• Advances in robotics research
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• v.2 no.1
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• pp.99-112
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• 2018

The main contribution of this work is the design of a field programmable gate array (FPGA) based ARX-Laguerre proportional-integral observation (PIO) system for fault detection and identification (FDI) in a multi-input, multi-output (MIMO) nonlinear uncertain dynamical robot manipulators. An ARX-Laguerre method was used in this study to dynamic modeling the robot manipulator in the presence of uncertainty and disturbance. To address the challenges of robustness, fault detection, isolation, and estimation the proposed FPGA-based PI observer was applied to the ARX-Laguerre robot model. The effectiveness and accuracy of FPGA based ARX-Laguerre PIO was tested by first three degrees of the freedom PUMA robot manipulator, yielding 6.3%, 10.73%, and 4.23%, average performance improvement for three types of faults (e.g., actuator fault, sensor faults, and composite fault), respectively.

• Journal of the Korean Geophysical Society
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• v.8 no.1
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• pp.7-14
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• 2005

Early detection in real-time response of slope movements ensures tremendous saving of lives and repair costs from catastrophic disaster. Therefore, it is essential to constantly monitor the performance and integrity of slope-stabilizing structures such as Rock bolt, Nail and Pile during or after installation. We developed a novel monitoring system using Fiber Bragg Grating (FBG) sensor. It's advantages are highly sensitivity, small dimension and electro-magnetic immunity. capability of multiplexing, system integrity, remote sensing - these serve real-time health monitoring of the structures. Real-time strain measurement by the signal processing program is shown graphically and it gives a warning sound when the monitored strain state exceeds a given threshold level so that any sign of abnormal disturbance on the spot can be easily perceived.

• The Transactions of the Korean Institute of Electrical Engineers C
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• v.52 no.1
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• pp.25-34
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• 2003

Gas insulated switchgear(GIS) is an important equipment in a substation. It is highly desirable to measure a partial discharge(PD) in GIS which is a symptom before insulation breakdown occurs. The issue is that the PD signal is weak and sensitive to external noise. In this paper, the algorithm for detection of PD in GIS using wavelet transform is proposed. The wavelet transform provides a direct quantitative measure of spectral content, "dynamic spectrum", in the time-frequency domain. The recommended mother wavelet is 'Daubechies' wavelet. 'db4', the most commonly applied mother wavelet in the power quality analysis, can be used most properly in disturbance phenomena which occurs rapidly for a short time. Through the procedure of wavelet transform, noise extraction and reconstruction, the signal is Analyzed to determine the magnitude of PD in GIS. In experimental results, we can know that partial discharge is exactly detected in combination of Dl and D2 using wavelet transform.transform.

• The Transactions of the Korean Institute of Power Electronics
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• v.1 no.1
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• pp.12-19
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• 1996

The purpose of this paper is the improvement of the speed control characteristics of induction machines suited the low resolution incremental-type encoder in a low speed region. In order to improve the control characteristics in a low speed range, we propose that the instantaneous speed control method by the instantaneous speed detection which is implemented by the disturbance torque observer. Also, in case of the speed control by the instantaneous speed detection, the simple estimation method of the mechanical inertia moment is proposed. We will the carry out the mathematical verification of the proposed theory by the theoretic advisement connected with the convergence relationship of the estimated inertia moment to the real mechanical inertia moment. Computer simulations and experiments by the IGBT inverter adopting DSP is performed to verify the proposed method.

• The Transactions of the Korean Institute of Electrical Engineers A
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• v.54 no.7
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• pp.328-336
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• 2005

Power quality has become concern both utilities and their customers with wide spread use of electronic and power electronic equipment. The poor quality of electric power causes malfunctions, instabilities and shorter lifetime of the load. In power system operation, power system disturbances such as faults, overvoltage, capacitor switching transients, harmonic distortion and impulses affects power quality. For diagnosing power quality problem, the causes of the disturbances should be understood before appropriate actions can be taken. In this paper we present a new approach to detect, localize, and investigate the feasibility of classifying various types of power quality disturbances. This paper deals with the use of a multi-resolution analysis by a discrete wavelet transform to detect power system disturbances such as interruption, sag, swell, transients, etc. We also proposed do-noising and threshold technique to detect power system disturbances in a noisy environment. To find the better mother wavelet for detecting disturbances, we compared the performance of the disturbance detection with the several mother wavelets such as Daubechies, Symlets, Coiflets and Biorthogonals wavelets. In our analysis, we adopt db4 wavelet as mother wavelet because it shows better results for detecting several disturbances than other mother wavelets. To show the effectiveness of the proposed method, a various case studies are simulated for the example system which is constructed by using PSCAD/EMTDC. From the simulation results. proposed method detects time Points of the start and end time of the disturbances.

