• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.633-635
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• 1997

In this paper we present a scheme of adaptive backstepping controller for nonlinear system. Backstepping approach has recently been adopted as a design tool for nonlinear control and especially backstepping with modular design used to seperately design controller and identifier. In the modular design the nonlinear damping term is contained in controller for input-to-state stability (ISS). We compare the ISS controller, which used in general case, with the weak-ISS controller that attenuates the effect of nonlinear damping term and prove their advantages and disadvantages by simulation.

• Proceedings of the KIPE Conference
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• 2010.11a
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• pp.44-45
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• 2010

In this paper a new PFC Controller for 3-Phase Modular UPS is proposed. The PFC circuit for 3-Phase Modular UPS is implemented using three 1-phase 3-level boost PFC circuits. To control DC output voltage and AC input current, single voltage controller considering imbalance of two capacitor voltages and three independent current controllers are used in proposed PFC controller.

• Journal of Industrial Technology
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• v.31 no.B
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• pp.75-79
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• 2011

In this paper a new PFC Controller for 3-Phase Modular UPS(Uninterruptible Power Supplies) is proposed. The PFC circuit for 3-Phase Modular UPS is implemented using three 1-phase 3-level boost PFC circuits. To control DC output voltage, single voltage controller considering imbalance of two capacitor voltages and to regulate AC input current three independent current controllers are used in proposed PFC controller. By the proposed method, without additional hardware, THD(Total Harmonic Distortion) of input currents can be readily limited below 5% which is the harmonic current requirements by IEEE std. 519. Its validity is verified by simulations and experiments.

• Journal of the Korean Institute of Intelligent Systems
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• v.19 no.4
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• pp.470-477
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• 2009

Modular reconfigurable robots with physical docking capability easily adapt to a new environment and many studies are necessary for the modular robots. In this paper, we propose a vision-based fuzzy autonomous docking controller for the modular docking robots. A modular docking robot platform which performs real-time image processing is designed and color-based object recognition method is implemented on the embedded system. The docking robot can navigate to a subgoal near a target robot while avoiding obstacles. Both a fuzzy obstacle avoidance controller and a fuzzy navigation controller for subgoal tracking are designed. We propose an autonomous docking controller using the fuzzy obstacle avoidance and navigation controllers, absolute distance information and direction informations of robots from PSD sensors and a compass sensor. We verify the proposed docking control method by docking experiments of the developed modular robots in the various environments with different distances and directions between robots.

• Proceedings of the KIPE Conference
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• 2016.11a
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• pp.143-144
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• 2016

The circulating current control within the phase legs is one of the main control objectives in a modular multilevel converter (MMC) under different operating conditions. This paper proposes a control strategy of circulating currents in the MMC under unbalanced voltage by using a proportional-resonant (PR) controller. Under the unbalanced voltage, the circulating currents in the MMC consists of three components such as positive-sequence, negative-sequence, and zero-sequence circulating currents. With the PR controller, all components of the circulating current will be directly controlled in the stationary reference frame without decomposing into positive- and negative-sequence components. Thus, the ripples in the circulating currents and the DC current are suppressed under the unbalanced voltage. The effectiveness of the proposed method is verified by simulation results based on PSCAD/EMTDC simulation program.

• Journal of Power Electronics
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• v.14 no.6
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• pp.1100-1108
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• 2014

Modular multilevel converters (MMCs) have emerged as the most promising topology for high and medium voltage applications for the coming years. However, one particular negative characteristic of MMCs is the existence of circulating current, which contains a dc component and a series of low-frequency even-order ac harmonics. If not suppressed, these ac harmonics will distort the arm currents, increase the power loses, and cause higher current stresses on the semiconductor devices. Repetitive control (RC) is well known due to its distinctive capabilities in tracking periodic signals and eliminating periodic errors. In this paper, a novel circulating current control scheme base on RC is proposed to effectively track the dc component and to restrain the low-frequency ac harmonics. The integrating function is inherently embedded in the RC controller. Therefore, the proposed circulating current control only parallels the RC controller with a proportional controller. Thus, conflicts between the RC controller and the traditional proportional integral (PI) controller can be avoided. The design methodologies of the RC controller and a stability analysis are also introduced. The validity of the proposed circulating current control approach has been verified by simulation and experimental results based on a three-phase MMC downscaled prototype.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.290-290
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• 2000

This paper presents some ideas about an open architectural controller platform for semiconductor manufacturing equipment First, we proposed modular-typed software architecture. Each module is composed of commands and status sets. Second, common bus protocol is suggested in order to communicate with other modules. It is designed with visual c++ programming. Finally, job program is consisted of simple commands and status. Consequently, Controllers are easily developed with some required modular assembling.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.63 no.1
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• pp.70-75
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• 2014

TMR(triple modular redundant) digital excitation system with simulator is developed for tuning optimal control parameters during commissioning test and coping with system faults rapidly. A new system which mocks up virtual generator, turbine, grid can simulate as if excitation system is connected to a real generator system by setting four switches. The maintenance crew using the simulator is able to test perfectly the phase controller rectifiers, field breaker, sequence relays as well as TMR controller of the excitation system. Commissioning and performance results about the excitation system with simulator is discussed. The trial product was installed and operated at a 500MW thermal power plant after the commissioning test.

• Journal of Institute of Control, Robotics and Systems
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• v.5 no.5
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• pp.550-557
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• 1999

This paper describes a road-following controller using the proposed neural network for autonomous vehicle. Road-following with visual sensor like camera requires intelligent control algorithm because analysis of relation from road image to steering control is complex. The proposed neural network, relative similarity modular network(RSMN), is composed of some learning networks and a partitioniing network. The partitioning network divides input space into multiple sections by similarity of input data. Because divided section has simlar input patterns, RSMN can learn nonlinear relation such as road-following with visual control easily. Visual control uses two criteria on road image from camera; one is position of vanishing point of road, the other is slope of vanishing line of road. The controller using neural network has input of two criteria and output of steering angle. To confirm performance of the proposed neural network controller, a software is developed to simulate vehicle dynamics, camera image generation, visual control, and road-following. Also, prototype autonomous electric vehicle is developed, and usefulness of the controller is verified by physical driving test.

• The Journal of Korea Robotics Society
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• v.15 no.2
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• pp.131-138
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• 2020

This paper proposes a low-cost robotic surgery system composed of a general purpose robotic arm, an interface for daVinci surgical robot tools and a modular haptic controller utilizing smart actuators. The 7 degree of freedom (DOF) haptic controller is suspended in the air using the gravity compensation, and the 3D position and orientation of the controller endpoint is calculated from the joint readings and the forward kinematics of the haptic controller. Then the joint angles for a general purpose robotic arm is calculated using the analytic inverse kinematics so that that the tooltip reaches the target position through a small incision. Finally, the surgical tool wrist joints angles are calculated to make the tooltip correctly face the desired orientation. The suggested system is implemented and validated using the physical UR5e robotic arm.