• 한국정밀공학회지
• /
• 제33권4호
• /
• pp.309-316
• /
• 2016

In this study, we described the design of a three-axis force/torque sensor for measuring the force and torque in a lower-limb rehabilitation robot. The three-axis force/torque sensor is composed of Fx force sensor, Fz force sensor and Tz torque sensor. The sensing element for Fx force sensor and Tz torque sensor is used in a two-step parallel plate beam, and that of Fz force sensor is used in a parallel plate beam. The rated loads of Fx force sensor, Tz torque sensor and Fz force sensor are 300 N, 15 N m and 100 N, respectively. The three-axis force/torque sensor was designed using the finite element method, and manufactured using strain-gauges. The three-axis force sensor was further characterized. As a result, the interference error of the three-axis force/torque sensor was < 1.24%, the repeatability error of each sensor was < 0.03%, and the non-linearity was < 0.02%.

• Journal of Power Electronics
• /
• 제16권4호
• /
• pp.1245-1255
• /
• 2016

The single resonant inverter is widely employed in typical inductive power transfer (IPT) systems to generate a high-frequency current in the primary side. However, the power capacity of a single resonant inverter is limited by the constraints of power electronic devices and the relevant cost. Consequently, IPT systems fail to meet high-power application requirements, such as those in rail applications. Total harmonic distortion (THD) may also violate the standard electromagnetic interference requirements with phase shift control under light load conditions. A power regulation approach with selective harmonic elimination is proposed on the basis of a parallel multi-inverter to upgrade the power levels of IPT systems and suppress THD under light load conditions by changing the output voltage pulse width and phase shift angle among parallel multi-inverters. The validity of the proposed control approach is verified by using a 1,412.3 W prototype system, which achieves a maximum transfer efficiency of 90.602%. Output power levels can be dramatically improved with the same semiconductor capacity, and distortion can be effectively suppressed under various load conditions.

• Journal of Power Electronics
• /
• 제13권5호
• /
• pp.757-765
• /
• 2013

For conventional interleaved two-phase forward converters with a common output inductor, the maximum duty cycle is 0.5, which limits the voltage range and increases the difficulty of the transformer's optimization. A new two-phase hybrid forward converter with series-parallel auto-regulated transformer windings is presented in this paper. With interleaved control signals for the two phases, the secondary windings of the transformers can work in series when the duty cycle is larger than 0.5, and they can work in parallel when duty cycle is lower than 0.5. Therefore, the maximum duty cycle is extended and the turns ratio of the transformer can be optimized. Duty cycle dependent auto-regulated windings result in the steady states of the converter being different in different duty cycle ranges (D>0.5 and D<0.5). Fortunately, the steady state gains of the proposed hybrid converter are identical at different duty cycle ranges, which means a stepless shift between two states. A prototype is built to verify the theoretical analysis. A conventional control loop is compatible for the whole input voltage range and load range thanks to the stepless shifting between the different duty cycle ranges.

• Transactions on Control, Automation and Systems Engineering
• /
• 제3권4호
• /
• pp.217-222
• /
• 2001

We propose a new two-degree of freedom parallel mechanism for a haptic device and will refer to the mechanism as the SenSation. The SenSation is designed in order to improve the kinematic performanced and to achieve static balance. We use the panto graph mechanisms in order to change the location of active joints, which leads to transform a direct kinematic singularity into a nonsingularity. The direct kinematic singular configurations of the SenSation occur near the workspace boundary. Using the property that position vector of rigid body rotating about a fixed point is normal to the velocity vector, Jacobian matrix is derived. Using the vector method, two different types of singularities of the SenSation can be identified and we discuss the physical significance of each of the three types of singularities. We will compare the kinematic performances(force manipulability ellipsoid, kinematic isotropy) of the SenSation with those of five-var parallel mechanism. By specifying that the potential energy be fixed, the conditions for the static balancing of the SenSation is derived. The static balancing is accomplished by changing the center of mass of the links.

• 제어로봇시스템학회논문지
• /
• 제19권11호
• /
• pp.1022-1028
• /
• 2013

It is well knowns that based on the CSP (Common Spatial Pattern) algorithm, the linear projection of an EEG (Electroencephalography) signal can be made to spaces that optimize the discriminant between two patterns. Sharing disadvantages from linear time invariant systems, CSP suffers from the non-stationary nature of EEGs causing the performance of the classification in a BCI (Brain-Computer Interface) system to drop significantly when comparing the training data and test data. The author has suggested a simple idea based on the parallel model of CSP filters to improve the performance of BCI systems. The model was tested with a simple CSP algorithm (without any elaborate regularizing methods) and a perceptron learning algorithm as a classifier to determine the improvement of the system. The simulation showed that the parallel model could improve classification performance by over 10% compared to conventional CSP methods.

