• 전기학회논문지
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• 제64권2호
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• pp.289-296
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• 2015

In this paper, we propose the nonlinear control based on singular perturbation theory for position tracking and yaw regulation of planar motor. Singular perturbation theory is characterized by the existence of slow and fast transients in the system dynamics. The proposed method consists of auxiliary control to decouple error dynamics. We develop model reduction with control input. Also, we derIve decoupled error dynamics with auxiliary input. The controller is designed in order to guarantee the desired position and yaw regulation without current feedback or estimation. Simulation results validate the effect of proposed method.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1995년도 하계학술대회 논문집 B
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• pp.886-888
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• 1995

Models of industrial robot manipulators are characterized by highly nonlinear equation with coupling between the variables of motion. In this paper, a case study that illustrates the use or nonlinear state feedback to decouple the control of a two axis SCARA type robot manipulator is presented. This method is based on a suitable partition about the dynamic equation of industrial robots. The performance of this method is showed by the computer simulation.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.598-603
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• 2005

In this study, an adaptive control scheme with a pre-specified $H_{\infty}$ property is proposed for the tracking control of linear induction motor (LIM) drive system. Under the influence of uncertainties and external disturbances, by using nonlinear decoupling and parameter tuner, the robust performance control problem is formulated as a nonlinear $H_{\infty}$ problem and solved by a quadratic storage function. This new design method is able to track the step and several periodic commands with improved performance in face of parameter perturbations and external disturbances. Simulation and experimental results are provided to demonstrate the effectiveness of the proposed adaptive $H_{\infty}$ controller.

• Journal of Power Electronics
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• 제17권5호
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• pp.1278-1287
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• 2017

Inverters are widely used in distributed power generation and other applications. However, their lack of inertia and variable impedance may cause system instability and power transfer inaccuracy. This paper proposes a control scheme for a single phase voltage-controlled inverter with some grid-friendly characteristics. The proposed control algorithm enables the inverter to function as a voltage source with an inner output impedance in both the islanded and grid-connected modes. Virtual inertia and rotor equations are embedded in the PLL part. Thus, the frequency stability can remain. The inner output impedance can be adjusted freely, which helps to accurately decouple and transmit the output active and reactive power. The proposed inverter operates like a traditional synchronous generator. Simulations and experiments are designed and carried out to verify the proposed control strategy.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2001년도 추계학술대회 논문집 전기기기 및 에너지변환시스템부문
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• pp.39-41
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• 2001

This paper deals with a simulation and a position control for linear synchronous motor with Halbach array (HA) permanent magnet mover. We derived decouple the forces (thrust, normal force) by magnetic field modeling of the electromagnetic field analysis. The results of control simulation for HA-PM having air-core primary are calculated using M Simulink.

• Journal of Power Electronics
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• 제18권6호
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• pp.1683-1696
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• 2018

Under the conventional control strategy, the asymmetry of arm impedances may result in the poor operating performance of modular multilevel converters (MMCs). For example, fundamental frequency oscillation and double frequency components may occur in the dc and ac sides, respectively; and submodule (SM) capacitor voltages among the arms may not be balanced. This study presents an enhanced control strategy to deal with these problems. A mathematical model of an MMC with asymmetric arm impedance is first established. The causes for the above phenomena are analyzed on the basis of the model. Subsequently, an enhanced current control with five integrated proportional integral resonant regulators is designed to protect the ac and dc terminal behavior of converters from asymmetric arm impedances. Furthermore, an enhanced capacitor voltage control is designed to balance the capacitor voltage among the arms with high efficiency and to decouple the ac side control, dc side control, and capacitor voltage balance control among the arms. The accuracy of the theoretical analysis and the effectiveness of the proposed enhanced control strategy are verified through simulation and experimental results.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1997년도 하계학술대회 논문집 F
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• pp.1954-1956
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• 1997

In this paper, a variable structure current control scheme for field-oriented induction motor drive is presented. The current controller based on space voltage vector PWM scheme consists of feedforward, decouple and variable structure control. The proposed current controller tracks reference value quickly, has robust property against parameter variation and disturbance, reduces switching frequency and improves performance of induction motor drive. Finally, the proposed current controller is verified by digital simulation

• Journal of Advanced Marine Engineering and Technology
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• 제20권1호
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• pp.37-43
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• 1996

This paper presents a new control scheme for decoupling the dynamics of two coordinating robot manipulators. A simple full-state feedback scheme with configuration dependent gains can be devised to decouple the system dynamics such that the dynamics of each arm and that of an object held by the two arms is independent of one another. A condition for stability is shown. The advantage of the proposed scheme is that the same control scheme can be applied both for the closed kinematic chain(object-grasping) case and open kinematic chain(no object-grasping) case.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1999년도 추계학술대회 논문집 학회본부 B
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• pp.561-563
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• 1999

The looper of a hot strip finishing mill is installed between each pair of stands and plays a key role to enhance the product quality of strip by controlling the tension and height of strip in each inter-stand. Though the conventional looper control has achieved the mass products of strip so far, it has difficulties not only tuning gains by means of errors which are caused by coupling effects between strip tension and looper angle both utilizing tension feedback. Therefore, the non-interactive control employing cross controller and tension feedback has been introduced in looper control system in order to overcome the coupling effects existing between tension and looper angle and track the reference tension efficiently. In this paper, we present the cross controllers which play a role to decouple reciprocal effects between tension and looper angle and show better performance.

• Journal of Power Electronics
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• 제16권4호
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• pp.1375-1386
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• 2016

To decouple the secondary saliencies in sensorless permanent magnet synchronous machine (PMSM) drives, a repetitive control (RC) in the angle domain is proposed. In this paper, the inductance model of a concentrated windings surface-mounted PMSM (cwSPMSM) with strong secondary saliencies is developed. Due to the secondary saliencies, the estimated position contains harmonic disturbances that are periodic relative to the angular position. Through a transformation from the time domain to the angle domain, these varying frequency disturbances can be treated as constant periodic disturbances. The proposed angle-domain RC is plugged into an existing phase-locked loop (PLL) and utilizes the error of the PLL to generate signals to suppress these periodic disturbances. A stability analysis and parameter design guidelines of the RC are addressed in detail. Finally, the proposed method is carried out on a cwSPMSM drive test-bench. The effectiveness and accuracy are verified by experimental results.