• 한국정밀공학회지
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• 제18권6호
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• pp.87-92
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• 2001

An error analysis is very important for a precision machine to estimate its performances. This study proposes a new parallel device, cubic parallel manipulator. Errors of the proposed cubic parallel manipulator include upper and down universal joint errors, due to the directional changes in the forces in the links, and actuation errors. An error analysis is presented based on an error model formed through the relation between the universal joint errors of the cubic parallel manipulator and the end effector accuracy. The analysis shows that the method can be used in predicting the accuracy of other cubic parallel devices.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2001년도 춘계학술대회 논문집
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• pp.479-482
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• 2001

An error analysis is very important for a precision machine to estimate its performances. This study proposes a new parallel device. cubic parallel manipulator. There are so many error sources in this mechanism. Errors of the proposed cubic parallel vary with the stiffness of the manipulator. The stiffness of each leg depends on the direction of the actuation force and its direction. In this paper, the stiffness of the manipulator is calculated and the position errors and the orientation errors are predicted with the platform moving. The analysis shows that the method can be used in predicting the accuracy of other parallel devices and in designing a parallel manipulator.

• Journal of Power Electronics
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• 제15권4호
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• pp.886-898
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• 2015

The design feasibility of a micro unidirectional DC transmission system based on an input-parallel output-parallel (IPOP) converter is analyzed in this paper. The system consists of two subsystems: an input-parallel output-series (IPOS) subsystem to step up the DC link voltage, and an input-series output-parallel (ISOP) subsystem to step down the output voltage. The two systems are connected through a transmission line. The challenge of the delay caused by the communication in the control system is addressed by introducing a ring communication structure, and its influence on the control system is analyzed to ensure the feasibility and required performance of the converter system under practical circumstances. Simulation and experiment results are presented to verify the effectiveness of the proposed design.

• 대한전기학회논문지:전력기술부문A
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• 제48권9호
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• pp.1147-1153
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• 1999

The attitude control of a double inverted pendulum with a periodical disturbance at link top is dealt in this paper. The proposed system is consisted of the double inverted pendulum and a disturbing link; a triple inverted pendulum with two motors. The lower link is hinged on the plate to free for rotation in the vertical plane. The upper link is connected to the lower link through a DC motor. The DC motor is used to control the posture of the pendulum by adjusting the position of the upper link. The periodical disturbance can be generated by the additional like attached at the end of link 2 through another DC motor, which is the modeling of a posture for a biped supporting with one leg. The motor for the joint simulates the knee joint(or hip joint) and the disturbance for the legs moving in air. The algorithm for controlling the proposed inverted pendulum which is regarded as a virtual double inverted pendulum with a periodic disturbance, is consisted of a state feedback control and a fuzzy logic controller connected in parallel. The fuzzy controller keeps the center of gravity of the biped within the specified range through the nonlinear feedback compensator. The state feedback control takes over the role to maintain a desired posture regardless the disturbance at the link top. Simulations with a mathematical model and experiments are conducted to show the validity of the proposed controller.

• 한국정밀공학회지
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• 제20권2호
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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.

• Journal of Power Electronics
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• 제10권4호
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• pp.388-395
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• 2010

An active boost converter for a single phase SRM using series-parallel connected capacitors is proposed in this paper. The proposed active boost converter has two diodes and one power switch with an anti-parallel diode and one additional boost capacitor. The additional boost capacitor could be series or parallel connected to the dc-link capacitor to produce proper excitation and demagnetization voltage. The proposed active boost converter can easily achieve a fast excitation and demagnetization from the capacitor connection. In this paper, series and parallel connected converters are reviewed, and the detailed operating modes as well as the voltage characteristics of the proposed converter are analyzed. The simulation and experimental results shows the effectiveness of the proposed active boost converter.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2004년도 춘계학술대회
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• pp.810-815
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• 2004

In this paper, we propose new parallel mechanism of a 3 dimensional biped robot whose each leg is composed of two 3-dof parallel platforms linked serially. This proposed parallel mechanism is able to move freely in the man-made environment and is applied to various fields, such as medical, welfare, and so on. And a total weight of each leg is expected to be lighter than serial linked leg. One side leg consists of a 3-dof orientation platform and 3-dof asymmetric parallel platform. The former consists of three active linear actuators and seven passive joints, and the latter of two active linear actuators, one active rotational actuator and eight passive joints. Thus, there are two kinds of parallel platforms each chain's elements and active joint's positions are different for the biped robot to move freely like a serial link without the kinematics constraints. The effectiveness and the performance of the proposed parallel mechanism and locomotion trajectory are shown in computer simulations with a 12-DOF parallel biped robot.

• 전력전자학회:학술대회논문집
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• 전력전자학회 2008년도 하계학술대회 논문집
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• pp.277-279
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• 2008

In this paper, a novel active boost converter for SR drive is proposed. An active capacitor circuit is added in the front-end. Based on this active capacitor network, when boost switch turns off, this network seems as passive capacitor network. And the voltage of boost capacitor can keep balance with dc-link voltage automatically. In the capacitor network, discharging voltage is general dc-link voltage in parallel-connected capacitors; charging voltage is double dc-link voltage in series-connected capacitors. When boost switch turns on, two capacitors are connected in series, and discharging voltage is up to double dc-link voltage. So the fast excitation current can be obtained from this mode. Profit from fast excitation and fast demagnetization mode, the performance and output power can be improved. Some computer simulations are done to verify the performance of proposed converter.

• 전력전자학회:학술대회논문집
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• 전력전자학회 2020년도 전력전자학술대회
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• pp.391-392
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• 2020

본 논문은 3레벨 정류기와 직렬 입력, 병렬 출력 LLC 컨버터가 연결된 전원 장치의 DC-Link 전압 불평형 제어에 관해 분석한다. 일반적으로 380Vac 입력을 가지는 3레벨 부스트 기반 정류기는 출력 전압을 700Vdc 이상으로 제어한다. 또한, 3레벨 컨버터는 두 개의 직렬 출력 커패시터를 가지며, 불균형 해소를 위한 제어 또는 물리적 불평형 해소 소자가 요구된다. 스위칭 신호를 공유하는 두 개의 LLC 컨버터가 연결된 시스템에 DC-Link 불평형 전압 제어가 적용되면 전력의 쏠림 현상이 발생한다. 본 논문은 제시된 시스템에서 전력의 쏠림 현상에 대해 그 원인을 분석하고 실험으로 검증한다.

• 한국정밀공학회지
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• 제18권11호
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• pp.138-147
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• 2001

Alignment systems are frequently used under various semiconductor manufacturing environment. Particularly in PDP(Plasma Display Panel) manufacturing process, the alignment system is applied to the combining and sealing processes of the upper and lower glass panels of PDP, where these processes are performed in the vacuum chamber of high vacuum and high temperature. In this paper, the XYΘ-alignment stage is developed to align PDP panels. Because of high vacuum and high temperature environment, the alignment chamber has been designed to isolate the inner part of the alignment chamber from the outer environment of high vacuum and high temperature, in which every part of the alignment stage is inserted. As it is difficult to attach feedback sensors to the alignment stage in the alignment chamber, the alignment stage is implemented with the open loop algorithm, where the parallel link structure has been designed using step-motors and ball-screws for structural simplicity. The kinematic analysis is performed to drive the parallel link structure, based on the experiments of actuation-compensation of the alignment stage. For the error compensation, the hyperpatch model has been used to model the errors. From the experiments, the positional accuracy of the alignment stage can be improved significantly.