• Journal of Power Electronics
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• v.11 no.6
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• pp.897-903
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• 2011

Many voltage sag compensators have been introduced, including the traditional dynamic voltage restorer (DVR), which requires an energy storage device but is inadequate for compensating deep and long-duration voltage sags. The AC-AC sag compensators introduced next do not require a storage device and they are capable of compensating voltage sags. This type of compensator needs an AC-AC converter to regulate the output voltage. Presented in this paper is a three-phase PWM-switched autotransformer voltage sag compensator based on an AC-AC converter that uses a proposed detection technique and PWM voltage control as a controller. Its effectiveness and capability in instantly detecting and compensating voltage sags were verified via MATLAB/Simulink simulations and further investigated through a laboratory prototype developed with a TMS320F2812 DSP as the main controller.

• Journal of Power Electronics
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• v.14 no.4
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• pp.742-753
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• 2014

In this paper, a new continuously and linearly controlled capacitive static VAR compensator is proposed for the automatic power factor correction of inductive single phase loads in 220V 50Hz power system networks. The compensator is constructed of a harmonic-suppressed TCR equipped with a new adaptive current controller. The harmonic-suppressed TCR is a new configuration that includes a thyristor controlled reactor (TCR) shunted by a passive third harmonic filter. In addition, the parallel configuration is connected to an AC source via a series first harmonic filter. The harmonic-suppressed TCR is designed so that negligible harmonic current components are injected into the AC source. The compensator is equipped with a new adaptive closed loop current controller, which responds linearly to reactive current demands. The no load operating losses of this compensator are negligible when compared to its capacitive reactive current rating. The proposed system is validated on PSpice which is very close in terms of performance to real hardware.

• Journal of Power Electronics
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• v.17 no.3
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• pp.798-810
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• 2017

This paper presents a combined system of a small-capacity inverter and multigroup delta-connected thyristor switched capacitors (TSCs). The system is referred to as a hybrid static compensator (HSC) and has the functions of dynamic reactive power compensation and harmonic suppression. In the proposed topology, the load reactive power is mainly compensated by the TSCs. Meanwhile the inverter is meant to cooperate with TSCs to achieve continuous reactive power compensation, and to filter the harmonics generated by nonlinear loads and the TSCs. First, the structure and mathematical model of the HSC are discussed Then the control method of the HSC is presented. An improved reduced order generalized integrator (ROGI)-based selective current control method is adopted in the inverter to achieve high-performance reactive and harmonic current compensation. Meanwhile, a switch control strategy is proposed to implement precise and fast switching of the TSCs and to avoid changing the time delay needed by the conventional switch strategy. Experiments are implemented on a 20 KVA HSC prototype and the obtained results verify the validity of the proposed HSC system.

• The Journal of Korea Robotics Society
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• v.14 no.4
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• pp.348-356
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• 2019

The backdrivable servovalve is a desirable component for force and interaction control of hydraulic actuation systems because it provides direct force generation mechanical impedance reduction by its own inherent backdrivability. However, high parametric uncertainty and friction effects inside the hydraulic actuation system significantly degrade its advantage. To solve this problem, this letter presents a disturbance-adaptive robust internal-loop compensator (DA-RIC) to generate ideal interactive control performance from the backdrivable-servovalve-based system. The proposed control combines a robust internal-loop compensator structure (RIC) with an explicit disturbance estimator designed for asymptotic disturbance tracking, such that the controlled system provide stable and ideal dynamic behavior for impedance control, while completely compensating the disturbance effects. With the aid of a backdrivable servovalve, we show that the proposed control structure can be implemented based on a simplified nominal model, and the controller enables implementation without accurate knowledge of the target system parameters and disturbances. The performance and properties of the proposed controller are verified by simulation and experiments.

• International Journal of Fuzzy Logic and Intelligent Systems
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• v.15 no.4
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• pp.240-250
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• 2015

The development of the control algorithms for under-actuated systems is important. Decoupled sliding mode control has been successfully employed to control under-actuated systems in a decoupling manner with the use of sliding mode control. However, in such a control scheme, the system functions must be known. If there are uncertainties in those functions, the control performance may not be satisfactory.In this paper, the direct adaptive fuzzy sliding mode control is employed to control a class of under-actuated uncertain systems which can be regarded as a combination of several subsystems with one same control input. By using the hierarchical sliding control approach, a sliding control law is derived so as to make every subsystem stabilized at the same time. But, since the system considered is assumed to be uncertain, the sliding control law cannot be readily facilitated. Therefore, in the study, based on Lyapunov stable theory a fuzzy compensator is proposed to approximate the uncertain part of the sliding control law. From those simulations, it can be concluded that the proposed compensator can indeed cope with system uncertainties. Besides, it can be found that the proposed compensator also provide good robustness properties.

