• Proceedings of the KIPE Conference
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• 2017.07a
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• pp.120-121
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• 2017

This paper proposes an enhanced distributed generation (DG) unit with an adaptive virtual impedance control approach in order to address the inaccurate reactive power sharing problem. The proposed method can adaptively regulate the DG virtual impedance, and the effect of the mismatch in feeder impedances is compensated to share the reactive power accurately. The proposed control strategy is fully distributed and the need for the microgrid central controller is eliminated. Furthermore, the proposed method can be directly implemented without requirement of pre-knowledge of the feeder impedances. Simulations are performed to validate the effectiveness of the proposed control approach.

• The Transactions of the Korean Institute of Power Electronics
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• v.20 no.1
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• pp.81-90
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• 2015

This paper investigates the droop control-based real and reactive power load sharing with a virtual inductor when the line impedance between inverter and Point of Common Coupling (PCC) is partly and unequally resistive in high-capacity systems. In this paper, the virtual inductor method is applied to parallel inverter systems with resistive and inductive line impedance. Reactive power sharing error has been improved by applying droop control after considering each line impedance voltage drop. However, in high capacity parallel systems with large output current, the reference output voltage, which is the output of droop controller, becomes lower than the rated value because of the high voltage drop from virtual inductance. Hence, line impedance voltage drop has been added to the droop equation so that parallel inverters operate within the range of rated output voltage. Additionally, the virtual inductor value has been selected via small signal modeling to analyze stability in transient conditions. Finally, the proposed droop method has been verified by MATLAB and PSIM simulation.

• Journal of Power Electronics
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• v.18 no.6
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• pp.1751-1759
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• 2018

This paper presents parallel-connected inverters to achieve accurate proportional power sharing. Due to line impedance mismatch, reactive power cannot be distributed proportionally when using the conventional $P-{\omega}$ and $\mathcal{Q}-E$ droop. In order to realize reactive proportional power sharing, the ratio of the droop coefficients should be inversely proportional to their power-sharing ratios. Meanwhile, the ratio of the line impedance should be inversely proportional to the desired power-sharing ratio, which is very difficult to be met in practice. In order to deal with this issue, a practical control strategy is presented. By measuring the PCC voltage and using the virtual impedance, the output impedance of individual inverters is reconstructed to counteract the line impedance effect. In order to guarantee system stability, a low pass filter is designed to suppress the bandwidth of the line compensation. Finally, the simulation and experimental results are given to verify the effectiveness of the proposed control strategy.

• Journal of Power Electronics
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• v.17 no.3
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• pp.756-765
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• 2017

The control of the power conversion system (PCS) in a battery energy storage system has a challenge due to the existence of grid impedance. This paper studies an impedance model of an LCL-based PCS in the d-q domain. The feature of a PCS connected to a weak grid is unveiled by use of an impedance model and a generalized Nyquist criterion. It is shown that the interaction between grid impedance and the PCS destabilizes the cascaded system in certain cases. Therefore, this paper proposes a novel control method that adopts virtual resistors to overcome this issue. The improvement in the control loop leads the PCS to a more stable condition than the conventional method. Impedance measurement is implemented to verify the correctness of the theoretical analysis. Experimental results obtained from a down-scaled prototype indicate that the proposed control method can improve the performance of the PCS under a weak grid.

• Transactions on Control, Automation and Systems Engineering
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• v.4 no.1
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• pp.2-8
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• 2002

This paper discusses haptic display for grasping a virtual object by two fingers. Much research has been done on fundamental analysis for stability of haptic display. But it is difficult to apply the results immediately to grasping situations by two fingers, since the studies usually deal with a single device and a single object and the fingertip force in grasping situations has two components, internal and external components. The conventional methods, which specify the coupling impedance at each contact point separately, have no other alternative but to specify the impedance for the sum of the internal and external components. So even if only the impedance for the external force should be changed, the impedance for the internal force is also changed at the same time. In this paper, a new method, in which the coupling impedance is specified separately for the internal and external forces, is proposed and the stability of the proposed method is discussed using passivity analysis for 1 -DOF(Degree-Of-Freedom) system. Finally, some experiments are performed to study the effects of the proposed method.

