• Transactions of the Korean Society of Mechanical Engineers A
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• v.39 no.6
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• pp.617-624
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• 2015

This paper describes the development of a wearable robot to assist the elbow muscle for use by elderly workers in aging societies. Various previously developed wearable robots have drawbacks in terms of their price, portability, and slow recognition of the wearer's intention. In this paper, emphasis is placed on the following features to minimize these drawbacks. The first feature is that an actuator is attached only at the elbow joint that withstands the highest moment during arm motion to reduce the weight, volume, and price of the robot and increase its practicality. The second is that operation of the wearable robot is divided into two modes, a tracking mode and a muscle strengthening mode, and the robot can automatically switch between these modes by analyzing the wearer's intention through the brachial muscle strength measuring device developed in this study. The assistive performance of the developed wearable robot is experimentally verified by motion tracking experiments without an external load and muscle strengthening experiments with an external load. During the muscle strengthening experiments, the power of the muscle of the upper arm is measured by a commercial electromyography (EMG) sensor. Motion tracking performance at a speed of $120^{\circ}/s$ and muscle assistance of over 60 % were obtained using our robot.

• The Transactions of the Korean Institute of Power Electronics
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• v.11 no.6
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• pp.535-542
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• 2006

A large signal stability analysis of the solar array regulator system is performed to facilitate the design and analysis of a Low-Earth-Orbit satellite power system. The effective load characteristics of every controllable method in the solar array system are classified to analyze the large signal stability. Then, using the state plane analysis technique, the stability of various equilibrium points is analyzed. A nonlinear transformation algorithm, which changes the effective load characteristic of the solar array regulator as constant resistive load, is also proposed for the large signal stability. The proposed resistive current mode control system can control the solar array output for purposes such as peak power tracking control and battery charging control. For the verification of the proposed large signal analysis and resistive current mode control, a solar array regulator system consisting of two 100W parallel module buck converters has been built and tested using a real 200W solar array.

• Journal of the Institute of Electronics and Information Engineers
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• v.50 no.6
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• pp.105-113
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• 2013

In this paper a micro solar energy harvesting system with MPPT(Maximum Power Point Tracking) control using a miniature PV(photovoltaic) cell of which the output is less than 0.5V is proposed. The MPPT control is implemented using linear relationship between the open-circuit voltage of a PV cell and its MPP(Maximum Power Point) voltage such that a pilot PV cell can track the MPP of the main PV cell in real time. The proposed circuit is designed in 0.18um CMOS process. The designed chip area is $900um{\times}1370um$ including a load charge pump and pads. Measured results show that the designed system can track the MPP voltage changes with variations of light intensity. The designed circuit with MPPT control delivers MPP voltages to load even though the load is heavy such that it can supply more power when the MPPT control is applied. The proposed circuit does not require any precharged battery resulting in more suitability for miniaturized self-powered systems compared to the existing works.

• Journal of Power Electronics
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• v.4 no.1
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• pp.28-38
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• 2004

In this paper, the position control of a detuned indirect field oriented control (IFOC) induction motor drive is studied. A proposed Simple-Neuro-Controllers (SNCs) are designed and analyzed to achieve high-dynamic performance both in the position command tracking and load regulation characteristics for robotic applications. The proposed SNCs are trained on-line based on the back propagation algorithm with a modified error function. Four SNCs are developed for position, speed and ｄ-ｑ axes stator currents respectively. Also, a synchronous proportional plus integral-derivative (PI-D) two-degree-of-freedom (2DOF) position controller and PI-D speed controller are designed for an ideal IFOC induction motor drive with the desired dynamic response. The performance of the proposed SNCs and synchronous PI-D 2DOF position controllers for detuned field oriented induction motor servo drive is investigated. Simulation results show that the proposed SNCs controllers provide high-performance dynamic characteristics which are robust with regard to motor parameter variations and external load disturbance. Furthermore, comparing the SNC position controller with the synchronous PI-D 2DOF position controller demonstrates the superiority of the proposed SNCs controllers due to attain a robust control performance for IFOC induction motor servo drive system.

• Journal of the Korean Solar Energy Society
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• v.26 no.2
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• pp.69-77
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• 2006

Photovoltaic is an attractive technology to remote power applications, because of its reliability, low maintenance, and zero fuel requirements. In this paper represents residential PV system based on BESS(battery energy storage system) for managing the electric power, a pattern of daily operation considering the load characteristics of the house, the generation characteristics of PV power, and utility power leveling. For apply to control algorithm, we consider the load on monthly power consumption trend and daily usage pattern. As for the control of the proposed system, to increase the conversion efficiency of the PV power, bidirectional converter is used for MPPT and SPWM inverter. An experimental system is implemented, and some experimental results are provided to demonstrate the effectiveness of the proposed system.