• Journal of Institute of Control, Robotics and Systems
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• v.10 no.5
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• pp.385-394
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• 2004

This paper proposes the generalized structure of a model-based disturbance rejection controller called a Robust Internal-loop Compensator (RIC). The framework consists of the RIC in the internal-loop to eliminate disturbances and a feedback controller in the external-loop to achieve nominal control performance. As the main contribution of this paper, we redefine the design problem of the RIC as a regulation control problem, then show that this new definition with the RIC structure provides more design flexibility and less implementation constraints. This is verified through a comparative structural analysis with Disturbance Observer (DOB) and Adaptive Robust Control (ARC). Two design examples of the RIC are given, along with practical issues that should be considered in the design procedure. The proposed framework is demonstrated by simulations of a rotary-type motor and experiments with a linear-type motor system.

• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.1136-1141
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• 2004

This paper presents a control method for time-delay systems and verifies the performance of the designed control system via real experiments. Specifically, the control method is applied to a flexible-link system with time delays. The method combines time- and frequency-domain controllers: linear quadratic optimal controller (or LQR) and lag compensator. The LQR is used to stabilize the system in optimal fashion, whereas the lag compensator is used to compensate time-delay effects by increasing the delay margin of the system. With this methodology, the maximum allowable time delay can be increased significantly. The proposed method is simple but quite practical for time-delay system control as it is based on the conventional loop-shaping method, which gives practical insights on delay-phase relationship. Simulation and experiment results show that the method presented in this paper is feasible and practical.

• Journal of Drive and Control
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• v.17 no.1
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• pp.44-50
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• 2020

For the requirement of accurate tracking control and the safety of physical human-robot interaction, torque control is basically desirable for humanoid robots. Because of the complexity of humanoid robot dynamics, the TDC (time-delay control) is practical because it does not require a dynamic model. However, there occurs a considerable error due to discontinuous non-linearities. To solve this problem, the TDC-FLC (fuzzy logic compensator) is applied to humanoid robots. The applied controller contains three factors: a TDE (time-delay estimation) factor, a desired error dynamic factor, and FLC to suppress the TDE error. The TDC-FLC is easy to execute because it does not require complicated humanoid dynamic calculations and the heuristic fuzzy control rules are intuitive. TDC-FLC is implemented on the whole body of a humanoid, not on biped legs even though it is performed by a virtual humanoid robot. The simulation results show the validity of the TDC-FLC for humanoid robots.

• Journal of Electrical Engineering and Technology
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• v.3 no.3
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• pp.391-400
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• 2008

Multi-pulse topology of converters using elementary six-pulse GTO - VSC (gate turn off based voltage source converter) operated under fundamental frequency switching (FFS) control is widely adopted in high power rating static synchronous compensators (STATCOM). Practically, a 48-pulse ($6{\times}8$ pulse) configuration is used with the phase angle control algorithm employing proportional and integral (PI) control methodology. These kinds of controllers, for example the ${\pm}80MVAR$ compensator at Inuyama switching station, KEPCO, Japan, employs two stages of magnetics viz. intermediate transformers (as many as VSCs) and a main coupling transformer to minimize harmonics distortion in the line and to achieve a desired operational efficiency. The magnetic circuit needs altogether nine transformers of which eight are phase shifting transformers (PST) used in the intermediate stage, each rating equal to or more than one eighth of the compensator rating, and the other one is the main coupling transformer having a power rating equal to that of the compensator. In this paper, a two-level 48-pulse ${\pm}100MVAR$ STATCOM is proposed where eight, six-pulse GTO-VSC are employed and magnetics is simplified to single-stage using four transformers of which three are PSTs and the other is a normal transformer. Thus, it reduces the magnetics to half of the value needed in the commercially available compensator. By adopting the simple PI-controllers, the model is simulated in a MATLAB environment by SimPowerSystems toolbox for voltage regulation in the transmission system. The simulation results show that the THD levels in line voltage and current are well below the limiting values specified in the IEEE Std 519-1992 for harmonic control in electrical power systems. The controller performance is observed reasonably well during capacitive and inductive modes of operation.

• Journal of Institute of Control, Robotics and Systems
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• v.6 no.8
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• pp.672-681
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• 2000

Based on the dynamic anti-windup strategy a novel control methodology for state constrained control systems is presented. First a linear controller is designed for an open-loop stable plant to show a desirable nominal performance by ignoring state constraints. And then an additional dynamic compensator is introduced to preserve the nominal performance as closely as possible int he face of state constraints. This paper focuses on the second step under the assumption that a linear controller has already been designed appropriately by using an effective controller design method. By minimizing a reasonable performance index the dynamic compensator is derived explicitly which is expressed int he plant and controller parameters. the proposed method not only guarantees the total stability of the overall resulting systems but also provides desirable output performance because it solves the state-positioning problem completely.