• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2002년도 추계학술대회 논문집
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• pp.580-583
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• 2002

This paper presents a novel pose description corresponding to the structure characteristics of parallel manipulators, which is convenient and intuitionistic to us. A class of 3-RSR parallel manipulator is considered here. Through analysis on geometry theory, we obtain a new method of the closed-form solution to the forward kinematics. The closed-form solution contains two different meanings-analytical and real-time. So we reach the goal of practical application and control. A numerical example is also presented and are verified by an inverse kinematics analysis. It shows that the method has a practical value for real-time control.

• 융합신호처리학회 학술대회논문집
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• 한국신호처리시스템학회 2001년도 하계 학술대회 논문집(KISPS SUMMER CONFERENCE 2001
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• pp.97-100
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• 2001

본 논문은 2자유도 평행링크 로봇의 고속궤적 추적시 링크간의 간섭을 최소화하고 시스템의 불확실성에도 불구하고 설계사양을 만족하는 제어기 설계방법을 소개한다. 이를 위해 ICD기법으로 평행링크 로봇의 채널을 분리하고 QFT를 이용해서 각 채널의 제어기를 설계한다. 마지막으로 시뮬레이션과 실험을 통해 QFT 제어기의 강인성과 우수성을 확인한다.

• 제어로봇시스템학회논문지
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• 제9권1호
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• pp.63-72
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• 2003

A new 6-DOF parallel haptic device is proposed. Many existing haptic devices require large power due to having floating actuator and also have small workspaces. The proposed new mechanism can generate 6-DOF reflecting force. This device is relatively light by employing non-floating actuators and has large workspace. Kinematic analysis and kinematic optimal design is performed for this mechanism. Dexterous workspace, global isotropic index, and global maximum force transmission ratio are considered as kinematic design indices. To deal with such multi-criteria optimization problem. composite design index is employed. For the given operational specifications, actuator sizing for this mechanism is also carried out.

• 제어로봇시스템학회논문지
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• 제13권6호
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• pp.560-567
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• 2007

The objective of this research is to optimize the designing parameters of the parallel manipulator with large orientation workspace at the boundary position of the constant orientation workspace (COW). The method uses a simple genetic algorithm(SGA) while considering three different kinematic performance indices: COW and the global conditioning index(GCI) to evaluate the mechanism's dexterity for translational motion of an end-effector, and orientation workspace of two angle of Euler angles to obtain the large rotation angle of an end-effector at the boundary position of COW. Total fifteen cases divided according to the combination of the sphere radius of COW and rotation angle of orientation workspace are studied, and to decide the best model in the total optimized cases, the fuzzy inference system is used for each case's results. An optimized model is selected as a best model, which shows better kinematic performances compared to the basis of the pre-existing model.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1987년도 전기.전자공학 학술대회 논문집(I)
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• pp.288-292
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• 1987

The purpose of this paper is to develope the parallel computation algorithm that enables it to minimize the completion tine of computation execution of the entire subtasks, under the constraints of the series-parallel precedence relation in each subtask. The developed algorithm was applied to the control of a robot manipulator functioned by multi-CPU's and to obtain the minimum time schedule so that real time control may be achieved. The completion time of computation execution was minimized by applying "Variable" Branch and Bound algorithm which was developed In this paper in determining the optimum ordered schedule for each CPU.

• 전력전자학회:학술대회논문집
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• 전력전자학회 2014년도 전력전자학술대회 논문집
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• pp.461-462
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• 2014

This paper proposes parallel operation method of single phase UPS module considering the battery SOC. A master module performs output voltage control and current sharing algorithm considering battery SOC of each UPS modules. The slave modules control output current by current reference from master module. The applied parallel operation method is verified by the PSIM simulation.

• 한국철도학회:학술대회논문집
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• 한국철도학회 2008년도 추계학술대회 논문집
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• pp.179-184
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• 2008

This paper presents the design of the feed forward controller to improve on the non-interference control performance of a single PWM converter in parallel for high-speed trains. The feed forward controller is designed to minimize the interference generated by converter switching in parallel operation of PWM converters. The gain value of the feed forward controller is calculated by inductance values of the input transformer. However, it is difficult to decide this gain value exactly because inductance values are changed by the operation condition of an input transformer. In this paper, the proposed design of feed forward controller can exactly decide the gain value using the leakage inductances estimated by detecting the variation of input current. the validity of the proposed feed forward controller is proved through the simulation results.

• 전력전자학회:학술대회논문집
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• 전력전자학회 2020년도 전력전자학술대회
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• pp.328-329
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• 2020

The AC/DC converter, which connects the AC grid to the DC grid in the microgrid, is a critical component in power sharing and stable operation. Sometimes the AC/DC converters are connected in parallel to increase the transmission and reception capacity. When connected in parallel, circulating current is generated due to line impedance difference or sensor error. As a result of circulating current, there is deterioration and loss in particular PCS(Power Conversion System). In this paper, we propose droop control with novel adaptive virtual impedance for reducing circulating current. Feasibility of proposed algorithm is verified by PowerSIM simulation.

• Journal of Electrical Engineering and Technology
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• 제12권2호
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• pp.674-682
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• 2017

This paper presents an optimal initial firing angle control based on the energy consumption and regenerative energy of a parallel multi-pulse thyristor dual converter for urban railway power substations. To prevent short circuiting the thyristor dual converter, a hysteresis band for maintaining a zero-current discontinuous section (ZCDS) is essential during mode changes. During conversion from the ZCDS to forward or reverse mode, the DC trolley voltage can be stabilized by selecting the optimal initial firing angle without an overshoot and slow response. However, the optimal initial firing angle is different depending on the line impedance of each converter. Therefore, the control algorithm for tracking the optimal initial firing angle is proposed to eliminate the overshoot and slow response of DC trolley voltage. Simulations and experiments show that the proposed algorithm yields the fastest DC voltage control performance in the transient state by tracking the optimal firing angle.

• 전력전자학회:학술대회논문집
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• 전력전자학회 2017년도 추계학술대회
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• pp.51-52
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• 2017

This paper presents an advanced DC droop using both an output current and a grid current. To control parallel-connected converters without communication, the DC droop control is conventionally used. The conventional DC droop control method droops output voltage using an output current. It cannot control the source current causing output voltage errors. This paper proposed the DC droop method using both an output current and a grid current to improve dynamic response of voltage droops. The simulation results with PSIM is provided.