• 제어로봇시스템학회논문지
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• 제15권9호
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• pp.887-893
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• 2009

In this paper, a mask-panel alignment robot system is considered for IT industry applications. Two kinds of solutions are suggested which are required in constructing a control system for the alignment robot with actuation redundancy. First, the kinematic solution for the 4PPR parallel positioning mechanism is formulated for an arbitrary initial posture, which relates the mask-panel misalignment in the task space and the desired actuator displacements in the joint space. Secondly, in order to increase the stiffness of the control motion and also to avoid the mechanical lock which may happen due to the redundant actuation, a new synchronous control method is proposed which has the merit of coordinating joint control motions while not losing individual joint control performance. In addition, the engineering process to develop a visual alignment robot system is described with the results of experimental setup and GUI software. Finally, the experimental results demonstrate the effectiveness of the proposed alignment system control methodology and how much beneficial it will be in real industrial applications.

• Structural Engineering and Mechanics
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• 제9권4호
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• pp.383-396
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• 2000

A new structure-vibration-control approach is proposed which uses a passive coupling element between two parallel structures to reduce the seismic response of a system due to earthquake excitation. Dynamic characteristics of the two coupled single-degree-freedom systems subject to stationary white-noise excitation are examined by means of statistical energy analysis (SEA) techniques. Optimal parameters of the passive coupling element such as damping and stiffness under different circumstances are determined with an emphasis on the influence of the structural parameters of the system on the optimal parameters and control effectiveness. Numerical results including the root mean square values of the response due to the filtered white-noise excitation and the time-histories of response to El Centro 1940 NS excitation are presented.

• Journal of Power Electronics
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• 제10권3호
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• pp.245-250
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• 2010

Input-series-output-parallel (ISOP) converters consisting of multiple modular DC/DC converters can enable low voltage rating switches to be used under high voltage input applications. This paper presents a digital control strategy, which can achieve equal sharing of input voltage for a modular ISOP system consisting of two-transistor forward DC/DC converters by forcing the input voltages of neighboring modules to be equal. The proposed scheme is analyzed using small signals analysis based on the state space average method. The performance of the proposed control strategy is verified with an experimental prototype of an ISOP converter made up of three two-switch forward converters.

• 대한전기학회논문지:전기기기및에너지변환시스템부문B
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• 제49권4호
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• pp.272-281
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• 2000

This paper deals with the parallel operation of several numbers of PWM converters for a high speed railway train application. Several considerations are made to reduce the transformer interaction which can cause a current control problem in severe case. Also, in this paper, novel control strategy is proposed to achieve a harmonic free primary-side current control under a light load condition using one current sensor independent of the number of converters. In addition, the modified predictive current controller, which is suitable to a digital current controller with a relatively large sampling period, is used. Finally, to verify the system validity, digital control system with TMS320C44 micro-processor and small scale simulator are made and tested.

• International Journal of Automotive Technology
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• 제6권5호
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• pp.529-536
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• 2005

This paper presents a novel design of a fuzzy control strategy (FCS) based on torque distribution for parallel hybrid electric vehicles (HEVs). An empirical load-regulating vehicle operation strategy is developed on the basis of analysis of the components efficiency map data and the overall energy conversion efficiency. The aim of the strategy is to optimize the fuel economy and balance the battery state-of-charge (SOC), while satisfying the vehicle performance and drivability requirements. In order to accomplish this strategy, a fuzzy inference engine with a rule-base extracted from the empirical strategy is designed, which works as the kernel of a fuzzy torque distribution controller to determine the optimal distribution of the driver torque request between the engine and the motor. Simulation results reveal that compared with the conventional strategy which uses precise threshold parameters the proposed FCS improves fuel economy as well as maintains better battery SOC within its operation range.

• Journal of Electrical Engineering and Technology
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• 제9권3호
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• pp.1132-1136
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• 2014

In the context of increasing electric energy consumption in a data center, energy efficiency improvement is strongly emphasized. In a data center, electric energy is largely consumed by DC power supply system, which is based on a rectifier composed by multiple parallel converters. Therefore, rectifier efficiency must be improved for minimizing loss of DC power supply system. Rectifier efficiency can be modulated by load allocation to converters because converter efficiency depends on input AC power. In this paper, we propose a new control method to maximize rectifier efficiency. The method can control load allocation to converters by introducing active power converter control scheme and start-and-stop of converters. In order to illustrate optimal load allocations in a rectifier, a maximization problem of rectifier efficiency is formulated as a nonlinear optimization one. The problem is solved by Lagrangian relaxation method and the computation results provide the validity of proposed method.

