• International Journal of Fuzzy Logic and Intelligent Systems
• /
• 제14권1호
• /
• pp.17-25
• /
• 2014

This paper presents the formulation of an impedance controller for regulating the contact force with the environment. To achieve an accurate force tracking control, uncertainties in both robot dynamics and the environment require to be addressed. As part of the framework of the proposed force tracking formulation, a neural network is introduced at the desired trajectory to compensate for all uncertainties in an on-line manner. Compensation at the input trajectory leads to a remarkable structural advantage in that no modifications of the internal force controllers are required. Minimizing the objective function of the training signal for a neural network satisfies the desired force tracking performance. A neural network actually compensates for uncertainties at the input trajectory level in an on-line fashion. Simulation results confirm the position and force tracking abilities of a robot manipulator.

• 전자공학회논문지A
• /
• 제33A권7호
• /
• pp.216-222
• /
• 1996

Since many typical 2.5 Gbps optical transmitter modules use a 50$\Omega$ characteristic impedance, they require relatively high voltage and high power sources compared to the 25$\Omega$ module. However, simple replacement of the 50$\Omega$ internal matching impedance with 25$\Omega$ results in bandwidth reduction and consequent problem of data transmitter module is proposed in order to expand the modulator bandwidth. From the calculated resutls based on accurate 3-dimensional inductance analysis, we have found that the series parasitic inductance is a dominant element limiting the bandwidth and the insertion of a 2.5pF capacitor in parallel to the 20$\Omega$ matching resiter can increase the 3 dB bandwidth about 1.4GHz wider. The time-domain results show the rise time (140 psec) without the compensation is greatly improved to 63 psec with the compensation. This capacitive ocmpensation can be implemented easily and be compatible with common manufacturing process of the optical transmitter module.

• 한국철도학회:학술대회논문집
• /
• 한국철도학회 2009년도 춘계학술대회 논문집
• /
• pp.879-891
• /
• 2009

Impedance of rails is increased by the magnetic coupling between rails and reinforcing bars in the concrete slab track. Currently, the current of track circuit has been compensated by installing the compensation capacitors on track circuit because of increasing the impedance of rails. In case of a rapid transit railway, the compensation capacitors are installed every 20[m] to compensate the current of track circuit in the concrete slab track. Because the interval of one block for a rapid transit railway is as long as 1500[m], the compensation capacitors are installed about the number of 70$\sim$75 on track circuit. However, in case the compensation capacitors are broken over the number of three, it is a problem that the amplitude of current is under standard amplitude of current which is 0.8[A]. In this paper, it was suggested installing a compensation capacitor by using resonance phenomenon on the concrete slab track. We represent the electrical model of track circuit and the four terminal network, calculate the parameters demanded for the electrical model in the concrete slab track. Also, we computed the position and capacitance of the compensation capacitor about 2040[Hz], 2400[Hz], 2760[Hz], 3120[Hz] which currently is the track circuit frequency in the Gyeongbu rapid transit railway and demonstrated the validity of it, using the Matlab and PSpice program.

• Journal of Power Electronics
• /
• 제18권6호
• /
• pp.1751-1759
• /
• 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.

• 한국전산구조공학회논문집
• /
• 제24권1호
• /
• pp.107-117
• /
• 2011

본 논문에서는 PSC 거더 교량의 가속도-임피던스 응답 특성을 이용하는 손상 모니터링에 있어 온도유발 불확실성의 영향을 분석하였다. 먼저, 전역적 및 국부 진동 특성을 이용한 손상 모니터링 기법을 설계하였다. 전역적 및 국부 특성으로 각각 가속도 및 전기-역학적 임피던스 특성을 선정하였다. 다음으로 모형 PSC 거더 교량을 이용하여 온도유발 가속도-임피던스 응답 특성을 실험적으로 분석하였다. 실험 결과로부터 온도-가속도 및 온도-임피던스 응답 특징들에 대한 보정식을 산출하였다. 마지막으로 긴장력 감소 및 휨 강성 저하 경우들이 실험된 모형 PSC 거더를 대상으로 산출된 보정식을 이용한 가속도-임피던스기반 손상 모니터링 기법의 유용성이 평가되었다.

