• 제어로봇시스템학회:학술대회논문집
• /
• 1991.10a
• /
• pp.376-382
• /
• 1991

In the analysis of constrained holonomic systems, the Lagange multiplier method yields a system of second-order ordinary differential equations of motion and algebraic constraint equations. Conventional holonomic or nonholonomic constraints are defined as geometric constraints in this paper. Previous works concentrate on the geometric constraints. However, if the total energy of a dynamic system can be computed from the initial energy plus the time integral of the energy input rate due to external or internal forces, then the total energy can be artificially treated as a constraint. The violation of the total energy constraint due to numerical errors can be used as information to control these errors. It is a necessary condition for accurate simulation that both geometric and energy constraints be satisfied. When geometric constraint control is combined with energy constraint control, numerical simulation of a constrained dynamic system becomes more accurate. A new convenient and effective method to implement energy constraint control in numerical simulation is developed based on the geometric interpretation of the relation between constraints in the phase space. Several combinations of energy constraint control with either Baumgarte's Constraint Violation Stabilization Method (CVSM) are also addressed.

• Journal of Power Electronics
• /
• v.18 no.4
• /
• pp.1111-1126
• /
• 2018

In modern power systems, distributed generators (DGs) result in high stress on system frequency stability. Apart from the intermittent nature of DGs, most DGs do not contribute inertia or damping to systems. As a result, a new control method referred to as a virtual synchronous machine (VSM) has been proposed, which brought new characteristics to inverters such as synchronous machines (SM). DGs employing an energy storage system (ESS) provide inertia and damping through VSM control. Meanwhile, energy storage presents some physical constraints in the VSM implementation level. In this paper, a VSM mathematical model is built and analyzed. The dynamic responses of the output active power are presented when a step change in the frequency occurs. The influences of the inertia constant, damping factor and operating point on the ESS volume margins are investigated. In addition, physical constraints are proposed based on these analyses. The proposed physical constraints are simulated using PSCAD/EMTDC software and tested through RTDS experiment. Both simulation and RTDS test results verify the analysis.

• Journal of the Korean Solar Energy Society
• /
• v.30 no.5
• /
• pp.44-55
• /
• 2010

The proposed offshore wind farm projects, i.e., Mooudo offshore, Yeonggwang-Gochang offshore, Saemangeum offshore, Imjado offshore and Gadeokdo-Dadeapo offshore, were compared and analyzed using the Korea National Wind Mapand Wind Farm Suitability Assessment System developed by the Korea Institute of Energy Research. The suitability of the proposed areas was comprehensively assessed using geographic, economic constraints, wave condition and wind resource factors, but the focus of this paper was on the geographic constraints and wave conditions. Imjado had several geographical constraints, despite having a good wind power density, while Saemangeum had a relatively low wave height, shallow water depth, close substation and slow tidal current. It is anticipating that the present comparison and analysis could be used as reference guidelines when selecting and preparing the design of large-scale offshore wind farm in the near future.

• Proceedings of the KIEE Conference
• /
• 1996.07b
• /
• pp.793-796
• /
• 1996

This study proposes a new algorithm which performs a production simulation under various constraints and maintains computational efficiency. In order to consider the environmental and operational constraints, the proposed algorithm is based on optimization techniques formulated in LP form In the algorithm, "system characteristic constraints" reflect the system characteristics such as LDC shape, unit loading order and forced outage rate. By using the concept of Energy Invariance Property and two operational rules i.e. Compliance Rule for Emission Constraint, Compliance Rule for Limited Energy of Individual Unit, the number of system characteristic constraints is appreciably reduced. As a solution method of the optimization problem, the author uses Karmarkar's method which performs effectively in solving large scale LP problem. The efficiency of production simulation is meaningful when it is effectively used in power system planning. With the proposed production simulation algorithm, an optimal expansion planning model which can cope with operational constraints, environmental restriction, and various uncertainties is developed. This expansion planning model is applied to the long range planning schemes by WASP, and determines an optimal expansion scheme which considers the effect of supply interruption, load forecasting errors, multistates of unit operation, plural limited energy plants etc.

• Journal of Communications and Networks
• /
• v.16 no.1
• /
• pp.36-44
• /
• 2014

Exploiting the energy-delay tradeoff for energy saving is critical for developing green wireless communication systems. In this paper, we investigate the delay-constrained energy-efficient packet transmission. We aim to minimize the energy consumption of multiple randomly arrived packets in an additive white Gaussian noise channel subject to individual packet delay constraints, by taking into account the practical on-off circuit power consumption at the transmitter. First, we consider the offline case, by assuming that the full packet arrival information is known a priori at the transmitter, and formulate the energy minimization problem as a non-convex optimization problem. By exploiting the specific problem structure, we propose an efficient scheduling algorithm to obtain the globally optimal solution. It is shown that the optimal solution consists of two types of scheduling intervals, namely "selected-off" and "always-on" intervals, which correspond to bits-per-joule energy efficiency maximization and "lazy scheduling" rate allocation, respectively. Next, we consider the practical online case where only causal packet arrival information is available. Inspired by the optimal offline solution, we propose a new online scheme. It is shown by simulations that the proposed online scheme has a comparable performance with the optimal offline one and outperforms the design without considering on-off circuit power as well as the other heuristically designed online schemes.

