• Journal of the Korean Institute of Illuminating and Electrical Installation Engineers
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• v.25 no.8
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• pp.122-131
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• 2011

In this paper, the design and analysis of a reconfigurable modular structure, which reforms itself according to the change of the environment and realize appropriate forms and motions, are dealt with. This modular is a free structure from the restrictions with constraints about fixed environment and has various forms and motions by combining units. The form of this unit has a shape of a square with 7 centimeters side each, and has a structure which can be combined in a chain-shape or a lattice-shape. Additionally, The structure has a mobility by being equipped with wheels so that it can be combined for itself. In this paper, all the wireless controllers, sensor system, and communicating method between modules according to module structures were suggested and transformation method to be transformed to shape of snakes, caterpillars were presented. Moreover, simulations for each method were performed to show the validity of the motions including motor torque analysis. All the motions suggested were realized and experimented, whereby the availability of the designed mechanism and algorithm was verified with the result of experiments.

• Journal of Convergence for Information Technology
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• v.7 no.5
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• pp.95-102
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• 2017

Modular toys for creative education require functional blocks to create various types of movements. An active drive module and a lot of passive connection blocks are needed to express motion with combination. In this paper, we propose the design of modular toys to produce various creative movements and controller structure working with them. In order to facilitate the connection between the designed modules, a connection method and a suitable mechanism are suggested. We also dealt with the design of various types of sensor modules that can work in conjunction with modular toys. Using these toys, typical standard application form that can be imitated educationally is suggested and showed the usefulness of the modular toy by actually applying it with designed modules and components. The proposed method is applied to actual educational toys, and the operation is effectively performed by recording operation and playing repetitive operation.

• Journal of Power Electronics
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• v.18 no.6
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• pp.1659-1669
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• 2018

An improved circulating current suppression control method is proposed in this paper. In the proposed controller, an outer loop of the average capacitor voltage control model is used to balance the sub-module capacitor voltage. Meanwhile, an individual voltage balance controller and an arm voltage balance controller are also used. The DC and harmonic components of the circulating current are separated using a low pass filter. Therefore, a multiple quasi-proportional-resonant (multi-quasi-PR) controller is introduced in the inner loop to eliminate the circulating harmonic current, which mainly contains second-order harmonic but also contains other high-order harmonics. In addition, the parameters of the multi-quasi-PR controller are designed in the discrete domain and an analysis of the stability characteristic is given in this paper. In addition, a simulation model of a three-phase MMC system is built in order to confirm the correctness and superiority of the proposed controller. Finally, experiment results are presented and compared. These results illustrate that the improved control method has good performance in suppressing circulating harmonic current and in balancing the capacitor voltage.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2005.06a
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• pp.246-249
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• 2005

For agile production methods, manufacturing system requires development of a motion controller which has flexibility of general-purpose motion controller and productivity of specialized-purpose one. In this study we developed a flowchart programming development environment for motion language and process control. A controller designed on this environment can be used as a general purpose motion controller of a machine tool. Design of control programming based on a flowchart has the advantages such as reducing the programming time and improving intuitiveness of interface for users. We created the flowchart-based platform using OPC communication

• Transactions of the Korean Society of Mechanical Engineers A
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• v.26 no.12
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• pp.2519-2526
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• 2002

A disturbance observer-based vehicle stability controller is proposed in this paper. The lumped disturbance to the vehicle yaw rate dynamics caused by the uncertain factors such as uncertain tire forces and parameters is estimated by the disturbance observer, which is utilized by the robust controller to stabilize the lateral dynamics of the vehicle. The dynamics of the hydraulic actuator is incorporated in the vehicle stability controller design using the model reduction technique. Modular control design methodology is adopted to effectively deal with the mismatched uncertainty. Simulation results indicate that the proposed disturbance observer-based vehicle stability controller can achieve the desired reference tracking performance as well as sufficient level of robustness.