• 제어로봇시스템학회논문지
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• 제13권4호
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• pp.320-328
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• 2007

This paper presents a stiffness modeling of a low-DOF parallel robot, which takes into account of elastic deformations of joints and links, A low-DOF parallel robot is defined as a spatial parallel robot which has less than six degrees of freedom. Differently from serial chains in a full 6-DOF parallel robot, some of those in a low-DOF parallel robot may be subject to constraint forces as well as actuation forces. The reaction forces due to actuations and constraints in each serial chain can be determined by making use of the theory of reciprocal screws. It is shown that the stiffness of an F-DOF parallel robot can be modeled such that the moving platform is supported by 6 springs related to the reciprocal screws of actuations (F) and constraints (6-F). A general $6{\times}6$ stiffness matrix is derived, which is the sum of the stiffness matrices of actuations and constraints, The compliance of each spring can be precisely determined by modeling the compliance of joints and links in a serial chain as follows; a link is modeled as an Euler beam and the compliance matrix of rotational or prismatic joint is modeled as a $6{\times}6$ diagonal matrix, where one diagonal element about the rotation axis or along the sliding direction is infinite. By summing joint and link compliance matrices with respect to a reference frame and applying unit reciprocal screw to the resulting compliance matrix of a serial chain, the compliance of a spring is determined by the resulting infinitesimal displacement. In order to illustrate this methodology, the stiffness of a Tricept parallel robot has been analyzed. Finally, a numerical example of the optimal design to maximize stiffness in a specified box-shape workspace is presented.

• Journal of Electrical Engineering and Technology
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• 제13권3호
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• pp.1212-1222
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• 2018

This paper presents a model predictive control (MPC) method to reduce the common-mode voltage (CMV) for inverters connected in parallel, which increase the capacity of energy storage systems (ESSs). The proposed method is based on subdivided voltage vectors, and the resulting algorithm can be applied to control the inverters. Furthermore, we use more voltage vectors than the conventional MPC algorithm; consequently, the quality of grid currents is improved. Several methods were proposed in order to reduce the CMV appearing during operation and its adverse effects. However, those methods have shown to increase the total harmonic distortion of the grid currents. Our method, however, aims to both avoid this drawback and effectively reduce the CMV. By employing phase difference in the carrier signals to control each inverter, we successfully reduced the CMV for inverters connected in parallel, thus outperforming similar methods. In fact, the validity of the proposed method was verified by simulations and experimental results.

• 조명전기설비학회논문지
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• 제20권6호
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• pp.104-110
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• 2006

본 논문에서는 인텔사의 StrongARM 프로세서에 내장형 리눅스 운영 시스템을 실장하여 내장형 웹 서버를 구현하고 ARM프로세서에 연결된 병렬포트의 입 출력을 HTTP 프로토콜을 이용하여 범용 웹 브라우저에 의하여 제어하는 초소형 웹 서버 시스템을 구현함을 다루었다. 이를 위하여 리눅스 운영 시스템의 HTTP를 실장하고 CGI에 의한 병렬포트 제어 프로그램을 구현하여 프로세서 보드의 메모리에 실장한다. 프로세서의 병렬포트에 입 출력을 제어하는 하드웨어 기능을 웹 서버와 브라우저를 이용하여 원격에서 제어할 수 있도록 구현하고 실험을 통하여 내장형 웹 서버의 구현을 보였다.

• 대한기계학회논문집A
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• 제34권6호
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• pp.683-693
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• 2010

본 논문은 2족 보행로봇을 위한 새로운 병렬메카니즘을 제안하고 있다. 각 다리는 3자유도를 갖는 병렬 플랫폼 2개가 시리얼로 연결되어 있는데, 허벅지와 정갱이 역할을 한다. 이 제안된 로봇을 위한 보행 궤적은 보행평면상에서는 중력보상역진자모드를 사용하여 구하였고, 횡방향으로는 역진자모드를 사용하여 구하였다. 지면으로부터의 반발력을 시뮬레이션하기 위해 발바닥 밑에 6자유도의 패드를 사용하였다. 제안된 메카니즘과 보행제어의 효율성은 SimMechanics를 이용한 12자유도 병렬 2족보행로봇의 시뮬레이션을 통해 입증하였다.