• 대한전기학회:학술대회논문집
• /
• 대한전기학회 1998년도 하계학술대회 논문집 F
• /
• pp.2048-2050
• /
• 1998

An uninterruptible power supply(UPS) with parallel operation is used to increase the power capacity of the system or to secure higher reliability at critical loads. In the parallel operating system composed of the multiple UPSs, load-sharing, i.e. current balance control between them is key technique. Because of its low impedance and quick response characteristics, inverter output current changes very rapidly and thereby easily researches an overload condition. The difference between total load current divided by number of operating inverters and its own current is detected as unbalanced current. Then frequency and voltage are controlled to minimize the active component and the reactive component. A good performance of the proposed load-sharing technique is verified by experiments in the parallel operating system with two 40kVA UPSs.

• 한국태양에너지학회 논문집
• /
• 제33권5호
• /
• pp.34-40
• /
• 2013

Islanding phenomenon of photovoltaic system is undesirable because it leads to a safety hazard to utility service personnel and may cause damage to power generation and power supply facilities as a result of unsynchronized re-closure. Anti-islanding protection is an important technical requirement for grid-connected PV system. Until now, various anti-islanding methods for detecting and preventing islanding of photovoltaic and other distributed generations have been proposed. Most of them are focusing on the anti-islanding performance of single PV system according to the related international and domestic standard test procedures. There are few studies on the islanding phenomenon for multiple photovoltaic operation in parallel. This paper presents performance analysis of anti-islanding function for grid-connected PV inverter systems when several PV inverters are connected in parallel.

• Nuclear Engineering and Technology
• /
• 제53권7호
• /
• pp.2251-2260
• /
• 2021

The motion control of the divertor maintenance system of the China Fusion Engineering Test Reactor (CFETR) was studied in this paper, in which CFETR Multi-Functional Maintenance Platform (MFMP) was simplified as a parallel robot for the convenience of theoretical analysis. In order to design the motion controller of parallel robot, the kinematics analysis of parallel robot was carried out. After that, the dynamic modeling of the hydraulic system was built. As the large variation of heavy payload on MFMP and highly nonlinearity of the system, A Fuzzy-PID controller was built for self-tuning PID controller parameters by using Fuzzy system to achieve better performance. In order to test the feasibility of the Fuzzy-PID controller, the simulation model of the system was built in Simulink. The results have showed that Fuzzy-PID controller can significantly reduce the angular error of the moving platform and provide the stable motion for transferring the divertor.

• 한국전자파학회논문지
• /
• 제29권3호
• /
• pp.171-183
• /
• 2018

본 논문에서는 $0.25{\mu}m$ GaAs pHEMT 공정을 이용하여 직-병렬변환기(Serial to Parallel Converter: SPC)의 설계 및 제작을 보였다. 직-병렬변환기는 코아-칩에 사용되는 4개의 위상천이기를 제어하기 위하여 4-bit로 구성하였다. SPC는 외부로부터 받은 직렬데이터 신호를 SPC 내부의 레지스터에 저장하고, 저장된 데이터를 병렬데이터로 변환 출력한다. 변환 출력된 각각의 데이터는 4개의 위상천이기를 제어할 수 있다. 제작된 SPC의 크기는 $1,200{\times}480{\mu}m^2$이며, 5 V 및 -3 V의 두 개 DC 전원을 사용한다. 각 DC 전원의 소모전류는 5 V는 7.1 mA, -3 V는 2.1 mA이다.

• 정보처리학회논문지A
• /
• 제10A권1호
• /
• pp.25-34
• /
• 2003

병렬 파일 시스템은 고속의 네트웍으로 여러 대의 컴퓨터들을 서로 연결하여 컴퓨터들 간에 메시지를 주고받으면서 파일을 분산 저장하고 병렬로 읽어오는 방식으로 파일 입출력 장치의 병목현상을 해결한다. 그러나 대부분의 병렬 파일 시스템은 전달하려는 메시지의 특성을 고려하지 않은 프로토콜의 사용으로 성능저하의 문제를 가지고 있다. 이에 따라 본 논문에서 메시지 처리 방법으로 HCM(Hybrid Channel Model)을 제안한다. 본 논문에서 제안하는 HCM은 병렬 파일 시스템에서 전달되는 메시지를 그 특성에 따라 분리해서 별개의 프로토콜을 이용하여 제어 메시지와 파일 데이터 블록을 전송한다. 안정성이 검증된 TCP/IP를 이용하여 구현한 메시지 채널을 통해 제어 메시지를 고속의 데이터 전송이 가능한 VIA를 이용하여 구현한 데이터 채널을 통해 파일 데이터 블록을 각각 분리하여 처리하도록 하고 있다 HCM을 병렬 파일 시스템에 구현하고 실험해본 결과 본 논문에서 제안한 채널 모델이 상당한 성능향상을 보였다.