• International journal of advanced smart convergence
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• v.4 no.2
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• pp.103-108
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• 2015

The electric utility has the responsibility of reducing the impact of peaks on electricity demand and related costs. Therefore, they have introduced Direct Load Control System (DLCS) to automate the external control of shedding customer load that it controls. Since the number of customer load participating in the DLC program are keep increasing, DLCS operators a re facing difficulty in monitoring and controlling customer load. The existing DLCS needs constant operator intervention, e.g., whenever the load is about to exceed a predefined amount, it needs operator's intervention to control the on/off status of the load. Therefore, DLCS operators need the state-of-the-art DLCS, which can control automatically the on/off status of the customer load without intervention as much as possible. This paper presents an intelligent DLCS using the active database. The proposed DLCS is applying the active database to DLCS which can avoid operator's intervention as much as possible. To demonstrate the validity of the proposed system, variable production rules and intelligent demand controller are presented.

• Journal of Electrical Engineering and Technology
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• v.6 no.5
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• pp.647-657
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• 2011

The present paper proposes a sliding mode control with fixed switching frequency for three-phase three-leg voltage source inverter based four-wire shunt active power filter. The aim is to improve phase current waveform, neutral current mitigation, and reactive power compensation in electric power distribution system. The performed sliding mode for active filter current control is formulated using elementary differential geometry. The discrete control vector is deduced from the sliding surface accessibility using the Lyapunov stability. The problem of the switching frequency is addressed by considering hysteresis comparators for the switched signals generation. Through this method, a variable hysteresis band has been established as a function of the sliding mode equivalent control and a predefined switching frequency in order to keep this band constant. The proposed control has been verified with computer simulation which showed satisfactory results.

• Proceedings of the IEEK Conference
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• 2000.06a
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• pp.127-130
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• 2000

In this paper, we design the robust H$_{\infty}$ controller for congestion control in ATM (asynchronous transfer mode) networks with the variation of other higher priority sources(e.g., constant bit rate, variable bit rate). Since ABR (available bit rate) sources share the bottleneck node with other higher priority sources, we design the controller which guarantees robustness against time delay and disturbance. The proposed robust H$_{\infty}$ controller with regional pole placements can minimize the variation of the queue size at the predefined desired level. And we also show its robustness through simulation for the ATM networks with time delay and disturbance.

• Journal of Electrical Engineering and Technology
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• v.10 no.6
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• pp.2221-2227
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• 2015

To arrest a frequency nadir, a stepwise inertial control (SIC) scheme generates a constant active power reference signal of a wind turbine generator (WTG) immediately after a disturbance and maintains it for the predetermined time. From that point, however, the reference of a WTG abruptly decreases to restore the rotor speed for the predefined period. The abrupt decrease of WTG output power will inevitably cause a second frequency dip. In this paper, we propose a modified SIC scheme of a doubly-fed induction generator (DFIG) that can prevent a second frequency dip. A reference value of the modified SIC scheme consists of a reference for the maximum power point tracking control and a constant value. The former is set to be proportional to the cube of the rotor speed; the latter is determined so that the rotor speed does not reach the minimum operating limit by considering the mechanical power curve of a DFIG. The performance of the modified SIC was investigated for a 100 MW aggregated DFIG-based wind power plant under various wind conditions using an EMTP-RV simulator. The results show that the proposed SIC scheme significantly increases the frequency nadir without causing a second frequency dip.

• Journal of the Korean Society for Precision Engineering
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• v.9 no.3
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• pp.73-82
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• 1992

An industrial robot, installed real manufacturing processes an element of the system autmation, can be considered as an uncertain system due to dynamic uncertainties in inertial parameters and varying payloads. Most difficuties in controlling a robot manipulator are caused by the fact that the dynamic equations describing the motions of the manipulator are inherently nonlinear and heavily coupled effects between joints and associated links. Existing robot conrol systems have constant predefined gains and do not cover the complex dynamic interactions between manipulator joints. As a result, the manipulator is severly limited in range of application, speed of operation and variation of payload. The proposed controller is operated by adjusting its gains based on the response of the manipulator in such a way that the manipulator closely matches the reference model trajectories defined by the desinger. The proposed manipulator studied has two loops, an inner loop of model reference adaptive controller and an outer loop of state feedback controller with integral action to guarantee the stability of the adaptive scheme. This adaptation algorithm is based on the hyperstailiy approach with an improved Lyapunov function. The coupling among joints and the nonlinearity in the dynamic equation are explicitly considered. The designed manipulator controller shows good tracking performance in practical working environment, various load variations and parameter uncertainties.

• Journal of the Korean Society for Precision Engineering
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• v.7 no.4
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• pp.85-102
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• 1990

Up to now, most robot control systems are very naive. They consist of a number of independent position-servo loops to control each joint angle separately. Those control systems have constant predefined gains and do not cover the complex dynamic interactions between manipulator joints. As a result, the manipulator is severely limited in range of application, speed of operation and variation of payload. This study proposed a new method to design a robot manipulator controller capable of tracking the reference trajectories of joint angles in a reasonable accuracy to cope with actual situations of varying payload, uncertain parameters. The adaptive model following control method has been used to improve existing robot manipulator controllers. The proposed controller is operated by adjusting its gains based on the response of the manipulator in such a way that the manipulator closely matches the reference model trajectories defined by the designer. The stability of adaptive controller is based on the Second Method of Lyapunov. The coupling among joints and the nonlinearity in the dynamic equation are explicitly considered. The designed manipulator controller shows good tracking performance under various load varia- tion and parameter uncertainties.

