• Journal of the Korea Institute of Information and Communication Engineering
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• v.16 no.6
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• pp.1235-1241
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• 2012

In this paper, each driving motor for leg joints on a robot is controlled by estimating the direction of the legs measuring each joint angle and attitude angle of robot. We used quadruped working robot named TITAN-VIII in order to carry out this experimental study. 4 load cells are installed under the bottom of 4 legs to measure the pressed force on each leg while it's walking. The walking experiments of the robot were performed in 8 different conditions combined with duty factor, the length of a stride, the trajectory height of the foot and walking period of robot. The validity of attitude control for quadruped walking robot is evaluated by comparing the pressed force on a leg and the power consumption of joint driving motor. As a result, it was confirmed that the slip-condition of which the foot leave the ground late at the beginning of new period of the robot during walking process, which means the attitude control of the robot during walking process wasn't perfect only by measuring joint and attitude angle for estimating the direction of the foot.

• Transactions of the Society of Information Storage Systems
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• v.2 no.2
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• pp.130-137
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• 2006

The HDD(hard disk drive) using Load/unload(L/UL) technology includes the benefits which are increased areal density, reduced power consumption and improved shock resistance than those of contact-start-stop(CSS). It has been widely used in portable hard disk drive and will become the key technology for developing the small form factor hard disk drive. The main objects of L/UL are no slider-disk contact or no media damage. For realizing those, we must consider many design parameters in L/UL system. In this paper, we focus on lift-off force. The 'lift-off' force, defined as the minimum air bearing force, is another very important indicator of unloading performance. A large amplitude of lift-off force increases the ramp force, the unloading time, the slider oscillation and contact-possibility. To minimize 'lift-off' force we optimizes the slider and suspension using the integrated optimization frame, which automatically integrates the analysis with the optimization and effectively implements the repetitive works between them. In particular, this study is carried out the optimal design considering the process of modes tracking through the entire optimization processes. As a result, we yield the equation which can easily find a lift-off force and structural optimization for suspension.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.65 no.7
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• pp.1151-1160
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• 2016

In recent years, the energy storage systems such as LiB, NaS, RFB(Redox-Flow Battery), Super- capacitor, pumped hydro storage, flywheel, CAES(Compressed Air Energy Storage) and so on have received great attention as practical solutions for the power supply problems. They can be used for various purpose of peak shaving, load leveling and frequency regulation, according to the characteristics of each ESS(energy storage system). This paper will focus at 1 MWh RFB system, which is being developed through the original technology project of energy material. The output of ESS is mainly characterized by C-rate, which means that the total rated capacity of battery will be delivered in 1 hour. And it is a very important factor in the ESS operation scheduling. There can be several options according to the operation intervals 15, 30 and 60minutes. The operation scheduling is based on the optimization to minimize the daily electricity cost. This paper analyzes the cost-saving effects by the each operating time-interval in case that the RFB ESS is optimally scheduled for peak shaving and load leveling.

• Journal of Korean Society of Environmental Engineers
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• v.28 no.1
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• pp.97-103
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• 2006

In this paper, a control method of a mini ozone generator is proposed, and also a cooling technique is described which is cooling down the flowing air gap into a silent discharger to $2^{\circ}C$ to generate ozone of high density and diffusing power. As the digital control system for this method, a double feedback loop is designed which detects the voltage and current of equivalent capacitor of the discharger and compensates for the poor power waveform caused by the noise at high discharging frequency. During the plant modeling of this system, computing time factor is considered as a unique parameter of the power system to improve the transient responses with regard to fluctuating load and to replenish the computing time delay of the controller. Through the experiment, sinusoidal input current for discharger can be acquired and all the effectiveness of this accurate control system over unstable ozone discharger are proved.

• Journal of Energy Engineering
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• v.2 no.1
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• pp.104-113
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• 1993

Due to steady increase of electric power demand and decrease of load factor, the economic and reasonable operation of electric power system is necessary. Because of this reason, dispersed battery energy storage system(BESS) with fast response is receiving attractive attention. With these considerations, 20 kVA BESS is designed and tested to investigate the possibility of BESS application to power system. This paper describes the design specifications of simulator and test results. BESS is composed of batteries, conversion equipments, interconnecting equipments to power system, and control parts of the system. The inverter of BESS can carry out two functions as charger and discharger. Also, it can operate as a VAR compensator by four quadrant operation. Since this system is designed as a simulator of MW system, the conceptual design of MW system is possible by using the test result of test system The study of BESS is preliminary stage for the future MW class BESS.

• Plant Journal
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• v.12 no.4
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• pp.37-43
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• 2016

Power system which provides electricity to the accident mitigation load for nuclear power plant should be verified to maintain the proper voltage level under the various loading and source conditions. For this purpose, it was needed to collect the voltage data of safety related buses during operation of the Reactor Coolant Pump(RCP) motor and Component Cooling Water Pump(CCWP) motor, respectively, under the certain loading condition of the plant. The data (such as, voltage, current, power factor) collected from actual measurement were used to modify the existing ETAP model and then the reanalysis was conducted to simulate the testing conditions. Through these actual measurement and analysis, it ensures that the existing electrical system analysis including assumptions and methods was conducted properly. Finally, the voltage of safety related buses was not dropped below the acceptable level, and the discrepancy between two results was within the limit.

