• International Journal of Control, Automation, and Systems
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• 제3권spc2호
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• pp.262-269
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• 2005

In this paper, a nonlinear robust control approach is applied to design a controller for the Static Synchronous Compensator (STATCOM). A robust control dynamic model of STATCOM in a one-machine, infinite-bus system is established with consideration of the torque disturbance acting on the rotating shaft of the generator set and the disturbance to the output voltage of STATCOM. A novel recursive approach is utilized to construct the energy storage function of the system such that the solution to the disturbance attenuation control problem is acquired, which avoids the difficulty involved in solving the Hamilton-Jacobi-Issacs (HJI) inequality. Sequentially, the nonlinear disturbance attenuation control strategy of STATCOM is obtained. Simulation results demonstrate that STATCOM with the proposed controller can more effectively improve the voltage stability, damp the oscillation, and enhance the transient stability of power systems compared to the conventional PI+PSS controller.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2002년도 ICCAS
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• pp.101.4-101
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• 2002

I. Introduction ▶The PID(Proportional-Integral-Derivative) controller is widely used in the industry it can be implemented easily for a typical second order plant. ▶The parameters of PID controller should be adapted complicatedly if a plant is various or the load is present. ▶For solving the problem, many control techniques have been developed. ▶A major method is a hybrid Fuzzy-PID controller. But, in case of using this method, we can not obtain characteristic of rapidly response and not achieved compensation on disturbance. ▶Therefore, we will use compensator fuzzy controller a front Hybrid type fuzzy-PID controller...

• 대한전기학회:학술대회논문집
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• 대한전기학회 2001년도 하계학술대회 논문집 A
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• pp.149-151
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• 2001

This paper proposes the design of STATCOM(static synchronous compensator) stabilizer for improving power system stability using fuzzy logic controller(FLC). The STATCOM DC voltage regulator contributes negative damping to the power system as the installation of STATCOM DC voltage regulator. STATCOM stabiliser is superimposed on the AC voltage regulator to compensate the negative damping effect. To evaluate usefulness of the proposed method, we perform the nonlinear simulation on a single-machine infinite bus system. As results of the simulations, the proposed method shows better control performance than PI controller in terms of damping effects.

• International Journal of Control, Automation, and Systems
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• 제5권3호
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• pp.343-348
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• 2007

This paper presents an adaptive controller for the compensation of state-dependent disturbance with unknown amplitude in a digital servo motor system. The state-dependent disturbance is caused by friction and eccentricity between the wheel axis and the motor driver of a mobile robot servo system. The proposed control scheme guarantees an asymptotical stability for both the velocity and position regulation. An experimental result shows the effectiveness of the adaptive disturbance compensator for wheeled-mobile robot in a low velocity diffusion tracking. A comparative experimental study with a simple PI controller is presented.

• Journal of Power Electronics
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• 제8권2호
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• pp.131-140
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• 2008

This paper presents a new control approach of DSTATCOM (distribution static compensator) for compensation of reactive power, unbalanced loading and harmonic currents under unbalanced non-sinusoidal ac mains. The control of DSTATCOM is achieved using Adaline based current estimator based on LMS algorithm to maintain source currents real and undistorted. The dc bus voltage of voltage source converter (VSC) working as DSTATCOM is maintained at constant voltage using a proportional-integral (PI) controller. The DSTATCOM system alongwith proposed control scheme is modeled in MATLAB to simulate the behavior of the system. The practical implementation of the DSTATCOM is carried out using dSPACE DS1104 R&D controller having TMS320F240 as a slave DSP. Simulated and implementation results are presented to demonstrate the effectiveness of the DSTATCOM with Adaline based control to meet the severe load perturbations with different types of loads (linear and non-linear) under distorted and unbalanced AC mains.

• Journal of Power Electronics
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• 제19권5호
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• pp.1153-1161
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• 2019

A current sharing controller is proposed in this paper for parallel-connected converters. The proposed controller is based on the calculation of the magnitudes of system current space vectors. Good current distribution between parallel converters is achieved with only one Proportional-Integral (PI) compensator. The proposed controller is analyzed and the circulating current impedance is derived for paralleled systems. The performance of the new control strategy is experimentally verified using two parallel connected converters employing Space Vector Pulse Width Modulation (SVPWM) feeding a passive RL load and a 2.2 kW three-phase induction motor load. The obtained test results show a reduction in the current imbalance ratio between the converters in the experimental setup from 53.9% to only 0.2% with the induction motor load.

