• Proceedings of the Korean Institute of IIIuminating and Electrical Installation Engineers Conference
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• 2007.05a
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• pp.235-240
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• 2007

A large power fuel cell generation system needs a parallel operation of de-de boost converter. Therefore, this paper proposed parallel operation algorithms of de-de boost converters for the large scale fuel cell generation system of 250[kW] and the operating principle along with the control method in detail. This paper uses a maximum current sharing method as a parallel operation method and also the phase shift full bridge de-de converter as a de-de boost converter. Simulation and experimental results on two prototype converter modules of 500W show that the parallel operation method can be applied to the 250[kW] power converter.

• Journal of Institute of Control, Robotics and Systems
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• v.12 no.2
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• pp.138-144
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• 2006

Kinematic and dynamic characteristics of a Stewart platform based parallel manipulators are fixed once they are constructed. Thus parallel manipulators with various configurations are required to meet a variety of applications. In this research a parallel manipulator with variable platform (PMVP) has been developed, in which the length of the arm linking the platform center to the platform-leg contact point can be varied by an actuator. The workspace of the PMVP is larger than that of a traditional Stewart platform and especially the range in which the maximum orientation angles can be maintained is significantly expanded. Furthermore, the characteristics of force and moment transmission between the legs and platform can be adjusted to meet the requirements of various tasks. Kinematic and dynamics analysis was performed to verify the usefulness of the PMVP and the actual hardware was built to demonstrate the feasibility.

• Journal of Mechanical Science and Technology
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• v.16 no.1
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• pp.13-23
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• 2002

This paper presents inverse kinematic and dynamic analyses of HexaSlide type six degree-of-freedom parallel manipulators. The HexaSlide type parallel manipulators (HSM) can be characterized as an architecture with constant link lengths that are attached to moving sliders on the ground and to a mobile platform. In the inverse kinematic analyses, the slider and link motion (position, velocity, and acceleration) is computed given the desired mobile platform motion. Based on the inverse kinematic analysis, in order to compute the required actuator forces given the desired platform motion, inverse dynamic equations of motion of a parallel manipulator is derived by the Newton-Euler approach. In this derivation, the joint friction as well as all link inertia are included. Relative importance of the link inertia and joint frictions on the computed torque is investigated by computer simulations. It is expected that the inverse kinematic and dynamic equations can be used in the computed torque control and model-based adaptive control strategies.

• Journal of Institute of Control, Robotics and Systems
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• v.12 no.10
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• pp.1035-1043
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• 2006

In this study, a translational 3-DOF parallel mechanism formed by constraining the Stewart Platform Mechanism is investigated. The translational 3-DOF parallel mechanism has three struts(3-UPS type serial subchains) and in addition, has a PPP type serial subchain in the middle of the mechanism. Firstly, the closed-form forward and reverse position solutions are derived for this mechanism. And analysis on kinematic characteristics using isotropic index of the Jacobian is conducted to examine effects of design parameters for the mechanism. Lastly, a prototype mechanism is implemented and the kinematic performance of the translational 3-DOF parallel mechanism was verified through experimental work.

• Transactions of the Korean Society of Mechanical Engineers
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• v.18 no.10
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• pp.2501-2513
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• 1994

In this paper, a compact, light-weight, universal, spherical 3-degree-of-freedom, parallel-structured manual controller with high reflecting-force capability is implemented. First, the position analysis, kinematic modeling and analysis, force reflecting transformation, and applied force control schemes for a parallel structured 3 degree-of-freedom spherical system have been described. Then, a brief description of the system integration, its actual implementation hardware, and its preliminary analysis results are presented. The implemented parallel 3 degree-of-freedom spherical module is equipped with high gear-ratio reducers, and the friction due to the reducers is minimized by employing a force control algorithm, which results in a "power steering" effect for enhanced smoothness and transparency (for compactness and reduced weight).d weight).

• Journal of the Korean Society for Precision Engineering
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• v.20 no.2
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• pp.184-191
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• 2003

A parallel manipulator has high stiffness and all the joint errors on the device are not accumulated at the end -effector unlike a serial manipulator. These are the reasons why the parallel manipulator has been widely used in many fields of industry. In the parallel manipulator, it is very important to predict the exact pose of the end-effector when we want to control the end-effector motion. Installation errors have to be determined in order to predict and control the actual position and pose of the end-effector. This paper presents an algorithm to find the whole 36 joint error components with joint clearance errors and measurement errors considered, when a link length measurement sensor is used and data more than 36 times are acquired for 36 different configurations. A simulation test using this algorithm is performed with a Matlab program which uses the Levenberg-Marquardt method that is known to be efficient for non-linear optimization.

• Proceedings of the KIPE Conference
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• 2001.07a
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• pp.501-505
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• 2001

The parallel operation system of UPS is used to increase reliability of power source at critical load. But parallel UPS system has a few defects, impedance is different from each other and circulating current occurs between UPSs, due to line impedance and parameter variation, though controlled by the same synchronization signal. According to such characteristic of parallel UPS, balanced load-sharing control is the most important technique in parallel UPS operation. In this paper, a novel power deviation compensation algorithm is proposed. it is composed of voltage controller to compensate power deviation that be calculated by using active and reactive current deviation between inverters on synchronous d-q reference frame.

• Proceedings of the KIPE Conference
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• 2002.11a
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• pp.158-162
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• 2002

The parallel operation system of multiple UPS(Uninterruptible Power Supply) is used to increase power capacity of the system or to secure higher reliability at critical loads. In the parallel operation of the two UPSs, the load sharing control to maintain the current balance between them is a matter of consequence. In this paper, a highly precise load sharing controller is proposed and implemented for the parallel operation system of two UPSs. After that, a good performance of the proposed method is verified by simulation in the parallel operation system with two UPSs.

• Journal of KIEE
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• v.10 no.1
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• pp.35-42
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• 2000

An equivalent load sharing control based on the frequency and voltage droop concept for parallel operation of two three-phase Uninterruptible Power Supply (UPS) systems with no control interconnection lines is presented in this paper. First of all, due to the use of active power and reactive power as control variables, the characteristics of output powers according to amplitude and phase differences between output voltages of two UPS systems are analyzed. Secondly, simulation results under different line impedance demonstrate the feasibility of the wireless parallel operation control. Finally, experiments are presented to verify the theoretical discussion with two three-phase 20kVA UPS systems employed TMS320C32, a kind of real time digital signal processor (DSP).

• Journal of Power Electronics
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• v.11 no.5
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• pp.632-638
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• 2011

This paper presents a cascaded coil flux control based on a Current Source Parallel Resonant Push-Pull Inverter (CSPRPI) for Induction Heating (IH) applications. The most important problems associated with current source parallel resonant inverters are start-up problems and the variable response of IH systems under load variations. This paper proposes a simple cascaded control method to increase an IH system's robustness to load variations. The proposed IH has been analyzed in both the steady state and the transient state. Based on this method, the resonant frequency is tracked using Phase Locked Loop (PLL) circuits using a Multiplier Phase Detector (MPD) to achieve ZVS under the transient condition. A laboratory prototype was built with an operating frequency of 57-59 kHz and a rated power of 300 W. Simulation and experimental results verify the validity of the proposed power control method and the PLL dynamics.