• Proceedings of the ESK Conference
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• 1998.04a
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• pp.19.1-24
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• 1998

Designers often hesitate to decide the shape, size, and layout of a product. Though ergonomic principles and data are absolutely needed in this process, they don't have enough guidelines to refer. For the refrigerator designers, they also are not convinced of their decision: the vertical position of the freezing and refrigerating rooms, the height of shelves, the shape of door-handle, and etc. To support the refrigerator design, we applied several ergonomic methods to the evaluation of a refrigerator. EMG measurement was used to evaluate the load of user's lumbar muscle. Based upon the experimental EMG data, we developed a model to predict the relative load according to the height of refrigerator shelves. Two different layouts of a refrigerator, R/F and F/R style, were compared with the model. A three-dimenaional motion analysis method was used to evaluate the user's motion of using a refrigerator. Ten door-handles with the different shapes and positions were evaluated by tracking the rotations of the user's arm. Video protocol analysis was used to evaluate the user interface of a control panel in a refrigerator. Finally, we made several ergonomic design guidelines based on the facts found in this research and the anthropometric data of the Korean adults. The results of this study can be applied to the ergonomic design of a refrigerator.

• Proceedings of the KIEE Conference
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• 2008.04c
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• pp.221-223
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• 2008

This paper presents a maximum power point tracking(MPPT) of Photovoltaic system with chopping ratio of DC-DC converter considered load. A variation of solar irradiation is most important factor in the MPPT of PV system. That is nonlinear, aperiodic and complicated. The paper consists of solar radiation source, DC-DC converter, DC motor and load(cf, pump). NN algorithm apply to DC-DC converter through an adaptive control of neural network, calculates converter-chopping ratio using an adaptive control of NN. The results of an adaptive control of NN compared with the results of converter-chopping ratio which are calculated mathematical modeling and evaluate the proposed algorithm. The experimental data show that an adequacy of the algorithm was established through the compared data.

• The Journal of the Korea institute of electronic communication sciences
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• v.8 no.6
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• pp.881-889
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• 2013

In this paper, a nonlinear and adaptive back-stepping control technique is proposed for a speed control of IPMSM(Interior Permanent Magnet Synchronous Motor). The gain of back-stepping controller(including integral value of the states error) is designed for stability of the system. In order to adapting fast in variation of load torque, the controller is including load torque estimator. The simulation is completed by using PSIM software. The simulation results show that the designed back-stepping controller make the system stable in the constant torque region, and has better tracking performance than a controller without the integral gain.

• Proceedings of the KIEE Conference
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• 2006.07d
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• pp.1868-1870
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• 2006

Neural network is used in many fields of control systems, but input-output patterns of a control system are not easy to be obtained and by using as single feedback neural network controller. And also it is difficult to get a satisfied performance when the changes of rapid load and disturbance are applied. To resolve those problems, this paper proposes a new algorithm which is the neural network controller. The new algorithm uses the neural network instead of activation function to control object at the output node. Therefore, control object is composed of neural network controller unifying activation function, and it supplies the error back propagation path to calculate the error at the output node. As a result, the input-output pattern problem of the controller which is resigned by the simple structure of neural network is solved, and real-time learning can be possible in general back propagation algorithm. Application of the new algorithm of neural network controller gives excellent performance for initial and tracking response and it shows the robust performance for rapid load change and disturbance. The proposed control algorithm is implemented on a high speed DSP, TMS320C32, for the speed of 3-phase induction motor. Enhanced performance is shown in the test of the speed control.

• Journal of Power Electronics
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• v.4 no.4
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• pp.217-227
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• 2004

A robust controller that combines the merits of the feed-back, feed-forward and model-following control for induction motor drives utilizing field orientation control is designed in this paper. The proposed controller is a two-degrees-of­freedom (2DOF) integral plus proportional & rate feedback (I-PD) speed controller combined with a model-following (2DOF I-PD MFC) speed controller. A systematic mathematical procedure is derived to find the parameters of the 2DOF I-PD MFC speed controller according to certain specifications for the drive system. Initially, we start with the I-PD feed­back controller design, then we add the feed-forward controller. These two controllers combine to form the 2DOF I-PD speed controller. To realize high dynamic performance for disturbance rejection and set point tracking characterisitics, a MFC controller is designed and added to the 2DOF I-PD controller. This combination is called a 2DOF I-PD MFC speed controller. We then study the effect of the 2DOF I-PD MFC speed controller on the performance of the drive system under different operating conditions. A computer simulation is also run to demonstrate the effectiveness of the proposed controller. The results verify that the proposed 2DOF I-PD MFC controller is more accurate and more reliable in the presence of load disturbance and motor parameter variations than a 2DOF I-PD controller without a MFC. Also, the proposed controller grants rapid and accurate responses to the reference model, regardless of whether a load disturbance is imposed or the induction machine parameters vary.