• 제어로봇시스템학회논문지
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• 제18권3호
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• pp.275-284
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• 2012

This paper proposes an attitude and direction control of a single wheel balanced robot. A unicycle robot is controlled by two independent control laws: the mobile inverted pendulum control method for pitch axis and the reaction wheel pendulum control method for roll axis. It is assumed that both roll dynamics and pitch dynamics are decoupled. Therefore the roll and pitch dynamics are obtained independently considering the interaction as disturbances to each other. Each control law is implemented by a controller separately. The unicycle robot has two DC motors to drive the disk for roll and to drive the wheel for pitch. Since there is no force to change the yaw direction, the present paper proposes a method for changing the yaw direction. The angle data are obtained by a fusion of a gyro sensor and an accelerometer. Experimental results show the performance of the controller and verify the effectiveness of the proposed control algorithm.

• 한국산학기술학회논문지
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• 제5권5호
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• pp.413-420
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• 2004

본 연구에서는 인버터를 구동하는 용도의 직류전원장치에 대한 제어 알고리즘 개발을 목표로 하고 있으며, 구동과 회생기능을 갖는 전압형 PWM 컨버터에서 운전시 전원의 불평형을 보상하는 제어방법을 제안하고자 한다. 이를 위해 전력회생기능을 갖는 정류기에 대하여 기존 다이오드 및 SCR을 이용한 정류방식과의 비교를 통해 본 제어방식의 우수성을 시뮬레이션과 실험을 통해 입증하고자 한다. 전력변환기가 항상 평형상태를 유지하기 위해 전류제어 루프에 의하여 불평형 상태를 보상하는 방법을 사용하였으며, 통상적으로 전력변환기의 구성시 각상의 리액턴스가 같지 않은 누설변압기 등의 사용을 가능하게 하므로 제안된 전력변환기의 리액턴스가 불평형상태가 되어도 운전시 항상 평형상태로 유지되어 시스템을 안정적으로 구동 시킬 수 있는 제어기법의 설계를 통해 어떤 환경에서도 장치의 안정된 구동특성을 확인하고자 하였다.

• Journal of Power Electronics
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• 제18권6호
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• pp.1659-1669
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• 2018

An improved circulating current suppression control method is proposed in this paper. In the proposed controller, an outer loop of the average capacitor voltage control model is used to balance the sub-module capacitor voltage. Meanwhile, an individual voltage balance controller and an arm voltage balance controller are also used. The DC and harmonic components of the circulating current are separated using a low pass filter. Therefore, a multiple quasi-proportional-resonant (multi-quasi-PR) controller is introduced in the inner loop to eliminate the circulating harmonic current, which mainly contains second-order harmonic but also contains other high-order harmonics. In addition, the parameters of the multi-quasi-PR controller are designed in the discrete domain and an analysis of the stability characteristic is given in this paper. In addition, a simulation model of a three-phase MMC system is built in order to confirm the correctness and superiority of the proposed controller. Finally, experiment results are presented and compared. These results illustrate that the improved control method has good performance in suppressing circulating harmonic current and in balancing the capacitor voltage.

• 한국신재생에너지학회:학술대회논문집
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• 한국신재생에너지학회 2009년도 춘계학술대회 논문집
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• pp.353-356
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• 2009

A pivotal mechanical balance of plant for 75kW class molten carbonate fuel cells comprise of a catalytic burner and an ejector which has been designed and tested in KEPRI(Korea Electric Power Research Institute). The catalytic burner, which oxidizes residual fuel in the anode tail gas, was operated at several conditions. Some problems arose due to local overheating or auto-ignition, which could limit the catalyst life. The catalytic burner was designed by considering both gas mixing and gas velocity. Test results showed that the temperature distribution is very uniform. In addition, an ejector is a fluid machinery to be utilized for mixing fluids, maintaining vacuum, and transporting them. The ejector is placed at mixing point between the anode off gas and the cathode off gas or the fresh air Several ejectors were designed and tested to form a suction on the fuel tail gas and balance the differential pressures between anode and cathode over a range of operating conditions. The tests showed that the design of the nozzle and throat played an important role in balancing the anode tail and cathode inlet gas pressures. The 75kW MCFC system built in our ejector and catalytic burner was successfully operated from Novembe, 2008 to April, 2009. It recorded the voltage of 104V at the current of 754A and reached the maximum generating power of 78.5kW DC. The results for both stand-alone and integration into another balance of plant are discussed.