• Journal of the Korean Institute of Illuminating and Electrical Installation Engineers
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• v.27 no.11
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• pp.27-36
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• 2013

Islanding in a gird connected inverter of wind power generation system may influence a bad effect on equipments or yield safety hazards on grid so it should be detected rapidly and exactly. A passive method to detect islanding is comparatively simpler than an active method but suffers from non detection zone (NDZ). On the other hand, the active method can significantly reduce NDZ by injecting a disturbance into inverter output. To improve the reliability of islanding detection, this paper proposes a hybrid anti-islanding detection method combining the conventional passive method as well as the active method based on novel harmonic injection method using fourier transform. The proposed scheme is fast to detect islanding when NDZ does not exist because it has the nature of passive method. Under NDZ, the active method can detect occurrence of islanding reliably. The effectiveness and validity of the proposed scheme is proved through comparative simulations.

• Journal of the Korean Society of Safety
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• v.31 no.3
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• pp.28-33
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• 2016

Since defects in the wheels of railway vehicles, which occur due to wears with the rail, cause serious damage to the running device, the diagnostic monitoring system for condition-based maintenance is required to secure the driving safety. In this paper, we studied to apply a useful Cepstrum analysis to detect periodic structure in spectrum among the vibration signal processing techniques for the fault diagnosis of a rotating body such as wheel. In order to analyze in variations of train velocity, the Cepstrum analysis was performed after a domain change of the vibration signal from time domain to rotation angle domain. When domains change, it is important to use a interpolation for a uniform interval of the rotation angle. Finally, the Cepstrum analysis for wheel flat detection was verified by using the vibration signal including the disturbance resulting from the rail irregularities and the vibration of bogie components.

• Journal of Ocean Engineering and Technology
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• v.30 no.5
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• pp.405-414
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• 2016

This paper presents an internal oil leakage detection problem for a hydraulic single-rod cylinder. We derive the dynamics of the hydraulic cylinder as a state space model, and then design a T—S fuzzy model-based fault detection observer. We adopt an H_∞ observer design scheme so that the observer is robust against disturbance and relatively sensitive to the leakage fault. Sufficient design conditions are derived in the form of linear matrix inequalities. A numerical example is provided to verify the proposed techniques.

• The Transactions of the Korean Institute of Electrical Engineers A
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• v.54 no.7
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• pp.345-351
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• 2005

An out-of-step condition results from the loss of the synchronism of the generators. A disturbance in a power system causes the generator angle to oscillate. When there is a severe disturbance such as a heavy current fault loss of major generation or loss of a large block of load, the oscillation can be severe and even increase largely and finally the out-of-step condition may un. During the power swing and out-of-step conditions, the apparent impedance at a relay location changes, and the power flow also changes as the angle difference is varied. This paper presents a method to analyze the trajectory of complex power during a power swing and out-of-step condition. The trajectory of the complex power is analyzed when a power swings and a fault occurs. Moreover, the complex power is analyzed when the ratios between the voltages at both sides and the line impedances are changed. These methods are verified through simulation using the ATP/EMTP MODELS.

• Journal of Power Electronics
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• v.15 no.6
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• pp.1547-1558
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• 2015

A predictive functional control (PFC) scheme for permanent magnet synchronous motor (PMSM) servo systems is proposed in this paper. The PFC-based method is first introduced in the control design of speed loop. Since the accuracy of the PFC model is influenced by external disturbances and speed detection quantization errors of the low distinguishability optical encoder in servo systems, it is noted that the standard PFC method does not achieve satisfactory results in the presence of strong disturbances. This paper adopted the Kalman filter to observe the load torque, the rotor position and the rotor angular velocity under the condition of a limited precision encoder. The observations are then fed back into PFC model to rebuild it when considering the influence of perturbation. Therefore, an improved PFC method, called the PFC+Kalman filter method, is presented, and a high performance PMSM servo system was achieved. The validity of the proposed controller was tested via experiments. Excellent results were obtained with respect to the speed trajectory tracking, stability, and disturbance rejection.