• Journal of The Korean Astronomical Society
• /
• v.38 no.2
• /
• pp.175-178
• /
• 2005

We show that next-generation galaxy surveys such as KAOS (the Kilo-Aperture Optical Spectro-graph)will constrain dark energy even if the baryon oscillations are missing from the monopole power spectrum and the bias is scale- and time-dependent KAOS will accurately measure the quadrupole power spectrum which gives the leading anisotropies in the power spectrum in redshift space due to peculiar velocities, the finger of God effect, as well as the Alcock-Paczynski effect. The combination of monopole and quadrupole power spectra powerfully breaks the degeneracy between the bias parameters and dark energy and, in the complete absence of baryon oscillations ($\Omega$b = 0), leads to a roughly $500\%$ improvement in constraints on dark energy compared with the monopole spectrum alone. As a result, for KAOS the worst case with no oscillations has dark energy errors only mildly degraded relative to the ideal case, providing insurance on the robustness of KAOS constraints on dark energy. We show that nonlinear effects are crucial in correctly evaluating the quadrupole and significantly improving the constraints on dark energy when we allow for multi-parameter scale-dependent bias.

• KSII Transactions on Internet and Information Systems (TIIS)
• /
• v.2 no.1
• /
• pp.51-62
• /
• 2008

This paper proposes a second-order implicit constraint enforcement method which yields enhanced controllability compared to a first-order implicit constraints enforcement method. Although the proposed method requires solving a linear system twice, it yields superior accuracy from the constraints error perspective and guarantees the precise and natural movement of objects, in contrast to the first-order method. Thus, the proposed method is the most suitable for exact prediction simulations. This paper describes the numerical formulation of second-order implicit constraints enforcement. To prove its superiority, the proposed method is compared with the firstorder method using a simple two-link simulation. In this paper, there is a reasonable discussion about the comparison of constraints error and the analysis of dynamic behavior using kinetic energy and potential energy.

• 제어로봇시스템학회:학술대회논문집
• /
• 2003.10a
• /
• pp.215-219
• /
• 2003

In this paper, we generate a trajectory minimized the energy gait of a biped robot for walking a staircase using genetic algorithms and apply to the computed torque controller for the stable dynamic biped locomotion. In the saggital plane, a 6 degree of freedom biped robot that model consists of seven links is used. In order to minimize the total energy efficiency, the Real-Coded Genetic Algorithm (RCGA) is used. Operators of genetic algorithms are composed of a reproduction, crossover and mutation. In order to approximate the walking gait, the each joint angle is defined as a 4-th order polynomial of which coefficients are chromosomes. Constraints are divided into equality and inequality. Firstly, equality constraints consist of position conditions at the end of stride period and each joint angle and angular velocity condition for periodic walking. On the other hand, inequality constraints include the knee joint conditions, the zero moment point conditions for the x-direction and the tip conditions of swing leg during the period of a stride for walking a staircase.

• The Transactions of the Korean Institute of Electrical Engineers A
• /
• v.55 no.1
• /
• pp.1-6
• /
• 2006

The emergence of competitive power market makes dispatch algorithm with transient stability constraints increasingly important for the transparent power system operation. Heuristic and off-line evaluation for the operation point can produce a discrimination among market players in the deregulated power system. In this paper, a dispatch algorithm with transient stability constraints is proposed. Energy margin under the TEF(Transient Energy Function) structure is adopted as a measure for the stability index. Implementation issues and simulation results are discussed in the context of a 10-bus system

• Journal of Electrical Engineering and Technology
• /
• v.13 no.3
• /
• pp.1099-1109
• /
• 2018

For practical consideration, economic dispatch (ED) problems in power system have non-smooth cost functions with equality and inequality constraints that makes the problems complex constrained nonlinear optimization problems. This paper proposes a new constraint handling method for equality and inequality constraints which is employed to solve ED problems, where the incremental rate is employed to enhance the modification process. In order to prove the applicability of the proposed method, the study cases are tested based on the classical particle swarm optimization (PSO) and differential evolution (DE) algorithm. The proposed method is evaluated for ED problems using six different test systems: 6-, 15-, 20-, 38-, 110- and 140-generators system. Simulation results show that it can always find the satisfactory solutions while satisfying the constraints.