• Journal of the Korean Society for Precision Engineering
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• v.29 no.11
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• pp.1207-1213
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• 2012

Typically commercial controllers do not give data of the controller gains. Therefore, it is very hard to determine the optimal controller gain even though the dynamic model is derived. In this case, design of experiment (DOE) methodology can be a powerful tool for gain tuning. In this research, gain tuning process is proposed based on the DOE. Micro parallel mechanism platform with 3 degrees-of-freedom (DOF) is used for the experiments. Controller gains are measured indirectly from the voltages of adjustable resistors. The controller gains of three actuators are optimized by two or three steps, respectively. The correlations of the controller gains are also analyzed. The process and methodology can be adopted in gain tuning of other mechanical systems.

• Journal of Electrical Engineering and Technology
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• v.13 no.5
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• pp.1908-1916
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• 2018

This paper proposes a controller design method for suppressing the resonance generated in the slave motor in the middle and low speed operation range, according to the load and parameter differences between two motors, during parallel operation using the master and slave method that controls two surface permanent magnet synchronous motors connected in parallel by a single inverter. The proposed resonance suppression controller is directly obtained by analyzing the resonance characteristics, using the lead controller method. Therefore, it is possible to fundamentally reduce trial and error to set the controller gain. In addition, because the proposed resonance suppression controller was designed as a lead controller, the stability region of the system increased owing to the added zero point, making the system robust with respect to parametric variations. Simulations and experiments confirmed the usefulness of the proposed method and the system's robustness with respect to parametric variations.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.2290-2295
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• 2005

In this paper, it is developed simulator system of 3 D.O.F parallel robot for educate of expertness. This simulator system is composed of three parts ? 3 D.O.F parallel robot, controller (hardware) and software. First, basic structure of the robot is 3 active rotary actuator that small geared step motor with fixed base. An input-link is connected to this actuator, and this input-link can connect two ball joints. Thus, two couplers can be connected to the input-link as a pair. An end-plate, which is jointed by a ball joint, can be connected to the opposite side of the coupler. A sub-link is produced and installed to the internal spring, and then this sub-link is connected to the upper and bottom side of the coupler in order to prevent a certain bending or deformation of the two couplers. The robot has the maximum diameter of 230 mm, 10 kg of weight (include the table), and maximum height of 300 mm. Hardware for control of the robot is composed of computer, micro controller, pulse generator, and motor driver. The PC used in the controller sends commands to the controller, and transform signals input by the user to the coordinate value of the robot by substituting it into equations of kinematics and inverse kinematics. A controller transfer the coordinate value calculated in the PC to a pulse generator by transforming it into signals. A pulse generator analyzes commands, which include the information received from the micro controller. A motor driver transfer the pulse received from the pulse generator to a step motor, and protects against the over-load of the motor Finally, software is a learning purposed control program, which presents the principle of a robot operation and actual implementation. The benefit of this program is that easy for a novice to use. Developed robot simulator system can be practically applied to understand the principle of parallel mechanism, motors, sensor, and various other parts.

• The Transactions of the Korean Institute of Power Electronics
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• v.14 no.4
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• pp.278-284
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• 2009

This paper presents a firing angle controller of a thyristor converter for DC power supply using PID controller with parallel data loop to improve the dynamic response. The proposed parallel data loop for firing angle controller of 3-phase semi-converter, generates pre-measured firing angle according to reference voltage and load current. With the approximated firing angle according to operating conditions, the output voltage can fast keep the reference value with small voltage error. And the PID controller compensates the output voltage error from the firing angle of parallel data loop. In order to reduce the sudden changing of the data from current ripple, a simple digital low pass filter is used to determine the output data. The proposed control scheme is verified by the experimental test of a practical 50[A] grade thyristor converter system.

• Journal of Electrical Engineering and Technology
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• v.2 no.3
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• pp.358-365
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• 2007

This paper deals with a novel solid state controller (NSSC) for parallel operated isolated asynchronous generators (IAG) feeding 3-phase 4-wire loads in constant power applications, such as uncontrolled pico hydro turbines. AC capacitor banks are used to meet the reactive power requirement of asynchronous generators. The proposed NSSC is realized using a set of IGBTs (Insulated gate bipolar junction transistors) based current controlled 4-leg voltage source converter (CC-VSC) and a DC chopper at its DC bus, which keeps the generated voltage and frequency constant in spite of changes in consumer loads. The complete system is modeled in MATLAB along with simulink and PSB (power system block set) toolboxes. The simulated results are presented to demonstrate the capability of isolated generating system consisting of NSSC and parallel operated asynchronous generators driven by uncontrolled pico hydro turbines and feeding 3-phase 4-wire loads.

• Journal of Power Electronics
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• v.19 no.5
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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.

• Journal of Institute of Control, Robotics and Systems
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• v.5 no.8
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• pp.914-922
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• 1999

A study on the improvement of tracking performance of a 3 DOF planar parallel manipulator is performed. A class of adaptive tracking control sheme is designed using self tuning adaptive fuzzy logic control theory. This control sheme is composed of three classical PD controller and a multi learning type self tuning adaptive fuzzy logic controller set. PD controller is tuned roughly by manual setting a priori and fuzzy logic controller is tuned precisely by the gradient descent method for a global solution during run-time, so the proposed control scheme is tuned more rapidly and precisely than the single learning type self tuning adaptive fuzzy logic control sheme for a local solution. The control performance of the proposed algorithm is verified through experiments.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.13 no.6
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• pp.370-479
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• 1988

This paper presents a microprogrammable sequential controller which realizes the sequential logic system with parallel sequences described by a GRAFCET. The proposed controller improves speed, flexibility, programming ease and the efficiency of controlled system by paralle sequencing capability. It is especially designed for complex high speed sequential contollers requiring large I/O capabilities, such as industrial process controller or power electronic conversion controller.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.13 no.6
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• pp.470-470
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• 1988

This paper presents a microprogrammable sequential controller which realizes the sequential logic system with parallel sequences described by a GRAFCET. The proposed controller improves speed, flexibility, programming ease and the efficiency of controlled system by paralle sequencing capability. It is especially designed for complex high speed sequential contollers requiring large I/O capabilities, such as industrial process controller or power electronic conversion controller.

• The Transactions of the Korean Institute of Electrical Engineers B
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• v.48 no.7
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• pp.363-368
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• 1999

The parallel operation system of multiple uninterruptible power supplies(UPSs) 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 key technique. Because a UPS has low output impedance and quick response characteristics, in case of an unbalanced load inverter output current changes very rapidly and thereby can instantaneously reach an overload condition. In this study, high precise load-sharing controller is proposed and implemented for the parallel operation system of two UPSs with low impedance characteristics and this controller controls the frequency and the voltage to minimize the active power component and the reactive power component which are gotten from the current difference between two UPSs. And then a good performance of the proposed method is verified by experiments in the parallel operation system with two 40KVA UPSs.