• The Journal of Korea Robotics Society
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• v.3 no.3
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• pp.226-236
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• 2008

In this paper, control software architecture is designed to enable a heterogeneous multiple humanoid robot demonstration executing tasks cooperating with each other. In the heterogeneous humanoid robot team, one large humanoid robot and two small humanoid robots are included. For the efficient and reliable information sharing between many software components for humanoid control, sensing and planning, CORBA based software framework is applied. The humanoid tasks are given in terms of finite state diagram based human-robot interface, which is interpreted into the XML based languages defining the details of the humanoid mission. A state transition is triggered based on the event which is described in terms of conditions on the sensor measurements such as robot locations and the external vision system. In the demonstration of the heterogeneous humanoid team, the task of multiple humanoid cleaning the table is given to the humanoid robots and successfully executed based on the given state diagram.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.59 no.12
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• pp.2131-2134
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• 2010

In this paper, the on-line system schemes for coordinated control system of multiple FACTS were presented to enhance the voltage stability around the metropolitan areas. In order to coordinated control system of FACTS devices, MFC on-line system calculates the optimal set point(Vref, Qrev) of FACTS devices using the coordinated control algorithm with real time network data which is transferred from SCADA/EMS system. If the system is unstable after contingencies, the new operation set-point of FACTS would be determined using bus sensitivity from tangent vector at voltage instability point. Otherwise, we would determine the new operation set-point of FACTS for considering economical operation, like as active power loss minimization using Optimal Power Flow algorithm. As the test, MFC(Multiple FACTS Coordinated control) on-line system will be installed in Korea power system.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.59 no.3
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• pp.525-530
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• 2010

Installation of FACTS(Flexible AC Transmission System) device can maximize utilization of existing power facilities and reliability of power system. STATCOM has excellent characteristics in operating cost, maintaining facilities, loss and so on. However, STATCOM has a disadvantage of facility cost over capacity. So it is effective to coordinate STATCOM and existing external bank(capacitor and reactor) and OLTC(On Load Tap Changer). This paper mainly proposes coordinative control method between STATCOM installed within substation and other reactive power resources including Shunt Reactors and Shunt Capacitors and OLTC for voltage stability improvement. The proposed coordinative control method is developed for the STATCOM of Mi-gum substation and the simulation results of EMTP/RV model show the effectiveness of the proposed method.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.59 no.6
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• pp.1011-1016
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• 2010

It is an important issue to electric power system operations that it can reliably supply large-capacity power to consumption area as due to increasing power demand growth. For this purpose, The FACTS equipment based on Power IT technology with the existing mechanical compensators has been applied to power system. Therefore we suggest on this paper that a plan for coordination control of multiple power compensation equipment in order to increase the utilization of each facility and secure operation margin capacity. As the result of simulation, it is possible to cope actively with a suddenly changed power system. This helps greatly for the voltage stability and supply reliability in a suddenly changed power system.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.57 no.10
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• pp.1726-1730
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• 2008

In this paper, the application schemes for coordinated control system of multiple FACTS were presented to enhance the voltage stability around the metropolitan areas. In order to coordinated control of FACTS devices, f-V analysis method which is one of the indices for voltage stability was performed with real time network data which is transferred from SCADA/EMS system. If the system is unstable after contingencies, the new operation set-point of FACTS would be determined using bus sensitivity from tangent vector at voltage instability point. Otherwise, we would determine the new operation set-point of FACTS for considering economical operation, like as active power loss minimization using Optimal Power Flow algorithm. In simulation, the SCADA/EMS 2007's data are used for studying the coordinated control algorithm of multiple FACTS devices that is installed or will be installed in KOREA power system

• The Transactions of The Korean Institute of Electrical Engineers
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• v.66 no.5
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• pp.750-756
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• 2017

This paper presents a method for DC voltage control of HVDC system connection of offshore wind farms. In the event of fault in AC grid, HVDC system need to meet LVRT regulations. When HVDC system meet LVRT regulation, unbalance is caused between power input and power output for DC link. Therefore, LVRT regulation lead to DC voltage increase of HVDC system. To control the DC voltage increase, the chopper resistor can be suggested. In this paper, DC voltage suppression is proposed using chopper resistor and de-loading. The effectiveness of the chopper resistor was verified using PSCAD/EMTDC.

• Journal of the Korean Institute of Illuminating and Electrical Installation Engineers
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• v.29 no.6
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• pp.63-69
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• 2015

Energy Storage Systems (ESSs) are essential in the future power systems because they can improve power usage efficiency. In this paper, we propose the countermeasure for improving the power quality using coordinated control of BESS(Battery Energy Storage System) on EV connected system. To verify the performance of proposed scheme, we simulate on the actual power system of KEPCO and compare the results of voltage variation, frequency variation, and load factor with those of uncoordinated control. From the simulation results, we confirm that frequency and voltage deviation are significantly reduced with proposed coordinated control of BESS.

• The Transactions of the Korean Institute of Electrical Engineers A
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• v.48 no.9
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• pp.1103-1111
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• 1999

STACOM will be utilized to control substation voltage in the near future. Although STACOM shows good voltage regulation performance owing to its rapid and continuous response, it needs additional reactive power compensation device to keep control margin for emergency such as fault. ULTC transformer is one of good candidates. This paper presents a Kohonen Neural Network (KNN) based coordination control scheme of ULTC transformer and STACOM. In this paper, the objective function of the coordination control is minimization of both STACOM output and the number of switchings of ULTC transformer while maintaining substation voltage magnitude to the predefined constant value. This coordination, control is performed based on reactive load trend of the substation and KNN which offers optimal tap position in view of STACOM output minimization. The input variables of KNN are active and reactive power of the substation, current tap position, and current STACOM output. The KNN is trained by effective Iterative Condensed Nearest Neighbor (ICNN) rule. This coordination control applied to IEEE 14 bus system and shows satisfactory results.

• Proceedings of the KIEE Conference
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• 1997.07c
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• pp.1097-1099
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• 1997

The implementation of Static Var Compensator(SVC) provides opportunites to maintain voltage profile and improve voltage stability in large scale power system. Under Load Tap Changing(ULTC) transformer has been used to control the voltage. It is necessary that Coordinated control of SVC and ULTC for the better performance. This paper shows that the characteristic of Voltage control using SVC or ULTC and the condition of the coordinated control considering dynamic voltage stability.

• The Transactions of the Korean Institute of Electrical Engineers A
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• v.52 no.9
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• pp.500-505
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• 2003

The target of the ULTC(Under Load Tap Changer) control purpose is to minimize the operation number of the tap of the ULTC doing the error voltage which is the difference between the measured bus voltage End the reference bus voltage of the receiving end becomes less than the tolerance limits. The existing ULTC control method controls each ULTC considering only its bus voltage of the receiving end. However, this method did not cons der the coordinated control of the ULTCs of the system. In this paper, I proposed a coordinated control of the ULTC in :he loop power system using the Jacobian matrix. To show the validity of the proposed method, I made simulations for three cases: no action of the ULTC, the control of the ULTC by the existing control method, and the control of the ULTC by the coordinated control among the ULTCs of the system. The simulation result shows that the proposed method has more improvement of the operation of the ULTC than other methods.