• Journal of Electrical Engineering and Technology
• /
• v.3 no.2
• /
• pp.162-166
• /
• 2008

This paper presents the design and implementation of a 5kW programmable three-phase harmonic generator, which is capable of generating sinusoidal output voltages with adjustable output amplitude and frequency over a wide range as well as arbitrary waveforms. The considered harmonic generator is a linear power amplifier type. This system consists mainly of a power converter to generate and amplify waveform signals, a controller to control the desired output signal and measure the output parameters including voltage and current, and a control program to set the desired output and display the output values. The prototype programmable three-phase harmonic generator has been constructed and tested. Test results show that the developed programmable three-phase harmonic generator performs well.

• Proceedings of the KIEE Conference
• /
• 1999.11c
• /
• pp.533-536
• /
• 1999

We consider digital implementation problems of continuous-time controllers. In general, digital controllers use fixed point representation of number and of finite word length(FWL). Under these conditions, this paper investigates the closed-loop stability caused by three design constraints; (i) finite precision representation of the controller parameters, (ii) realization forms such as direct form, cascade form, and parallel form, and (iii) sampling time. We calculate the coefficient stability margins of both predesigned controllers and controller to be implemented. This method can be applied to determine the word length, realization structure, and sampling time so that remains the stability.

• Proceedings of the KIEE Conference
• /
• 1992.07a
• /
• pp.394-396
• /
• 1992

This note is concerned with the point to point control of manipulators having elastic joints. We present a PD control algorithm which is adaptive with respect to the gravity and elastic parameters of robot manipulators. While the conventional control law is used, a new adaptive law is used to improve the performance. The proposed controller is shown to be stable. It is Shown that steady-state position error converges to zero through some simulations concerning the manipulator with three revolute elastic joints.

• Journal of Power Electronics
• /
• v.18 no.4
• /
• pp.1178-1189
• /
• 2018

In grid-connected voltage-source inverters (VSIs), when compared with a simple inductive L filter, the LCL filter has a better performance in attenuating the high frequency harmonics caused by the pulse-width modulation of power switches. However, the resonance peaks generated by the filter inductors and capacitors can make a system unstable. In terms of simplicity and filter design cost, a passive damping method is generally preferred. However, its high power loss and degradation in high frequency harmonic attenuation are significant demerits. In this paper, a mathematical design solution for a passive LCL filter to derive filter parameters suppressing the high frequency current harmonics to 0.3% is proposed. The minimum filter inductance can be obtained to reduce the size of the filter. Furthermore, a minimum damping resistance design considering a current controller is analyzed for a stable closed-loop system. The proposed design method is verified by experimental results using a 5-kW three-phase prototype inverter.

• 제어로봇시스템학회:학술대회논문집
• /
• 1996.10b
• /
• pp.928-931
• /
• 1996

It is necessary to develop the simulator for the test of stability and torque before the walking experiment of biped robot, because a robot may be damaged in an actual experiment. This thesis deals with the development of three-dimensional simulator for improving efficiency and safety during development and experimentation. The simulator is composed of three parts-solving dynamics, rendering pictures and communicating with the robot. In the first part, the D-H parameter and parameter of links can be loaded from the file and edited in the program. The results are obtained by using the Newton-Euler method and are stored in the file. Through the above process, the proper length of link and driving force can be found by using simulator before designing the robot. The second part is organized so that the user can easily see a specific value or a portion he wants by setting viewing parameters interactively. A robot is also shown as a shaded rendering picture in this part. In the last part, the simulator sends each desired angle of joints to the robot controller and each real angle of joints is taken from the controller and passed to the second part. The safety of the experiment is improved by driving the robot after checking whether the robot can be actuatable or not and whether the ZMP is located within the sole of the foot or not for a specific gait. The state of the robot can be easily grasped by showing the shaded rendering picture which displays the position of the ZMP, the driving force and the shape of robot.