• Journal of the Institute of Electronics Engineers of Korea SC
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• v.44 no.5
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• pp.62-70
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• 2007

In this paper, the boost Power Factor Correction(PFC) technique for Direct Torque Control(DTC) of brushless DC motor drive in the constant torque region is implemented on a TMS320F2812DSP. Unlike conventional six-step PWM current control, by properly selecting the inverter voltage space vectors of the two-phase conduction mode from a simple look-up table at a predefined sampling time, the desired quasi-square wave current is obtained, therefore a much faster torque response is achieved compared to conventional current control. Furthermore, to eliminate the low-frequency torque oscillations caused by the non-ideal trapezoidal shape of the actual back-EMF waveform of the BLDC motor, a pre-stored back-EMF versus position look-up table is designed. The duty cycle of the boost converter is determined by a control algorithm based on the input voltage, output voltage which is the dc-link of the BLDC motor drive, and inductor current using average current control method with input voltage feed-forward compensation during each sampling period of the drive system. With the emergence of high-speed digital signal processors(DSPs), both PFC and simple DTC algorithms can be executed during a single sampling period of the BLDC motor drive. In the proposed method, since no PWM algorithm is required for DTC or BLDC motor drive, only one PWM output for the boost converter with 80 kHz switching frequency is used in a TMS320F2812 DSP. The validity and effectiveness of the proposed DTC of BLDC motor drive scheme with PFC are verified through the experimental results. The test results verify that the proposed PFC for DTC of BLDC motor drive improves power factor considerably from 0.77 to as close as 0.9997 with and without load conditions.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.12 no.6
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• pp.2722-2728
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• 2011

3Phase PWM rectifier has become increasingly popular due to its capability of nearly sinusoidal waveform of the input current, and nearly unity power factor operation as a AC/DC rectifier of high capacity telecommunication power supply system. Generally, PI controller is used as a voltage controller of PWM rectifier and voltage controller must be designed to have low overshoot in transient state to get a reliability and stable operation. However, in the application of telecommunication in which load condition is varied very fast, the voltage controller must have a large bandwidth to reduce output voltage variation. The PI controller with large bandwidth arouse the excessive overshoot of the output voltage, and this large output voltage variation degrades the reliability of communication power of the three-phase PWM Rectifier. In this paper, new IP voltage controller for 3 phase PWM rectifier is proposed which has relatively low transient output voltage variation. The improved output characteristics of the transient state voltage responses of the starting and at load changes of the proposed voltage controller are proved by simulations and experiments.

• 한국태양에너지학회:학술대회논문집
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• 2012.03a
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• pp.419-424
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• 2012

This paper discusses the state-of-the-art techniques in real-time state estimation for the Smart Microgrids. The most popular method used in traditional power system state estimation is a Weighted Least Square(WLS) algorithm which is based on Maximum Likelihood(ML) estimation under the assumption of static system state being a set of deterministic variables. In this paper, we present a survey of dynamic state estimation techniques for Smart Microgrids based on Belief Propagation (BP) when the system state is a set of stochastic variables. The measurements are often too sparse to fulfill the system observability in the distribution network of microgrids. The BP algorithm calculates posterior distributions of the state variables for real-time sparse measurements. Smart Microgrids are modeled as a factor graph suitable for characterizing the linear correlations among the state variables. The state estimator performs the BP algorithm on the factor graph based the stochastic model. The factor graph model can integrate new models for solar and wind correlation. It provides the Smart Microgrids with a way of integrating the distributed renewable energy generation. Our study on Smart Microgrid state estimation can be extended to the estimation of unbalanced three phase distribution systems as well as the optimal placement of smart meters.

• Proceedings of the KSME Conference
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• 2000.04a
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• pp.31-36
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• 2000

High temperature and pressure materials in power plant are degraded by creep damage, if they are exposed to constant loads for long times, which occurs in the load bearing structures of pressurized components operating at elevated temperatures. Many conventional measurement techniques such as replica method, electric resistance method, and hardness test method for measuring creep damage have been used. So far, the replica method is mainly used for the Inspection of High temperature and pressure components. This technique is, however, restricted to applications at the surface of the testpieces and cannot be used to material inside. In this paper, ultrasonic evaluation for the detection of creep damage in the form of cavaties on grain boundaries or integranular microcracks are carried out. And the absolute measuring method of quantitative ultrasonic velocity technique for Cr-Mo material degradation is analyzed. As a result of ultrasonic tests for crept specimens, we find that the sound velocity is decreased as the increase of creep life fraction$({\Phi}_c)$ and also, confirmed that hardness is decreased as the increase of creep life fraction$({\Phi}_c)$ but the coefficient of ultrasonic attenuation is increased as the increase of creep life fraction$({\Phi}_c)$. Finally based on the result in this paper, it can be recognized that the ultrasonic techniques using velocities and attenuation coefficient factor are very useful non-destructive methods to evaluate the degree of material degradation in fossile power plants.