• Journal of Institute of Control, Robotics and Systems
• /
• v.15 no.11
• /
• pp.1122-1129
• /
• 2009

Recently taping robot with smart recognition function have been studied in the coil manufacturing field. Due to the difficulty of 3D surface processing from the complicated working environment, it is not easy to accomplish smart tape attachment motion with non-contact sensor. To solve these problems the applicable surface recognition algorithm and a flexible sensing device has been recommended. In this research, the fusion method between 1D displacement and 3D laser scanner is applied for robust tape attachment about cold rolled coil. With these sensors we develop a two-step exploration and the smart algorithm for the awareness of non-aligned coil's information. In the proposed robot system for tape attachment, the problem is reduced to coil's radius searching with laser displacement sensor at first, and then position and orientation detection with 3D laser scanner. To get the movement at the robot's base frame, the hand-eye compensation between robot's end effector and sensing device should be also carried out respectively. In this paper, we examine the auto-coordinate transformation method in the calibration step for the real environment usage. From the experimental results, it was shown that the taping motion of robot had a robust under the non-aligned cold rolled coil.

• Proceedings of the KIEE Conference
• /
• 1994.07a
• /
• pp.505-508
• /
• 1994

This paper describes an implementation of a single phase PWM ac/dc converter whose control scheme can be directly applied to the rectification of ac traction system. Power circuit using self-commutated switching devices(GTO) provides input power factor correction with dc voltage regulation. Effective compensation of load variations and line disturbance can be accomplished by real time instantaneous control of ac input current and dc link voltage using 32 bit floating point DSP. Parallel operation of two converters reduces the input line current ripple. Experimental results of the two parallel converter system are shown in the 20KW range for the verification of the system.

• The Transactions of The Korean Institute of Electrical Engineers
• /
• v.65 no.10
• /
• pp.1648-1654
• /
• 2016

This paper analyzes complex vector current control for the enhanced cross-coupling compensation in accordance with parameter variation in grid-connected inverter system, and verifies through simulation and experiment. Complex vector current control is performed in the synchronous reference frame through d-q transformation. It generates cross-coupling components with rotating nominal angular frequency. In general, cross-coupling elements are compensated by decoupling terms added to output of conventional decoupling PI controller. But, it is impossible to compensate them perfectly which transient response is especially deteriorated such as large overshoot and slow tracking, when variation of grid impedance or measurement error occurs. However, complex vector current control can improve stability and response characteristic of current control regardless of the situation as before. Decoupling controller and complex vector controller are represented through complex forms, and these controllers are analyzed by using frequency response in s-domain, respectively. It is verified that complex vector controller has more superior response characteristic than decoupling controller through MATALB, PSIM and experimental in 5kW grid-connected inverter when L filter parameter is varied from 1.1mH to increase double, 2.2mH.

• Journal of Power Electronics
• /
• v.10 no.5
• /
• pp.485-490
• /
• 2010

Sensorless control methods are generally used in motor control for home-appliances because of the material cost and manufactureing standard restrictions. The current model-based control algorithm is mainly used for PMSM sensorless control in the home-appliance industry. In this control method, the rotor position is estimated by using the d-axis and q-axis current errors between the real system and a motor model of the position estimator. As a result, the accuracy of the motor model parameters are critical in this control method. A mismatch of the PMSM parameters affects the speed and torque in low speed, steadystate responses. Rotor position errors are mainly caused by a mismatch of the stator resistance. In this paper, a stator resistance compensation algorithm is proposed to improve sensorless control performance. This algorithm is easy to implement and does not require a modification of the motor model or any special interruptions of the controller. The effectiveness of the proposed algorithm is verified through experimental results.

• The Transactions of the Korean Institute of Power Electronics
• /
• v.19 no.5
• /
• pp.457-462
• /
• 2014

Given their low cost, single rolling piston compressors (SRPC) are utilized in low-power room air-conditioning systems. The SRPC cycle is composed of one compression and discharge process per mechanical rotation. The load torque is high during the compression process of the refrigerants and low during the discharge process of the refrigerants. This load torque variation induces a speed ripple and severe vibration, which cause fatigue failures in the pipes and compressor parts, particularly under low-speed conditions. To reduce the vibration, the compressor usually operates at a high-speed range, where the rotor and piston inertia reduce the vibration. At a low speed, a predefined feed-forward load torque compensator is used to minimize the speed ripple and vibration. However, given that the load torque varies with temperature, pressure, and speed, a predefined load torque table based on one operating condition is not appropriate. This study proposes an online load torque compensator for SRPC. The proposed method utilizes the speed ripple as a load torque ripple factor. The speed ripple is transformed into a frequency domain and compensates each frequency harmonic term in an independent feed-forward manner. Experimental results are presented to verify the proposed method.

