• 전기학회논문지
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• 제62권8호
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• pp.1163-1168
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• 2013

The maximum allowable value of loop impedance($Z_s$) to secure the operation of overcurrent protective devices and the safety for indirect contact is a very important in TN-C-S system. The loop impedance is divided into inner loop impedance which consumer can adjust and external loop impedance($Z_e$) which only electric operator can adjust. Thus, an external loop impedance which limits to less than a certain value is a very important factor for human body protection against electric shock in TN-C-S system. The concept of loop impedance($Z_s$) is recently introduced to the domestic, the study about external loop impedance is yet insufficient. However, the study about the reference impedance as specified by the IEC 60725 standard to improve the quality and reliability of the power supply is being made. In this paper, reference value of external loop impedance($Z_e$) to meet domestic environment will be proposed by the nationwide measurement and statistical analysis.

• 전기학회논문지
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• 제61권2호
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• pp.342-346
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• 2012

This paper presents a loop impedance(inner loop impedance & external impedance) measurement method in TN system. When the measurement of a loop impedance then the measurement result have a some error by load condition. In this paper suggest the loop impedance measurement on actual loading condition by two experiment. one was laboratory condition and the other was the actual measurement on site. Analysis result, measuring error by load condition has not effect on measuring loop impedance.

• 로봇학회논문지
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• 제15권1호
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• pp.77-89
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• 2020

This paper proposes a simple and intuitive model-free torque-tracking control for rotary electro-hydraulic actuators. The undesirable natural-velocity-feedback effect is discussed by introducing mechanical impedance into the electro-hydraulic actuation system. The proposed model-free torque control comprises inner- and outer-loop control to achieve two control objectives. Inner-loop control reduces the mechanical impedance passively and optimally. To improve the tracking accuracy, a certain form of proportional-integral-derivative control is applied to the outer loop. The robustness of the proposed closed-loop system against external disturbances is demonstrated by transforming the two-loop control structure into a disturbance observer form. The proposed method is validated on a single joint electro-hydraulic actuator.

• 대한전자공학회:학술대회논문집
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• 대한전자공학회 2000년도 하계종합학술대회 논문집(5)
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• pp.39-42
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• 2000

In this paper we design the robust impedance controller of the robot manipulator with time delay. The designed controller considers time delay in the position loop and stabilizes the closed-loop system. The performance of a controller can be easily degraded by external disturbances. To improve the performance when external disturbances exist, we use the disturbance observer to handle the disturbances in the velocity loop and provide robustness to the control system. To show the validity of the designed controller, several experiments are performed for the 5-DOF robot manipulator equipped with the wrist force/torque sensor system.

• 대한전자공학회:학술대회논문집
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• 대한전자공학회 2000년도 ITC-CSCC -2
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• pp.604-607
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• 2000

In this paper we design the robust impedance controller of the robot manipulator with time delay. The designed controller considers time delay in the position loop and stabilizes the closed-loop system. The performance of a controller can be easily degraded by external disturbances. To improve the performance when external disturbances exist, we use the disturbance observer to handle the disturbances in the velocity loop and provide robustness to the control system. To show the validity of the designed controller, several experiments are performed for the 5-DOF robot manipulator equipped with the wrist force/torque sensor system.

• Journal of Power Electronics
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• 제16권6호
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• pp.2338-2349
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• 2016

This paper presents an impedance-matching-based control scheme for the harmonic resonance damping of multiple grid-connected-converters (GCCs) with LCL filters. As indicated in this paper, harmonic resonance occurs if a GCC possesses an output impedance that is not matched with the rest of the network in some specific frequency bands. It is also revealed that the resonance frequency is associated with the number of GCCs, the grid impedance and even the capacitive loads. By controlling the grid-side current instead of the converter-side current, the critical LCL filter is restricted as an internal component. Thus, the closed-loop output impedance of the GCC within the filter can be configured. The proposed scheme actively regulates the output impedance of the GCC to match the impedance of the external network, based on the detected resonance frequency. As a result, the resonance risk of multiple GCCs can be avoided, which is beneficial for the plug-and-play property of the GCCs in microgrids. Simulation and experimental results validate the effectiveness of the proposed method.

• 로봇학회논문지
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• 제13권3호
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• pp.157-163
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• 2018

This paper deals with the development and application of control algorithms for series elastic relief robots for rescue operations in harsh environment like disasters or battlefield. The joint controller applied in this paper has a cascade structure combining inner loop for torque control and outer loop for position control. The torque loop contains feedforward and feedback controller and disturbance observer for independent, decentralized joint control. The effect of the elastic component and motor dynamics are treated as the nonlinear disturbance and compensated with the disturbance observer of torque controller. For the collision detection, Band Designed Disturbance Observer is configured to recognize/respond to external disturbance robustly in the continuously changing environment. The controller is applied to a 7-dof series elastic manipulator to evaluate the torque tracking and collision detection/response performance.

• 한국항행학회논문지
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• 제22권2호
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• pp.148-153
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• 2018

본 논문에서는 복수 수신기에 전력을 전송하기 위한 SIMO (single-input multiple-output) 자기공진방식 무선전력전송 시스템을 제안하고, 이에 따른 시뮬레이션 및 측정결과를 제시하였다. 지름 600 mm 의 송신 단일루프 및 송신 헬리컬 공진 코일, 외경 900 mm 스파이럴 수신 공진 코일을 사용하고, $80{\times}60mm^2$ 평판 사각 코일을 수신으로 활용하여 600mm 떨어진 테이블 형태 구조로 무선전력전송 시스템을 구성하였다. 최적의 특성을 위해 무선전력전송 코일을 설계하고 3차원 전자계해석 및 등가회로 해석 시뮬레이션을 진행하고 이를 제작하여 전송 특성을 측정하였다. 스파이럴 공진코일의 중심부에서 거리에 따른 효율변화를 해석하였으며, 구성한 시스템의 측정결과 수신기가 1개일 경우의 효율은 57 % 이며, 2개로 수신될 경우 각각 37 %의 전송 효율을 나타내었다.