• Journal of Power Electronics
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• v.18 no.6
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• pp.1780-1790
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• 2018

Voltage feed-forward control (VFFC) is widely used in LCL-type grid-tied inverters due to its advantages in terms of disturbance rejection performance and fast dynamic response. However, VFFC may worsen the stability of inverters under weak grid conditions. It is revealed in this paper that a large phase-lag in the low-frequency range is introduced by VFFC, which reduces the phase margin significantly and leads to instability. To address this problem, a novel virtual-impedance-based control, where a phase-lead is introduced into the low-frequency area to compensate for the phase lag caused by VFFC, is proposed to improve system stability. The proposed control is realized with a high-pass filter, without high-order-derivative components. It features easy implementation and good noise immunity. A detailed design procedure for the virtual impedance control is presented. Both theoretical analysis and experimental results verify the effectiveness of the control proposed.

• Journal of Power Electronics
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• v.15 no.2
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• pp.399-410
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• 2015

A 6.5 V/50 kA high-frequency switching power supply (HSPS) system composed of 10 power modules is developed to meet the requirements of copper-foil electrolysis. The power module is composed of a two-leg pulse width modulation (PWM) rectifier and a DC/DC converter. The DC/DC converter adopts two full-wave rectifiers in parallel to enhance the output. For the two-leg PWM rectifier, the ripple of the DC-link voltage is derived. A composite control method with a ripple filter is then proposed to effectively improve the performance of the rectifier. To meet the process demand of copper-foil electrolysis, the virtual impedance-based current-sharing control method with load current full feedforward is proposed for n-parallel DC/DC converters. The roles of load current feedforward and virtual impedance are analyzed, and the current-sharing control model of the HSPS system is derived. Virtual impedance is used to adjust the current-sharing impedance without changing the equivalent output impedance, which can effectively reduce current-sharing errors. Finally, simulation and experimental results verify the structure and control method.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.30 no.11 s.254
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• pp.1401-1407
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• 2006

In a haptic interface system with a nanoscale virtual environment (NVE) using an atomic force microscope (AFM), impedance scaling is important. In order to explicitly derive the relationship between performance and impedance scaling factors, a nanoscale virtual coupling (NSVC) concept and a selection method of scaling factors of velocity (or position) and force are introduced. An available scaling factor region is represented based on Llewellyn's absolute stability criteria and the physical limitation of the haptic device. Experiments have been performed for tele-nanomanipulation tasks such as positioning, indenting and nanolithography with available force scaling factor in the NVE.

• Journal of Power Electronics
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• v.17 no.5
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• pp.1278-1287
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• 2017

Inverters are widely used in distributed power generation and other applications. However, their lack of inertia and variable impedance may cause system instability and power transfer inaccuracy. This paper proposes a control scheme for a single phase voltage-controlled inverter with some grid-friendly characteristics. The proposed control algorithm enables the inverter to function as a voltage source with an inner output impedance in both the islanded and grid-connected modes. Virtual inertia and rotor equations are embedded in the PLL part. Thus, the frequency stability can remain. The inner output impedance can be adjusted freely, which helps to accurately decouple and transmit the output active and reactive power. The proposed inverter operates like a traditional synchronous generator. Simulations and experiments are designed and carried out to verify the proposed control strategy.

• Journal of Institute of Control, Robotics and Systems
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• v.20 no.2
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• pp.200-210
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• 2014

An active virtual impedance algorithm is newly proposed to track a sound source and to avoid obstacles while a mobile robot is following the sound source. The tracking velocity of a mobile robot to the sound source is determined by virtual repulsive and attraction forces to avoid obstacles and to follow the sound source, respectively. Active virtual impedance is defined as a function of distances and relative velocities to the sound source and obstacles from the mobile robot, which is used to generate the tracking velocity of the mobile robot. Conventional virtual impedance methods have fixed coefficients for the relative distances and velocities. However, in this research the coefficients are dynamically adjusted to elaborate the obstacle avoidance performance in multiple obstacle environments. The relative distances and velocities are obtained using a microphone array consisting of three microphones in a row. The geometrical relationships of the microphones are utilized to estimate the relative position and orientation of the sound source against the mobile robot which carries the microphone array. Effectiveness of the proposed algorithm has been demonstrated by real experiments.