• 전력전자학회:학술대회논문집
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• 전력전자학회 2019년도 전력전자학술대회
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• pp.334-335
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• 2019

본 논문은 전기철도용 전력보상장치로 사용되는 단상 3레벨 인버터를 제작하였으며, 단상 3레벨 인버터의 유 무효 전력제어기를 설계하였다. 단상 3레벨 인버터는 유 무효전력을 제어하기 위해 가상 동기좌표계 축 상에서 PI 제어기를 통해 전류제어를 수행한다. DC 링크 제어는 3레벨 인버터를 고려할 때 DC 링크 전압의 상단부와 하단부 전압의 평형상태를 유지하기 위해 제어하는 밸런싱 제어기를 포함한다. 10kVA 단상 3레벨 인버터 프로토타입을 설계하였으며, 안정한 유 무효전력제어 특성 실험 결과를 통해 단상 3레벨 인버터의 설계 및 제어 동작의 타당성을 검증하였다.

• 전력전자학회논문지
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• 제12권1호
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• pp.65-73
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• 2007

본 논문은 1-Hz의 낮은 고정자 전류 주파수에서도 동작하는 순수적분 기반의 자속추정을 위한 온라인 전류측정 오차 보상방법을 제안한다. 오프셋 전류와 변환이득오차에 의한 역상분 전류 성분은 상태관측기를 이용하여 제거하고, 동시에 변환이득오차에 의한 역상분 전류는 동기좌표계에서 영구자석에 의하여 발생된 q축 자속을 기준모델에 의한 값과 추정된 자속에 의한 값 사이의 차이에 의하여 보상한다. 이 보상기는 PI제어기를 이용하여 두 값 사이의 오차가 0이 되도록 제어한다. 또한 적분기 초기값 오차 및 관측기의 전동기 상수 오차에 의한 잔여오차 보상방법도 제안하였다. 타당성을 입증하기 위하여 1.1-kW 영구자석형 동기전동기(PMSM)에 제안된 보상 방법을 구현하여 다양한 실험을 수행하였다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.356-361
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• 2005

In this paper, a new scheme of current programmed control for three phase PWM AC-AC converter is presented. Compared to duty-ratio voltage control, current programmed control has several advantages such as reduction of system order and inherent current protection. By considering only the magnitude components, the same scheme in the DC-DC converter can be extended to the three phase PWM AC-AC converter. Sensing the output voltage and the inductor current, an error signal will be generated by comparing the output voltage magnitude with a reference value. Then the error signal will be processed by a PI compensator to generate the current command. The converter switches will the change the state by a periodic clock pulse or at the instants when the inductor current magnitude reaches the current command. As an example case, the buck converter is treated. The converter analysis is carried out by applying the complex DQ circuit transformation to obtain basic physical insight into the converter operation and to establish some important characteristic equations for control purpose. The simulation with Simplorer shows the validity of the proposed scheme and the experimental results support the verification of the design.

• 제어로봇시스템학회논문지
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• 제13권5호
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• pp.399-405
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• 2007

This paper deals with the controller for a stable walking of a humanoid robot using genetic algorithm. A humanoid robot has instability during walking because it isn't fixed on the ground, and its nonlinearities of the joints increase its instability. If controller isn't robust, the robot may fall down at the ground during walking because of its nonlinearities. To solve this problem, robust controller is required to reduce the effect of nonlinearities and to gain the good tracking performance. In this paper, motion controller that is based on fuzzy-sliding mode controller is proposed. This controller can remove the effect of the saturation by limitation of the input voltage. It also includes compensator for reducing the effect of the nonlinearity by backlash and PI controller improving the tracking performance. In here, genetic algorithm is used for searching the optimal gains of the controller. From the given controller, a humanoid robot can moved more preciously. All the processes are investigated through simulations and are verified experimentally in a real joint system for a humanoid robot.