• 소음진동
• /
• 제5권1호
• /
• pp.117-122
• /
• 1995

The transfer matrix method is proposed to compensate the attachment effect of a piezo-electric impedance head. To validate the proposed method, an experiment is carried out for axial vibration of a uniform rod for which an analytical solution is known. The impedance head is attached to the test rod by a stud and is connected to the exciter. The frequency response function is mesured by applying random excitation from the electro-magnetic exciter. The frequency response function compensated by the method proposed in this research shows good agreement with the analytical solution.

• 대한기계학회논문집A
• /
• 제24권4호
• /
• pp.1007-1015
• /
• 2000

This paper proposes an adaptive trajectory generation strategy of using on-line ZMP information and an impedance control method for biped robots. Since robots experience various disturbances during their locomotion, their walking mechanism should have the robustness against those disturbances, which requires an on-line adaptation capability. In this context, an on-line trajectory planner is proposed to compensate the required moment for recovering stability. The ZMP equation and sensed ZMP information are used in this trajectory generation strategy. In order to control a biped robot to be able to walk stably, its controller should guarantee stable footing at the moment of feet contacts with the ground as well as maintaining good trajectory tracking performance. Otherwise, the stability of robot will be significantly compromised. To reduce the magnitude of an impact and guarantee a stable footing when a foot contacts with the ground, this paper. proposes to increase the damping of the leg drastically and to modify the reference trajectory of the leg. In the proposed control scheme, the constrained leg is controlled by impedance control using the impedance model with respect to the base link. Computer simulations performed with a 3-dof environment model that consists of combination of a nonlinear and linear compliant contact model show that the proposed controller performs well and that it has robustness against unknown uneven surface. Moreover, the biped robot with the proposed trajectory generator can walk even when it is pushed with a certain amount of external force.

• 대한의용생체공학회:의공학회지
• /
• 제13권1호
• /
• pp.47-54
• /
• 1992

We studied the characteristics of the compound electrode and found that the compound electrode provides the four-electrode method in a compact form. We developed a new method of measuring the skin impedance using simple electrodes at low frequencies. At high frequencies where the effect of internal tissue impedance is not negligible, we used the compensation method using compound electrodes since they measure the voltage right under the skin. At 50 kHz, we measured the real part of the skin impedance of less than $80{\Omega}$ on the thorax. We propose a simple instrument which can measure accurate skin impedance at various frequencies.

• Journal of Electrical Engineering and Technology
• /
• 제13권2호
• /
• pp.875-880
• /
• 2018

This paper proposes a novel combined compensation structure in the infrared receiver chip. For the infrared communication chip, the current-voltage (I-V) convert circuit is crucial and important. The circuit is composed by the transimpedance amplifier (TIA) and the combined compensation structures. The TIA converts the incited photons into photocurrent. In order to amplify the photocurrent and avoid the saturation, the TIA uses the combined compensation circuit. This novel compensation structure has the low frequency compensation and high frequency compensation circuit. The low frequency compensation circuit rejects the low frequency photocurrent in the ambient light preventing the saturation. The high frequency compensation circuit raises the high frequency input impedance preserving the sensitivity to the signal of interest. This circuit was implemented in a $0.6{\mu}m$ BiCMOS process. Simulation of the proposed circuit is carried out in the Cadence software, with the 3V power supply, it achieves a low frequency photocurrent rejection and the gain keeps 109dB ranging from 10nA to $300{\mu}A$. The test result fits the simulation and all the results exploit the validity of the circuit.

• 조명전기설비학회논문지
• /
• 제25권4호
• /
• pp.57-64
• /
• 2011

Most of the user has been used linear load and non-linear load. The former is usually inductive load which is needed power factor compensation, the latter is power conversion system device. Actually two kinds of load is used together in the customer application. Generally capacitor is used for power-factor compensation of inductive load and reduction harmonics of non linear load with reactor. Non-linear load generates harmonic current for its energy conversion process. If harmonic current pass along the low impedance side of distribution system, the magnification of voltage and current is appeared by the series and parallel resonance. As a result, condenser has received a bitter electrical stress by the harmonic component. In this paper, we analyzed that how resonance is changed by the 5-th harmonic current pattern and proposed an alternative plan for non-magnification.