• Journal of Mechanical Science and Technology
• /
• v.14 no.4
• /
• pp.380-392
• /
• 2000

A typical production-distribution system consist of three main echelons representing the retailer, distributors, and a factory each with an on-site warehouse. The system is sufficiently general and realistic to represent many industrial situations. However, decision functions and parameters have been selected to apply particularly to the production and distribution of consumer durables. The flows included in the model are materials, orders, and those information flows needed to support the material and order-rate decisions. In this work, a realistic production-distribution system has been used as a basic model, which consists of three sectors: retailer, distributor, and factory. That system is a nonlinear 25th-order continuous system interconnected between the echelons. Using a modern control algorithm, a typical multi-echelon production-distribution system using a dynamic controller is numerically simulated in the nominal plant and in the perturbed plant when the piecewise constant manufacturing decision is limited by a factory manufacturing upper-limit due to capital equipment, manpower, and factory lotsize.

• Journal of the Korean Society for Precision Engineering
• /
• v.15 no.11
• /
• pp.199-207
• /
• 1998

This paper presents the design and the control of three degree-of-freedom(DOF) fine positioning device based on an electro-magnetic force. The device is designed by use of a magnetic circuit theory and it is capable of fine motion due to the electro-magnetic force. The device consists of permanent magnets, yokes and coils. The magnetic fluxes generated from the permanent magnets constitute magnetic paths through steel, whereas the coils are arranged into the gap between two surfaces of the yokes. Therefore, by supplying current to the coils, the coils are capable of some motions due to Lorentz forces. For the optimal design of the actuating system, the system parameters are defined and investigated under the given constraints. From the system modeling in small displacement, three decoupled equations of motion are obtained. To get better performance of the system, a PID controller is implemented. Experimental results are presented in terms of time response and accuracy.

• Journal of Electrical Engineering and Technology
• /
• v.11 no.3
• /
• pp.543-550
• /
• 2016

The Active Superconducting Current Controller (ASCC) is a new type of Superconducting Fault Current Limiters (SFCL) which can limit the fault current in different modes. It also has the particular abilities of compensating active and reactive powers for electrical networks. In this paper, it is confirmed that the performance of ASCC in different operating modes introduces a limiting impedance in series with the network which can even degrade the transient stability and the operation of the Over-Current Relays (OCR) employed in a power system. In addition, the model of a three-phase ASCC is simulated, and the effect of descriptive modes on the current limiting level is investigated. For the transient stability analysis, a single machine-infinite bus system is tested, and the effect of operation modes is studied based on an equal area criterion obtaining the critical time and the critical angle. Modifying the setting parameters of OCR such as time dial and pick-up current, the protective coordination is also studied in different operating modes.

• International Journal of Control, Automation, and Systems
• /
• v.6 no.4
• /
• pp.506-514
• /
• 2008

This paper presents an intelligent model; named as free model, approach for a closed-loop system identification using input and output data and its application to design a power system stabilizer (PSS). The free model concept is introduced as an alternative intelligent system technique to design a controller for such dynamic system, which is complex, difficult to know, or unknown, with input and output data only, and it does not require the detail knowledge of mathematical model for the system. In the free model, the data used has incremental forms using backward difference operators. The parameters of the free model can be obtained by simultaneous perturbation stochastic approximation (SPSA) method. A linear transformation is introduced to convert the free model into a linear model so that a conventional linear controller design method can be applied. In this paper, the feasibility of the proposed method is demonstrated in a one-machine infinite bus power system. The linear quadratic regulator (LQR) method is applied to the free model to design a PSS for the system, and compared with the conventional PSS. The proposed SPSA-based LQR controller is robust in different loading conditions and system failures such as the outage of a major transmission line or a three phase to ground fault which causes the change of the system structure.

• Journal of the Korean Society of Manufacturing Technology Engineers
• /
• v.9 no.2
• /
• pp.102-111
• /
• 2000

Methodology of volumetric error identification and compensation is presented to improve the accuracy of NC machine tools by using a reference artifact and a touch trigger probe. Homogeneous transformation matrix and kinematic chain are used for modeling the geo-metric and thermal errors of a three-axis vertical machining center. The reference artifact is designed and fabricated to identify the model parameters by machine tool metrology. Parameters in the error model are able to be identified and updated by direct measurement of the reference artifact on the machine tool under the actual conditions which include the thermal interactions of error sources. A volumetric error compensation system based on IBM/PC is linked with a FANUC CNC controller to compensate for the identified volumetric error in machining workspace.