• Proceedings of the KIEE Conference
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• 2000.07d
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• pp.2684-2686
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• 2000

This paper describes a preliminary study on a modeling technique for control performance evaluation of asynchronous TMR(Triple Modular Redundancy) controller. Hybrid system modeling is applied to TMR controller performance evaluation and mixed logical dynamical system description is used to model the behavior of majority voter in the controller. Windup and bumpless transfer problems in redundancy controls are also mentioned.

• Proceedings of the Korea Committee for Ocean Resources and Engineering Conference
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• 2006.11a
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• pp.331-334
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• 2006

This paper deals with the ways how the AUV is composed of sub-modules to be fault-tolerant during the mission. The emergency situations can be classified into several parts according to the zones where the situations take place - sensor zone, actuator zone, interpreter zone, and communication zone. This paper explains how each element of emergency situation is detected, contained and treated, and as a result, introduce the modular structured AUV controller for the autonomous cruising.

• Journal of Power Electronics
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• v.17 no.2
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• pp.346-357
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• 2017

The Modular Multilevel Converter (MMC) is particularly attractive for medium and high power applications such as High-Voltage Direct Current (HVDC) systems. In order to reach a high voltage, the number of cascaded submodules (SMs) is generally very large. Thus, in the applications with hundreds or even thousands of SMs such as MMC-HVDCs, the sorting algorithm of the conventional voltage balancing strategy is extremely slow. This complicates the controller design and increases the hardware cost tremendously. This paper presents a Two-Way Merge Sort (TWMS) strategy based on the prediction of the capacitor voltages under ideal conditions. It also proposes an innovative Insertion Sort Correction for the TWMS (ISC-TWMS) to solve issues in practical engineering under non-ideal conditions. The proposed sorting methods are combined with the features of the MMC-HVDC control strategy, which significantly accelerates the sorting process and reduces the implementation efforts. In comparison with the commonly used quicksort algorithm, it saves at least two-thirds of the sorting execution time in one arm with 100 SMs, and saves more with a higher number of SMs. A 501-level MMC-HVDC simulation model in PSCAD/EMTDC has been built to verify the validity of the proposed strategies. The fast speed and high efficiency of the algorithms are demonstrated by experiments with a DSP controller (TMS320F28335).

• The Transactions of The Korean Institute of Electrical Engineers
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• v.62 no.12
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• pp.1678-1687
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• 2013

This paper describes a prototype of 3-phase 3.3kV/220V 6kVA modular semiconductor transformer developed in the lab for feasibility study. The developed prototype is composed of three single-phase units coupled in Y-connection. Each single-phase unit with a rating of 1.9kV/127V 2kVA consists of a high-voltage high-frequency resonant AC-DC converter, a low-voltage hybrid-switching DC-DC converter, and a low-voltage hybrid-switching DC-AC converter. Also each single-phase unit has two DSP controllers to control converter operation and to acquire monitoring data. Monitoring system was developed based on LabView by using CAN communication link between the DSP controller and PC. Through various experimental analyses it was verified that the prototype operates with proper performance under normal and sag condition. The system efficiency can be improved by adopting optimal design and replacing the IGBT switch with the SiC MOSFET switch. The developed prototype confirms a possibility to build a commercial high-voltage high-power semiconductor transformer by increasing the number of series-connected converter modules in high-voltage side and improving the performance of switching element.

• Journal of Power Electronics
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• v.18 no.2
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• pp.502-510
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• 2018

A circulating current is a major problem caused by directly connecting voltage-source inverters (VSIs) in parallel. This circulating current occurs as a zero-sequence current between the inverters by specific switch states. Several studies have presented alternatives using hardware and software methods. When coupled inductors (CIs) are employed for the high-frequency circulating current, a controller is required to prevent the low-frequency circulating current from saturating the CIs. In this study, the zero-sequence circulating current and its alternatives are investigated using hardware and mathematical description. A high-performance circulating current controller is proposed by applying a repetitive controller to the zero-sequence current control loop. The proposed controller can effectively minimize the low-frequency circulating current without any data sharing between the inverters in unfavorable conditions. It can also be applicable to the modular configuration of parallel three-phase VSIs. Experimental results verify the performance of the proposed controller.