• 전력전자학회:학술대회논문집
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• 전력전자학회 2010년도 추계학술대회
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• pp.234-237
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• 2010

This paper proposes a balancing control of DC-link voltages of a H-bridge multilevel inverter for STATCOM application. Individual DC link voltage is controlled by simply adjusting the d-q voltage reference through a PI controller in each cell while the main controller carries out the reactive power control. The correctness and effectiveness of the method are validated by PSIM simulation with unbalanced load condition data taken from a typical arc furnace load, showing the adverse effects of load unbalance to DC link voltage significantly suppressed.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 1997년도 춘계학술대회논문집; 경주코오롱호텔; 22-23 May 1997
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• pp.428-433
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• 1997

This paper presents a new control strategy for the position and force control of flexible manipulators. The governing equation of motion of a two-link flexible manipulator which features piezoceramic actuators bonded on each flexible beam is derived via Hamilton's principle. The control torque of the motor to command desired position and force is determined by a sliding mode controller on the basis of the rigid-mode dynamics. In the controller formulation, the sliding mode controller with perturbation estimation(SMCPE) is adopted to determine appropriate control gains. The SMCPE is then incorporated with the fuzzy technique to mitigate inherent chattering problem while maintaining the stability of the system. A set of fuzzy parameters and control rules are obtained from a relation between estimated perturbation and actual perturbation. During the commanded motion, undesirable oscillation is actively suppressed by applying feedback control voltages to the piezoceramic actuators. These feedback voltages are also determined by the SMCPE. Consequently, accurate force and position control of a two-link flexible manipulator are achieved. Computer simulations are undertaken in order to demonstrate the effectiveness of the proposed control methodology.

• 한국항공우주학회지
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• 제40권5호
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• pp.454-460
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• 2012

무인기의 안정된 통신링크 보장을 위해 오류정정 및 시분할 다중화/역다중화 기능을 갖춘 통신제어기를 FPGA를 이용하여 개발하였다. 아울러 데이터링크의 실시간성을 보장하기 위해 RTOS인 VxWorks를 사용하였다. FPGA를 이용한 통신제어기의 설계는 다양한 입출력 장치의 수정 및 확장이 용이하며, S/W 설계 변경의 유연성을 제공하여 다양한 무인기 시스템에 쉽게 적용이 가능하도록 했다.

• 제어로봇시스템학회논문지
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• 제19권10호
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• pp.915-920
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• 2013

Payload capacity and transition ability are essential for climbing robots to apply the robots to various applications such as inspection and exploration. This paper presents a new climbing robotic platform with multi-link structure of track-wheel modules to enhance payload capacity and transition ability, and its tracking controller design and experimental results. The compliances between track-wheel modules achieve stable internal and external transitions while the large adhesion area of the track-wheel module enhances the payload capacity of the robot. Kinematic model-based tracking controller is designed and implemented for autonomous internal transition, and the gains of the controller are optimized by experimental design. Experiments on the automatic internal transitions are performed and the results guarantee autonomous internal transition with little tracking error.

• 전력전자학회논문지
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• 제22권3호
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• pp.256-262
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• 2017

This paper presents the control algorithm of a single-phase AC/DC/AC PWM converter for the linear compressor of a refrigerator. The AC/DC/AC converter consists of a full-bridge PWM converter for the control of the input power factor and a half-bridge PWM inverter for the control of the single-phase linear compressor. At the DC-link of this topology, two capacitors are connected in series. These DC-link voltages must be balanced for safe operation. Thus, a new control method of DC voltage balancing for the half-bridge PWM inverter is proposed. The balancing algorithm uses the Integral-Proportional controller and inserts the DC-offset current at the Proportional-Resonant current controller of the inverter to solve the DC-link unbalanced voltages between the two capacitors. The proposed algorithm can be easily implemented without much computation and additional hardware circuit. The usefulness of the proposed algorithm is verified through several experiments.

• 전자공학회논문지S
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• 제34S권7호
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• pp.48-55
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• 1997

An adaptive output feedback controller is designed for tracking control of an n-link robot manipulator with unknown load. High-gain obwserver that is used to estimate joint velocities is designed to avoide the restriction of the allowable variation range of unknown parmeters as well as improve the state estimation error. We saturate the control inut outside a domain of interest and use an adaptive law with a parameter projection feature to guarantee boundedness of all the trajectories in the closed-loop system. Simulation resutls on a 2-link manipulator illustrate that when the speed of the high-gain observer is sufficiently high, the proposed controller recovers the performance under state feedback control.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2003년도 학술회의 논문집 정보 및 제어부문 A
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• pp.247-250
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• 2003

In this paper, we propose a robust controller for motion control of n-link robot manipulators using visual feedback. The desired joint velocity and acceleration is obtained by the feature-based visual systems and is used in the joint velocity control loop for trajectory control of the robot manipulator. We design a robust controller that compensates for bounded parametric uncertainties of robot dynamics. The stability analysis of robust joint velocity control system is shown by Lyapunov Method. The effectiveness of the proposed method is shown by simulation results on the 5-link robot manipulators with two degree of freedom.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1994년도 하계학술대회 논문집 A
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• pp.3-5
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• 1994

The SRM can be operated on the high speed range in which the back-emf is greater than the DC link voltage. However, the phase current of the SRM should be controlled through the selection of an exciting angle since it can not be controlled by a chop of the DC link voltage in the high speed range. In this paper, a PI and a bang-bang controller are employed in order to control the speed of the SRM and the leading angle of the SRM is adapted as a control input. The performances of two controllers are evaluated by computer simulation. The results show that the bang-bang controller is more attractive than the PI controller in the cost and performance aspects.

• Journal of Power Electronics
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• 제9권5호
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• pp.726-735
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• 2009

This paper presents a Bidirectional High-Frequency Link (BHFL) inverter that utilizes the Deadbeat controller. The main features of this topology are the reduced size of the inverter and fewer power switches. On the secondary side of the transformer, the active rectifier employs only two power switches, thus reducing switching losses. Using this configuration, the inverter is capable of carrying a bidirectional power flow. The inverter is controlled by a Deadbeat controller, which consists of the inner current loop, outer voltage loop and a feedforward controller. Additional disturbance decoupling networks are employed to improve the system's robustness towards load variations. A 1-kVA prototype inverter has been constructed and the Deadbeat control algorithm is experimentally verified. The experimental results show that the inverter has high efficiency (91%) with low steady state output voltage total harmonics distortion (1.5%).

• 대한전기학회:학술대회논문집
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• 대한전기학회 1992년도 하계학술대회 논문집 A
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• pp.391-393
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• 1992

This paper proposes an adaptive control system using a 80286 microprocessor-based system and DC servo motors for the control of flexible joint manipulator. In this paper, we construct the controller based on a singular perturbation strategy damping out the elastic oscillations at the joints. we added to the controller the compensator for damping the joint and the term for decreasing the position error between the actuator and the link in order to improve the asymptotical convergence of the position of the link. It is shown that the implementation of this control algorithm can be practical.