• The Transactions of the Korean Institute of Power Electronics
• /
• v.26 no.4
• /
• pp.256-262
• /
• 2021

Six-phase motors can be used in industrial applications, such as an electric vehicle, due to their high reliability and low current magnitude per phase. An asymmetrical PMSM with two sets of three-phase windings is a commonly used structure for six-phase motors, with each winding set demonstrating a phase difference of 30°. Although the asymmetrical PMSM presents low torque ripples, its dynamic torque response deteriorates due to coupled components in the two three-phase windings. The decoupled VSD control is applied to eliminate the coupling effect. Load ratio control of two inverters for the six-phase PMSM is proposed in this study. DQ currents are controlled on the basis of two synchronous reference frames, and the six-phase drive system can be changed to a three-phase drive system when one inverter presents fault conditions. The operation and effectiveness of the proposed algorithm is verified through simulation and experiments. The six-phase drive system is transferred to a three-phase drive system by changing the current reference of the second DQ reference frame. Moreover, control of both torque and speed exhibits satisfactory performance before and after the mode change.

• Smart Structures and Systems
• /
• v.20 no.3
• /
• pp.285-301
• /
• 2017

This paper presents the design and the application of a new self-powered hybrid electromagnetic damper that can harvest energy while mitigating the vibration of a structure. The damper is able to switch between an energy harvesting passive mode and a semi-active mode depending on the amount of energy harvested and stored in the battery. The energy harvested in the passive mode resulting from the suppression of vibration is employed to power up the monitoring and electronic components necessary for the semi-active control. This provides a hybrid control capability that is autonomous in terms of its power requirement. The proposed hybrid circuit design provides two possible options for the semi-active control: without energy harvesting and with energy harvesting. The device mechanism and the circuitry that can drive this self-powered electromagnetic damper are described in this paper. The parameters that determine the device feasible force-velocity region are identified and discussed. The effectiveness of this hybrid damper is evaluated through a numerical simulation study on vibration mitigation of a bridge stay cable under wind excitation. It is demonstrated that the proposed hybrid design outperforms the passive case without external power supply. It is also shown that a broader force range, facilitated by decoupled passive and semi-active modes, can improve the vibration performance of the cable.

• Journal of Power Electronics
• /
• v.15 no.6
• /
• pp.1601-1608
• /
• 2015

This paper presents a PQ control strategy for micro grid inverters with axial voltage regulators. The inverter works in the voltage-controlled mode and can help improve the terminal power quality. The inverter has two axial voltage regulators. The 1st regulator involves the output voltage amplitude and output impedance, while the 2nd regulator controls the output frequency. The inverter system is equivalent to a controllable voltage source with a controllable inner output impedance. The basic PQ control for micro grid inverters is easy to accomplish. The output active and reactive powers can be decoupled well by controlling the two axial voltages. The 1st axial voltage regulator controls the reactive power, while the 2nd regulator controls the active power. The paper analyses the axial voltage regulation mechanism, and evaluates the PQ decoupling effect mathematically. The effectiveness of the proposed control strategy is validated by simulation and experimental results.

• Journal of the Institute of Convergence Signal Processing
• /
• v.6 no.3
• /
• pp.157-162
• /
• 2005

This paper presents an adaptive compensator using the fuzzy systems for robot manipulator with unknown frictions. In general, frictions are neglected or dynamic frictions are only considered in robot control theories. The proposed control method considers viscous frictions as well as dynamic frictions. Using the property that the frictions of joints are decoupled, SISO-fuzzy systems are utilized to approximate each friction. The stability of overall control system is proven and the adaptive laws are derived based on Lyapunov stability theorey. To verify the validity of the proposed control strategy, the results of computer simulations are shown for 2-link robot manipulator. The ability of approximating of the fuzzy system is also shown.

• International Journal of Aeronautical and Space Sciences
• /
• v.9 no.1
• /
• pp.66-75
• /
• 2008

In this work, we explore the feasibility of roll-pitch-yaw integrated autopilots for high angle-of-attack missiles. An investigation of the aerodynamic characteristics of a surface-to-air missile is presented, which reveals the strong effects of cross coupling between the longitudinal and lateral dynamics. Robust control techniques based on $H_{\infty}$ synthesis are employed to design roll-pitch-yaw integrated autopilots. The performance of the proposed roll-pitch-yaw integrated controller is tested in high-fidelity nonlinear five-degree-of-freedom simulations accounting for kinematic cross-coupling effects between the lateral and longitudinal channels. Against nonlinearity and cross-coupling effects of the missile dynamics, the integrated controller demonstrates superior performance when compared with the controller designed in a decoupled manner.

