• Journal of the Korean Society for Precision Engineering
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• v.19 no.12
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• pp.38-44
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• 2002

A walking training robot is proposed to provide stable and comfortable walking supports by reducing body weight load partially and a force control of an arm of walking training robot using sliding mode controller is also proposed. The current gait training apparatus in hospital are ineffective for the difficulty in keeping constant unloading level and for the constraint of patients' free walking. The proposed walking training robot effectively unloads body weight during walking. The walking training robot consists of an unloading manipulator and a mobile platform. The manipulator driven by an electro-mechanical linear mechanism unloads body weight in various levels. The mobile platform is wheel type, which allows patients to walt freely. The developed unloading system has advantages such as low noise level, lightweight, low manufacturing cost and low power consumption. A system model fur the manipulator is established using Lagrange's equation. To unload the weight of the patients, sliding mode control with p-control is adopted. Both control responses with a weight and human walking control responses are analyzed through experimental implementation to demonstrate performance characteristics of the proposed force controller.

• Advances in Computational Design
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• v.8 no.3
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• pp.237-253
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• 2023

Torque ripple content and variable switching frequency operation of conventional direct torque control (DTC) are reduced by the integration of space vector modulation (SVM) into DTC. Integration of space vector modulation to conventional direct torque control known as SVM-DTC. It had been more frequently used method in renewable energy and machine drive systems. In this paper, SVM-DTC is used to control the rotor side converter (RSC) of a wind driven doubly-fed induction generator (DFIG) because of its advantages such as reduction of torque ripples and constant switching frequency operation. However, flux and torque ripples are still dominant due to distorted current waveforms at different operations of the wind turbine. Therefore, to smoothen the torque profile a Neural Network Controller (NNC) based SVM-DTC has been proposed by replacing the PI controller in the speed control loop of the wind turbine controller. Also, stability analysis and simulation study of DFIG using process reaction curve method (RRCM) are presented. Validation of simulation study in MATLAB/SIMULINK environment of proposed wind driven DFIG system has been performed by laboratory developed prototype model. The proposed NNC based SVM-DTC yields superior torque response and ripple reduction compared to other methods.

• Proceedings of the KIEE Conference
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• 1991.07a
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• pp.637-640
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• 1991

In this paper deals with linearized control of induction motor by vector control. Output equation induced from d-q axies voltage and current equation of induction moter. The condition of induced equation is that rotor's current of axies has 0 and state current of D axies which was driven by synchronous speed is constant. The fully digital controlled induction motor drive system based on the proposed linearized method and the control circuit of system consists of 16bits micro computer and all the function are implemented with software. When the voltage source inverter control with PI controller is empolyed, in spite of secondary resistance Rr Variation, the Vector control condition is satisfied.

• Journal of Power Electronics
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• v.9 no.6
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• pp.845-853
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• 2009

This paper presents a novel hybrid pole BLSRM (Bearingless Switched Reluctance Motor) and its radial force control scheme. The proposed hybrid pole BLSRM has separated radial force poles and rotating torque poles. According to the FEM analysis, the proposed BLSRM has an excellent linear characteristic of radial force and controllability that is independent from the torque current. The radial force can be produced by the radial force winding which is wound at the separated radial force poles. The rotating torque is produced by the excitation current of the torque windings which are wound at the torque pole. The proposed radial force control scheme is independent of the phase torque winding current. A simple PID controller and look-up table are used to maintain a constant rotor air-gap. The proposed BLSRM and its radial force control scheme are verified by FEM analysis and experimental tests.

• Proceedings of the Korean Institute of Electrical and Electronic Material Engineers Conference
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• 2001.11a
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• pp.65-68
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• 2001

In the vector control methods of induction motor, the stator current is divided into the flux and torque component current. By controlling these components respectively, the methods control independently flux and torque as in the DC motor and improve the control effects. To apply the vector control methods, the position of the rotor current is identified. The indirect vector control use the parameters of the machine to identify the position of rotor flux. But due to the temperature rise during machine operation, the variation of rotor resistance degrades the vector control. To solve the problem, the q-axis is aligned to reference frame without phase difference by comparing the real flux component with the reference flux component. Then to compensate the slip, PI controller is used. The proposed method keeps a constant slip by compensating the gain of direct slip frequency when the rotor resistance of induction motor varies. To prove the validations of the proposed algorithm in the paper, computer simulations is executed.

