator, such as back-drivability, controllability, and response time, are evaluated by experiments.