• The Transactions of the Korean Institute of Power Electronics
• /
• v.19 no.4
• /
• pp.332-341
• /
• 2014

A cascaded H-bridge multi-level STATCOM(STATic synchronous COMpensator), which is composed of many cell inverters with independent dc-sources, generates inevitably dc-side voltage unbalance among phases when it compensates unbalanced load. It comes from the difference of flowing active power in each phase when this compensator makes negative-sequence current to eliminate the unbalance of source-side current. However, this unbalance can be controlled by injecting zero-sequence current which is decoupled with grid currents, so the compensator can work well during this balancing process. Both a feedback control algorithm, which produces zero-sequence current proportional to dc-side voltage unbalance within each phase, and a feedforward control algorithm, which makes zero-sequence current directly from the compensator's negative-sequence current, were proposed. The dc-side voltage of each phase can be controlled stably by these proposed algorithms in both steady-state and transient, so the compensator can have fast response to satisfy control performance under rapid changing load. These balancing controllers were implemented and verified via simulation and experiment.

• Journal of Drive and Control
• /
• v.13 no.2
• /
• pp.1-9
• /
• 2016

In this paper, an elementary force fighting problem was investigated. The problem is encountered when a double-rod type EHA(electro-hydrostatic actuator) is combined with a single-rod type EHA to build a redundant actuator system with synchronized motion. When the rod-side chambers of the two different types of EHAs have the same effective piston areas and are simultaneously pressurized by an external load, the two EHAs behave identically, sharing the external load equally. However, when the piston head-side chamber of the single rod type EHA, having a larger effective area than the rod-side chamber, is pressurized by the external load, an abnormal force fighting between the two EHAs occurs, unless their pump speeds are properly decoupled. In this study, the output drive forces of each EHA were obtained from the cylinder pressure signals and applied to the position control for each EHA to maintain the balance between their pump speeds. Adding minor force difference feedback loops to the position control, the force fighting phenomena could be eliminated and steady state synchronization errors were reduced. The power consumption of the pumps also could be remarkably reduced, avoiding unnecessarily high load pressures to the pumps.

• International Journal of Control, Automation, and Systems
• /
• v.6 no.5
• /
• pp.677-688
• /
• 2008

In this paper, the general problem of impedance control for a robotic manipulator with a moving flexible base is addressed. Impedance control imposes a relation between force and displacement at the contact point with the environment. The concept of impedance control of flexible base mobile manipulator is rather new and is being considered for first time using singular perturbation and new sliding mode control methods by authors. Initially slow and fast dynamics of robot are decoupled using singular perturbation method. Slow dynamics represents the dynamics of the manipulator with rigid base. Fast dynamics is the equivalent effect of the flexibility in the base. Then, using sliding mode control method, an impedance control law is derived for the slow dynamics. The asymptotic stability of the overall system is guaranteed using a combined control law comprising the impedance control law and a feedback control law for the fast dynamics. As first time, base flexibility was analyzed accurately in this paper for flexible base moving manipulator (FBMM). General dynamic decoupling, whole system stability guarantee and new composed robust control method were proposed. This proposed Sliding Mode Impedance Control Method (SMIC) was simulated for two FBMM models. First model is a simple FBMM composed of a 2 DOFs planar manipulator and a single DOF moving base with flexibility in between. Second FBMM model is a complete advanced 10 DOF FBMM composed of a 4 DOF manipulator and a 6 DOF moving base with flexibility. This controller provides desired position/force control accurately with satisfactory damped vibrations especially at the point of contact. This is the first time that SMIC was addressed for FBMM.

• International Journal of Fuzzy Logic and Intelligent Systems
• /
• v.15 no.4
• /
• pp.240-250
• /
• 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 Electrical Engineering and Technology
• /
• v.7 no.5
• /
• pp.705-713
• /
• 2012

In this paper, a novel 12/14 hybrid pole type bearingless switched reluctance motor (BLSRM) with short flux path and no flux-reversal in the stator is proposed. The proposed BLSRM has separated rotating torque and suspending force poles. Because of independent characteristics between torque and suspending force poles, the torque control can be decoupled from the suspending force control. Due to the short flux path without any reversal flux, compared to the 8/10 hybrid stator pole BLSRM, the output torque is significantly improved and the air-gap is easier to control. Meanwhile, basic design principle for the proposed structure is described. To verify the proposed structure, finite element method (FEM) is employed to get characteristics of the proposed structure and 8/10 hybrid stator pole BLSRM. Based on the analysis, a prototype of the proposed BLSRM is designed and manufactured. Finally, validity of the proposed structure is verified by the experimental results.