• Proceedings of the Earthquake Engineering Society of Korea Conference
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• 2006.03a
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• pp.511-518
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• 2006

In this study, seismic response mitigation effect of an MR damper generating response-dependent frictional force is investigated. It has been reported in previous studies that passively operated MR damper with constant input current doesn't show better control performance than semi-active MR damper with varying input current calculated by control algorithms such as linear quadratic regulator and sliding mode control. However, in order to operate the MR damper semi-actively, other control systems besides the damper itself such as sensors for measuring structural responses and controller for calculating optimal input current are necessary, which deteriorate the economical efficiency. This study presents a MR damper generating frictional force of which magnitude is controlled in accordance to the displacement and velocity transferred to the damper. Numerical analyses results indicate that the performance of the response dependent MR damper is closely related with the range of the friction force and it can be designed to short better control performance than the passive MR damper.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.4 no.2
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• pp.487-492
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• 2000

This paper presents a novel method of slip-compensation for rotor time constant variation in indirect field orientation control of induction motor drives. In field oriented control due to variation of rotor time constant, decoupling between the flux and torque components of stator current is lost and hence, the performance of operation of the machine deteriorates. To solve the problem, the q-axis is aligned to reference frame without phase difference by comparing the real flux component with the reference flux component. Then to compensate the slip, PI controller is used. The proposed method keeps a constant slip by compensating the gain of direct slip frequency when the rotor resistance of induction motor varies. To prove the validations of the proposed algorithm in the paper, computer simulations and experiments are executed.

• Proceedings of the KIEE Conference
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• 1998.07f
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• pp.2148-2150
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• 1998

This paper proposes a constant frequency controlled zero voltage switching method that can reduce switching losses caused by emf on inductance in DC motor. The zero voltage switching method is used more than a zero current switching method because of reducing switching losses by capacitance of depletion region of MOSFET. To simplify the controller circuit, we propose constant frequency controlled zero voltage switching method in the paper. The control method is more stable than a variable frequency control method because it can optimize bandwidth of a closed-loop and reactances. Therefore, we construct a constant frequency controlled zero voltage switching converter and improve zero switching losses in high switching frequency. In the process, we can control low-losses in full range on variable voltage and load. We simulate the proposed converter with P-SPICE and compare results obtained through the experiment.

• Journal of Electrical Engineering and Technology
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• v.10 no.5
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• pp.1989-2000
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• 2015

In this paper, digital peak current mode control for single phase H-bridge inverters is developed and implemented. The digital peak current mode control is achieved by directly controlling the PWM signals by cycle-by-cycle current limitation. Unlike the DC-DC converter where the output voltage always remains in the positive region, the output of DC-AC inverter flips from positive to negative region continuously. Therefore, when the inverter operates in negative region, the control should be changed to valley current mode control. Thus, a novel control logic circuit is required for the function and need to be analyzed for the hardware to track the sinusoidal reference in both regions. The problem of sub-harmonic instability which is inherent with peak current mode control is also addressed, and then proposes the digital slope compensation in constant-sloped external ramp to suppress the oscillation. For unipolar PWM switching method, an adaptive slope compensation in digital manner is also proposed. In this paper, the operating principles and design guidelines of the proposed scheme are presented, along with the performance analysis and numerical simulation. Also, a 200W inverter hardware prototype has been implemented for experimental verification of the proposed controller scheme.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.65 no.4
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• pp.586-592
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• 2016

The current control of Continuous Conduction Mode(CCM) can be implemented by several methods: peak current control; average current control; and hysteresis control. Among these methods, the hysteresis current control is popularly applied in various converter applications because of its simplicity of implementation, fast current control response and inherent peak current limiting capability. However, a current controller with conventional hysteresis band which multiplies the current reference has the disadvantage that the modulation frequency varies in one cycle of the input voltage and, as a result, generates high switching frequency in the low input voltage section. Also it is complicated to design the input filter due to varying switching frequency. This paper proposed an optimum hysteresis-band current control method where the band is generated by using both multiplication method and sum method to maintain the modulation frequency to be nearly constant. This approach can solve the high switching frequency in the low input voltage section, and achieve easy design of input filter. The performance of the proposed converter is verified with the simulation and the experimental works.