• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.657-662
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• 2003

A mechanical system controlled by human operator, such as master-slave system, includes human dynamics in the whole system and such a system is called a human-machine system. In the system, operator's skill is required considerably in order to realize a meaningful operation. In this paper, a new concept and design strategy of compensator that improves the operativity of human-machine system are proposed. The compensator is called "collaborater "that is named after "collaborator" who works together with people. We mean not to design the automatic controller but the compensator that works together with a machine so that human feels the fulfillment in the operation. Our aim is to realize cooperation of people and a machine on a higher level.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.65 no.5
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• pp.794-803
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• 2016

This paper propose a sensorless control system of IPMSM with a adaptive back-EMF estimator and improved instantaneous reactive power compensator. A saliency-based back-EMF is estimated by using the adaptive algorithm. The estimated back-EMF is inputted to the phase locked loop(PLL) and the improved instantaneous reactive power(IRP) compensator for estimating the position/speed of the rotor and compensating the error components between the estimated and the actual position, respectively. The stability of the proposed system is achieved through Popov's hyper stability criteria. The validity of proposed algorithm is verified by the simulations and experiments.

• Progress in Medical Physics
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• v.16 no.2
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• pp.82-88
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• 2005

In this study, the physical compensator made with the high density material, Cerrobend, and the electronic compensator realized by the movement of a dynamic multileaf collimator were analyzed in order to verify the properness of a design function in the commercial RTP (radiation treatment planning) system, Eclipse. The CT images of a phantom composed of the regions of five different thickness were acquired and the proper compensator which can make homogeneous dose distribution at the reference depth was designed in the RTP. The frame for the casting of Cerrobend compensator was made with a computerized automatic styrofoam cutting device and the Millennium MLC-120 was used for the electronic compensator. All the dose values and isodose distributions were measured with a radiographic EDR2 film. The deviation of a dose distribution was $\pm0.99 cGy\;and\;\pm1.82cGy$ in each case of a Cerrobend compensator and a electronic compensator compared with a $\pm13.93 cGy$ deviation in an open beam condition. Which showed the proper function of the designed compensators in the view point of a homogeneous dose distribution. When the absolute dose value was analyzed, the Cerrobend compensator showed a $+3.83\%$ error and the electronic compensator showed a $-4.37\%$ error in comparison with a dose value which was calculated in the RTP. These errors can be admtted as an reasonable results that approve the accuracy of the compensator design in the RTP considering the error in the process of the manufacturing of the Cerrobend compensator and the limitation of a film in the absolute dosimetry.

• 제어로봇시스템학회:학술대회논문집
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• 1994.10a
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• pp.422-427
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• 1994

In this paper, we propose a new design approach of a two-degrees-of-freedom compensator which assures the robust stability. First of all, we clarify the internal structure of the generalized two-degrees-of-freedom compensator. By adopting this structure, we can make a bridge between the generalized controller and the disturbance observer based controller, Secondly, based on the clarified structure we derive a robust stability condition, and propose a design algorithm of free parameter taking the condition into account. The proposed design algorithm is easy to implement and, as a result, we obtain lower order free parameter then that of the conventional design algorithm.. Thirdly, we show by adopting an appropriate coprime factorization that the clarified structure can also be regarded as an extended version of the conventional PID compensator. Finally, we apply the proposed algorithm to a three-degrees-of freedom direct drive robot, and show some experimental results to verify the effectiveness of the proposed algorithm.

• Proceedings of the KIEE Conference
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• 1998.07b
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• pp.407-409
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• 1998

In order to improve the tracking performance of $2{\times}2$ multivariable control systems, a fuzzy control algorithm with feedforward compensator is represented. The method consists in two steps. First, neglecting interconnections. one designs a fuzzy controller to each individual loop. In the second stage, low-order transfer functions of outputs to reference inputs are estimated. We propose a design method of the feed forward compensator based on the transfer functions. An illustrative example are shown.

• Journal of Advanced Marine Engineering and Technology
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• v.31 no.3
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• pp.252-262
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• 2007

In this paper, we suggest fuzzy control with feedforward compensator of superheat to progress both energy saving and coefficient of performance(COP) in a variable speed refrigeration system. The capacity and superheat are controlled simultaneously and independently by an inverter and an electronic expansion valve respectively for saving energy and improving COP in the system. By adopting the fuzzy control. the controller design for the capacity and superheat is possible without depending on a dynamic model of the system. Moreover, the feedforward compensator of the superheat can eliminate influence of the interfering loop between capacity and superheat. Some experiments are conducted to design the appropriate fuzzy controller by an iteration manner. The results show that the proposed fuzzy controller with the compensator can establish good control performances for the complicated refrigeration system with inherent strong non-linearity.

• KIEE International Transaction on Electrical Machinery and Energy Conversion Systems
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• v.4B no.3
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• pp.134-145
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• 2004

This paper presents and analyses protection schemes for a series active compensator, which consists of a Unified Power Quality Conditioner (UPQC) or a hybrid active power filter. The proposed series active compensator operates as a high impedance "k(D)" for the fundamental components of the power frequency during over current conditions in the distribution system. Two control strategies are proposed in this paper. The first strategy detects the fundamental source current using the p-q theory. The second strategy detects the fundamental component of the load current in the Synchronous Reference Frame (SRF). When over currents occur in the power distribution system momentarily, the proposed schemes protect the series active compensator without the need for additional protection circuits, and achieves excellent transient response. The validity of the proposed protection schemes is investigated through simulation and compared with experimental results using a hybrid active power filter systems.

• Journal of Electrical Engineering and Technology
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• v.5 no.3
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• pp.415-422
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• 2010

The distributed flexible alternative current transmission system (D-FACTS) is a recently developed FACTS technology. Distributed Static Series Compensator (DSSC) is one example of DFACTS devices. DSSC functions in the same way as a Static Synchronous Series Compensator (SSSC), but is smaller in size, lower in price, and possesses more capabilities. Likewise, DSSC lies in transmission lines in a distributed manner. In this work, we designed a fuzzy logic controller to use the DSSC for enhancing transient stability in a two-machine, two-area power system. The parameters of the fuzzy logic controller are varied widely by a suitable choice of membership function and parameters in the rule base. Simulation results demonstrate the effectiveness of the fuzzy controller for transient stability enhancement by DSSC.

• Proceedings of the IEEK Conference
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• 2006.06a
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• pp.847-848
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• 2006

R-type thermocouple(TC) interface circuits with cold-junction compensator(CJC) and its broken wires detection was developed. The circuit consists of a CJC device, a instrumentation amplifier(IA), and two resistor and a diode for broken wire detection. The experiment results show that the interface circuit has a good CJC function on the temperature range for $20^{\circ}C$ to $1400^{\circ}C$. At the range the output voltage of the IA was -14V when the TC was broken. At normal operation condition the output voltage of IA was 0V to 10V for the temperature range.

• The Journal of Korea Robotics Society
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• v.19 no.1
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• pp.8-15
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• 2024

This paper proposes a linear model predictive control of 6-DOF remotely operated underwater vehicles using nonlinear robust internal-loop compensator (NRIC). First, we design a integrator embedded linear model prediction controller for a linear nominal model, and then let the real model follow the values calculated through forward dynamics. This work is carried out through an NRIC and in this process, modeling errors and external disturbance are compensated. This concept is similar to disturbance observer-based control, but it has the difference that H_∞ optimality is guaranteed. Finally, tracking results at trajectory containing the velocity discontinuity point and the position tracking performance in the disturbance environment is confirmed through the comparative study with a traditional inverse dynamics PD controller.