• Journal of Power Electronics
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• 제18권2호
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• pp.558-572
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• 2018

In addition to its modular nature, a Hybrid Modular Multilevel Converter (HMMC) assembled from half-bridge and full-bridge sub-modules, is able to block DC faults with a minimum number of switching devices, which makes it attractive for high power applications. This paper introduces a control strategy based on the Root-Least Square (RLS) algorithm to estimate the capacitor voltages instead of using direct measurements. This action eliminates the need for voltage transducers in the HMMC sub-modules and the associated communication link with the central controller. In addition to capacitor voltage balancing and suppression of circulating currents, a fault tolerant control unit (FTCU) is integrated into the proposed strategy to modify the parameters of the HMMC controller. On advantage of the proposed FTCU is that it does not need extra components. Furthermore, a fault detection unit is adapted by utilizing a hybrid estimation scheme to detect sub-module faults. The behavior of the suggested technique is assessed using PSCAD offline simulations. In addition, it is validated using a real-time digital simulator connected to a real time controller under various normal and fault conditions. The proposed strategy shows robust performance in terms of accuracy and time response since it succeeds in stabilizing the HMMC under faults.

• 전력전자학회논문지
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• 제25권3호
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• pp.213-218
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• 2020

In this study, we propose a control algorithm to reduce the unbalanced characteristics of a three-phase system power caused by the unbalanced load of the AC electric railway. Then, we verify its performance through the design of a power compensator and experiments applying it. Like electric railway systems, a Scott transformer is applied, and the load and single-phase back-to-back converters are connected to the M-phase and T-phase outputs. The back-to-back converter monitors the difference in active power between the unbalanced loads in real-time and compensates for the power by using bidirectional characteristics. The active power is performed through PI control in the synchronous coordinate system, and DC link overall voltage and voltage balancing control are controlled jointly by M-phase and T-phase converters to improve the responsiveness of the system. To verify the performance of the proposed power compensation device, an experiment was performed under the condition that M-phase 5 kW and T-phase 1 kW unbalanced load. As a result of the experiment, the unbalance rate of the three-phase current after the operation of the power compensator decreases by 58.66% from 65.04% to 6.38%, and the excellent performance of the power compensator proposed in this study is verified.

• 사학연금연구
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• 제2권
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• pp.243-274
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• 2017

최근 우리나라는 유례를 찾아볼 수 없을 정도로 고령화 진행속도가 빠른 나라로 공적 연금재정과 연금제도의 지속가능성에 대한 관심이 증가하고 있는 상황이다. 따라서 사회보장제도 개혁에 성공한 국가로 잘 알려진 스웨덴 사례를 통해 사학연금제도의 유지 및 장기적 재정안정화에 시사하는 바를 찾고자 한다. 스웨덴 정부는 인구고령화에 따른 위험에 상대적으로 안전한 '명목확정기여(Notional Defined Contribution)'방식을 도입하여, 개인의 연금계좌에 연금보험료를 적립하여 수급시점에 본인이 부담한 보험료 상당액을 연금으로 돌려받을 수 있도록 운영하고 있다. 또한 경제상황이 예상 수준보다 침체되고 연금 재정수지가 악화될 경우 이와 연계하여 자동으로 연금가입자의 부담금을 높이고, 지출되는 급여액을 감소시키는 '자동재정균형장치(Automatic Balancing System)'를 도입하였다. 상기와 같이 기여와 급여를 명확하게 연계시키는 스웨덴의 명목확정기여 방식의 연금제도는 장기적 재정안정은 물론이고 안정적인 연금 급여를 제공한다고 평가되고 있다. 스웨덴은 연금개혁 후 확정기여(DC)제도로 전환하여 장기적인 제도 안정성을 추구하지만 사학연금은 확정급여(DB)제도를 유지하면서 급여수준의 하향조정과 보험료율을 점진적으로 상향시켜 재정안정성을 확보하는 것이 가장 큰 차이점이다. 스웨덴의 연금제도와 같이 공적연금의 틀을 유지하면서 사적연금의 장점을 최대로 수용한 명목확정기여 방식의 연금제도를 도입한다면 급격한 재정부담 없이 장기적으로 지속가능한 연금재정 안정화에 기여할 수 있을 것이다. 일견 스웨덴의 정치, 경제상황 및 문화적 특성 차이로 인해 스웨덴의 연금제도 방식을 획일적으로 사학연금제도에 적용하는 것은 불가능하다. 경제상황을 고려한 기여와 급여의 연계 강화를 개혁의 기본방향으로 설정한 스웨덴의 사례를 벤치마킹하여 사학연금 또한 거시경제상황과 조화를 이루는 제도개선 및 자동안정장치를 마련해 보는 것도 고려해 봄직 하다. 지속적으로 스웨덴 및 연금제도 선진 국가들의 연금개혁안을 재검토하여 사학연금제도에 현실적으로 적용할 수 있는 방안과 시사점들을 찾는 노력이 필요할 것이다.