• Smart Structures and Systems
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• v.19 no.6
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• pp.665-678
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• 2017

In this paper the tuned mass-damper-inerter (TMDI) is considered for passive vibration control and energy harvesting in harmonically excited structures. The TMDI couples the classical tuned mass-damper (TMD) with a grounded inerter: a two-terminal linear device resisting the relative acceleration of its terminals by a constant of proportionality termed inertance. In this manner, the TMD is endowed with additional inertia, beyond the one offered by the attached mass, without any substantial increase to the overall weight. Closed-form analytical expressions for optimal TMDI parameters, stiffness and damping, given attached mass and inertance are derived by application of Den Hartog's tuning approach to suppress the response amplitude of force and base-acceleration excited single-degree-of-freedom structures. It is analytically shown that the TMDI is more effective from a same mass/weight TMD to suppress vibrations close to the natural frequency of the uncontrolled structure, while it is more robust to detuning effects. Moreover, it is shown that the mass amplification effect of the inerter achieves significant weight reduction for a target/predefined level of vibration suppression in a performance-based oriented design approach compared to the classical TMD. Lastly, the potential of using the TMDI for energy harvesting is explored by substituting the dissipative damper with an electromagnetic motor and assuming that the inertance can vary through the use of a flywheel-based inerter device. It is analytically shown that by reducing the inertance, treated as a mass/inertia-related design parameter not considered in conventional TMD-based energy harvesters, the available power for electric generation increases for fixed attached mass/weight, electromechanical damping, and stiffness properties.

• Structural Engineering and Mechanics
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• v.66 no.6
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• pp.677-691
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• 2018

Reliability assessment of complex structures using simulation methods is time-consuming. Thus, surrogate models are usually employed to reduce computational cost. AK-MCS is a surrogate-based Active learning method combining Kriging and Monte-Carlo Simulation for structural reliability analysis. This paper proposes three modifications of the AK-MCS method to reduce the number of calls to the performance function. The first modification is related to the definition of an initial Design of Experiments (DoE). In the original AK-MCS method, an initial DoE is created by a random selection of samples among the Monte Carlo population. Therefore, samples in the failure region have fewer chances to be selected, because a small number of samples are usually located in the failure region compared to the safe region. The proposed method in this paper is based on a uniform selection of samples in the predefined domain, so more samples may be selected from the failure region. Another important parameter in the AK-MCS method is the size of the initial DoE. The algorithm may not predict the exact limit state surface with an insufficient number of initial samples. Thus, the second modification of the AK-MCS method is proposed to overcome this problem. The third modification is relevant to the type of regression trend in the AK-MCS method. The original AK-MCS method uses an ordinary Kriging model, so the regression part of Kriging model is an unknown constant value. In this paper, the effect of regression trend in the AK-MCS method is investigated for a benchmark problem, and it is shown that the appropriate choice of regression type could reduce the number of calls to the performance function. A stepwise approach is also presented to select a suitable trend of the Kriging model. The numerical results show the effectiveness of the proposed modifications.

• Journal of Institute of Control, Robotics and Systems
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• v.16 no.4
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• pp.381-390
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• 2010

This paper describes a procedure of the map-based localization for mobile robots by using a sensor fusion technique in structured environments. A combination of various sensors with different characteristics and limited sensibility has advantages in view of complementariness and cooperation to obtain better information on the environment. In this paper, for robust self-localization of a mobile robot with a monocular camera and a laser structured light sensor, environment information acquired from two sensors is combined and fused by a Bayesian sensor fusion technique based on the probabilistic reliability function of each sensor predefined through experiments. For the self-localization using the monocular vision, the robot utilizes image features consisting of vertical edge lines from input camera images, and they are used as natural landmark points in self-localization process. However, in case of using the laser structured light sensor, it utilizes geometrical features composed of corners and planes as natural landmark shapes during this process, which are extracted from range data at a constant height from the navigation floor. Although only each feature group of them is sometimes useful to localize mobile robots, all features from the two sensors are simultaneously used and fused in term of information for reliable localization under various environment conditions. To verify the advantage of using multi-sensor fusion, a series of experiments are performed, and experimental results are discussed in detail.

• Smart Structures and Systems
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• v.26 no.5
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• pp.657-666
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• 2020

A rotational pulse-echo ultrasonic propagation imager that can inspect cylindrical specimens for material nondestructive evaluations is proposed herein. In this system, a laser-generated ultrasonic bulk wave is used for inspection, which enables a clear visualization of subsurface defects with a precise reproduction of the damage shape and size. The ultrasonic waves are generated by a Q-switched laser that impinges on the outer surface of the specimen walls. The generated waves travel through the walls and their echo is detected by a Laser Doppler Vibrometer (LDV) at the same point. To obtain the optimal Signal-to-Noise Ratio (SNR) of the measured signal, the LDV requires the sensed surface to be at a right angle to the laser beam and at a predefined constant standoff distance from the laser head. For flat specimens, these constraints can be easily satisfied by performing a raster scan using a dual-axis linear stage. However, this arrangement cannot be used for cylindrical specimens owing to their curved nature. To inspect the cylindrical specimens, a circular scan technology is newly proposed for pulse-echo laser ultrasound. A rotational stage is coupled with a single-axis linear stage to inspect the desired area of the specimen. This system arrangement ensures that the standoff distance and beam incidence angle are maintained while the cylindrical specimen is being inspected. This enables the inspection of a curved specimen while maintaining the optimal SNR. The measurement result is displayed in parallel with the on-going inspection. The inspection data used in scanning are mapped from rotational coordinates to linear coordinates for visualization and post-processing of results. A graphical user interface software is implemented in C++ using a QT framework and controls all the individual blocks of the system and implements the necessary image processing, scan calculations, data acquisition, signal processing and result visualization.