• The Transactions of the Korean Institute of Electrical Engineers P
• /
• v.59 no.2
• /
• pp.141-145
• /
• 2010

Most of the industrial loads includes the non-linear load as well as the linear load because there are many kinds of power conversion equipments at the input stage of the load in distribution network. The non-linear load causes the distortion of voltage waveform at PCC because the non-linear load generates the harmonic current. As a result, various voltage harmonics are existed at PCC depending on the current harmonics from the non-linear load. And, a series reactor is generally connected to the power capacitor in series to attenuate the distortion of voltage waveform and to reduce an inrush current of power capacitor. Also, harmonic current of power capacitor is highly dependent on the series reactor because it is operated with the power capacitor as a passive filter against nonlinear loads. Then, these capacitors might be damaged by the excessive voltage and current harmonic components. In this paper, we presented how to select the capacitor and series reactor to meet the requirement of the voltage distortion at PCC and analyzed the voltage, current and capacity rating of the power capacitor by the computer simulation to ensure the safe operation of power capacitor when the voltage harmonics at PCC are existed. Also, the analysis data were compared with the experimental measurements for the verification.

• Journal of the Korean Society for Precision Engineering
• /
• v.28 no.7
• /
• pp.789-795
• /
• 2011

In elliptical vibration cutting (EVC), cutting performance is largely affected by the shape of an elliptical path of the cutting tool. In this study, two parallel piezoelectric actuators were used to make an elliptical vibration cutting device. When harmonic voltages of $90^{\circ}$ out-of-phase are supplied to the EVC device, creation of an ideal elliptical trajectory whose major and minor axes are parallel to the cutting and thrust directions is anticipated from a kinematic analysis of the EVC device, however, the paths we experimentally observed showed significant distortions in its shape ranging from skew to excessive elongation of the major axis of the ellipse. To compensate distortions, an analytical model describing the elliptical path of the cutting tool was developed and verified with experimental results, and based on the analytical model, the distorted elliptical paths created at 100 Hz, 1 kHz, and 16 kHz were corrected for skew and elongation.

• Journal of Sensor Science and Technology
• /
• v.27 no.5
• /
• pp.294-299
• /
• 2018

This article describes the output properties of non-dispersive infrared carbon dioxide($CO_2$) sensors resulting from the changes in ambient temperatures. After the developed sensor module was installed inside the gas chamber, the temperature was set to 267 K, 277 K, 300 K, and 314 K, and the concentrations of $CO_2$ gas were increased from 0 to 5,000 ppm. Then, the output voltage at each concentration was obtained. Through these experimental results, two observations were made. First, both the $CO_2$ sensor and the reference sensor showed an increase in the output voltages as the temperature rose from 0 ppm, Second, the full scale outputs of the $CO_2$ sensor grew as the temperature increased. The output characteristics were analyzed based on two factors: change in the radiant energy of the infrared light source and change in the absorptivity of $CO_2$ gas according to the ambient temperature. Additionally, temperature compensation methods were discussed.

• Journal of Electrical Engineering and Technology
• /
• v.10 no.5
• /
• pp.2062-2069
• /
• 2015

In the series hybrid active power filter (SHAPF) with magnetic flux compensation (MFC), the system current oscillate in the experimental results when adding the same phase harmonic current command in current control block. This condition endangers the security of the SHAPF. Taking the digit period average arithmetic as example, this paper explains the inter-harmonics current oscillation in the experiment. The conclusion is that the SHAPF is unstable to the inter-harmonics current in theory. Limited by the capacity of the inverter, the system current and the inverter output current do not increase to infinite. At last, some methods are proposed to solve this problem. From the practical viewpoint, the voltage feed-forward control is easy to achieve. It can suppress the current oscillation problems, and also improve the filtering effect. The feasibility of the methods is validated by both the emulation and experiment results.

• Journal of Electrical Engineering and Technology
• /
• v.9 no.6
• /
• pp.2142-2153
• /
• 2014

Linearization of transducer characteristic plays a vital role in electronic instrumentation because all transducers have outputs nonlinearly related to the physical variables they sense. If the transducer output is nonlinear, it will produce a whole assortment of problems. Transducers rarely possess a perfectly linear transfer characteristic, but always have some degree of non-linearity over their range of operation. Attempts have been made by many researchers to increase the range of linearity of transducers. This paper presents a method to compensate nonlinearity of Linear Variable Displacement Transducer (LVDT) based on Extreme Learning Machine (ELM) method, Differential Evolution (DE) algorithm and Artificial Neural Network (ANN) trained by Genetic Algorithm (GA). Because of the mechanism structure, LVDT often exhibit inherent nonlinear input-output characteristics. The best approximation capability of optimized ANN technique is beneficial to this. The use of this proposed method is demonstrated through computer simulation with the experimental data of two different LVDTs. The results reveal that the proposed method compensated the presence of nonlinearity in the displacement transducer with very low training time, lowest Mean Square Error (MSE) value and better linearity. This research work involves less computational complexity and it behaves a good performance for nonlinearity compensation for LVDT and has good application prospect.