• Journal of Power Electronics
• /
• v.7 no.3
• /
• pp.181-190
• /
• 2007

This paper presents a novel circuit topology of a DC bus line series switch and parallel snubbing capacitor-assisted soft-switching PWM full-bridge inverter type DC-DC power converter with a high frequency planar transformer link, which is newly developed for high performance arc welding machines in industry. The proposed DC-DC power converter circuit is based upon a voltage source-fed H type full-bridge soft-switching PWM inverter with a high frequency transformer. This DC-DC power converter has a single power semiconductor switching device in series with an input DC low side rail and loss less snubbing capacitor in parallel with the inverter bridge legs. All the active power switches in the full-bridge arms and DC bus line can achieve ZCS turn-on and ZVS turn-off transition commutation. Consequently, the total switching power losses occurred at turn-off switching transition of these power semiconductor devices; IGBTs can be reduced even in higher switching frequency bands ranging from 20 kHz to 100 kHz. The switching frequency of this DC-DC power converter using IGBT power modules can be realized at 60 kHz. It is proved experimentally by power loss analysis that the more the switching frequency increases, the more the proposed DC-DC power converter can achieve a higher control response performance and size miniaturization. The practical and inherent effectiveness of the new DC-DC converter topology proposed here is actually confirmed for low voltage and large current DC-DC power supplies (32V, 300A) for TIG arc welding applications in industry.

• Proceedings of the KIPE Conference
• /
• 1999.07a
• /
• pp.106-109
• /
• 1999

A single-switched series element for series-parallel compensated UPS is proposed. The proposed series element can handle only unidirectional power and the input voltage must be higher than the output voltage. But it is very useful when DC-link voltage is low and isolation transformer is need for output stage since only one active switch is used.

• Proceedings of the Korean Society of Precision Engineering Conference
• /
• 2006.10a
• /
• pp.539-540
• /
• 2006

• Transactions of the Korean Society of Mechanical Engineers A
• /
• v.21 no.1
• /
• pp.144-153
• /
• 1997

The determination of the direct kinematics of the parallel mechanism is a difficult problem but has to be solved for any practical use. This paper presents the efficient formulation of the direct kinematics for double parallel robot arm. The robot arm consists of two parallel mechanism, which generate positional and orientational motions, respectively. These motions are decoupled by a passive central axis which is composed of four revolute joints and one prismatic joint. For a set of given lengths of linear actuators, the direct kinematics will find the joint displacements of th central axis from geometric constraints in each parallel mechanism. Then the joint displacements will be converted into the position and the orientation of the end effector of the robot arm. The proposed formulation is decoupled and compacted so that it will be implemented as a real-time direct kinematics. With the proposed formulation, we analyze the motion of the double parallel robot and show its characteristics. Specially, we investigate the workspace in terms of positional space as well as orientational space.

• Journal of the Korean Society for Precision Engineering
• /
• v.26 no.8
• /
• pp.79-88
• /
• 2009

This paper presents the analytical stiffness analysis method for a low-DOF planar parallel manipulator. An n-DOF (n<3) planar parallel manipulator to which 1- or 2-DOF serial mechanism is connected in series may be used as a positioning device in planar tasks requring high payload and high speed. Differently from a 3-DOF planar parallel manipulator, an n-DOF planar parallel counterpart may be subject to constraint forces as well as actuation forces. Using the theory of reciprocal screws, the planar stiffness is modeled such that the moving platform is supported by three springs related to the reciprocal screws of actuations (n) and constraints (3-n). Then, the spring constants can be precisely determined by modeling the compliances of joints and links in serial chains. Finally, the stiffness of two kinds of 2-DOF planar parallel manipulators with simple and complex springs is analyzed. In order to show the effectiveness of the suggested method, the results of analytical stiffness analysis are compared to those of numerical stiffness analysis by using ADAMS.

• Transactions of the Korean Society of Machine Tool Engineers
• /
• v.13 no.3
• /
• pp.68-75
• /
• 2004

Recently, need of the parallel manipulator requiring superior precision is increasing for medical application and precision manufacturing. In this study, we convert a given complex translation trajectory of the moving platform into a set of segments and hence a complex motion of the moving platform can be tractable and easily controled in a very limited workspace. In addition force exerted. to each link is minimized so that the minimized force can be transmitted to the end effector of the moving platform. An user friendly program is developed to design Gough-type 6DOF parallel manupulator based on the proposed method.

• Transactions on Control, Automation and Systems Engineering
• /
• v.3 no.4
• /
• pp.262-267
• /
• 2001

Jeha Ryu Department of Mechatronics, Kwangju Institute of Science and Technology This paper presents an application of a robust adaptive control strategy to HexaSlide type six degrees-of-freedom parallel manipulators. The HexaSlide type parallel manipulators are characterized as an architecture with constant link lengths that are attached to moving sliders on the ground and to a mobile platform. The proposed control law is developed based on a simplified second order system dynamic equation in joint space with uncertain mass, damper, spring, and Coulomb friction terms. These uncertain parameters are updated by an adaptation law that is derived by Lyapunov stability theorem. A robust adaptive control law by using the boundary layer is designed for the purpose of compensating for the neglected dynamic effects of the mobile platform and the six moving links that are modeled as a disturbance term. Experimental results show good and fast tracking performance.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
• /
• 2000.06a
• /
• pp.743-750
• /
• 2000

This paper presents an equivalent linearization method and application to the equations of motion of a 6 degree-of-freedom PRRS HexaSlide type parallel manipulators which are characterized as the architecture with constant link lengths that are attached to moving sliders on the ground and to a mobile platform. Since dynamic equations of parallel manipulators are complicated and highly nonlinear, control bandwidth, adjustable control gain as well as vibration characteristics cannot be easily found. The proposed equivalent linearization method can be applied over specified workspace as well as on a path of mobile platform. Through an equivalent linearization method, one can easily get a simple linear dynamic model. This linearized dynamic model may be utilized in a simplified computed torque control strategy.

• KSII Transactions on Internet and Information Systems (TIIS)
• /
• v.10 no.11
• /
• pp.5497-5512
• /
• 2016

An improved optimal weights based on parallel interference cancellation algorithm has been proposed to cancel for interference induced by multi-user access satellite to ground uplink system. Due to differences in elevation relative motion between the user and the satellite, as well as access between users, resulting in multi-user access interference (Multi-user Access Interference, MUI), which significantly degrade system performance when multi-user access. By steepest gradient method, it obtained based on the MMSE criterion, parallel interference cancellation adjust optimal weights to obtain the maximum SINR. Compared to traditional parallel interference cancellation (Parallel Interference Cancellation, PIC) algorithm or serial interference cancellation ( Successive interference Cancellation, SIC), the accuracy of which is not high and too many complex iterations, we establish the multi-user access to the satellite to ground up link system to demonstrate that the improved WPIC algorithm could be provided with high accuracy and relatively low number of iterations.

• KIEE International Transaction on Electrical Machinery and Energy Conversion Systems
• /
• v.5B no.4
• /
• pp.366-373
• /
• 2005

This paper presents two new circuit topologies of the dc busline side active resonant snubber assisted voltage source high frequency link soft switching PWM full-bridge dc-dc power converters acceptable for either utility ac 200V-rms or ac 400V-rms input grid. These high frequency switching dc-dc converters proposed in this paper are composed of a typical voltage source-fed full-bridge PWM inverter, high frequency transformer with center tap, high frequency diode rectifier with inductor input filter and dc busline side series switches with the aid of a dc busline parallel capacitive lossless snubber. All the active switches in the full-bridge arms as well as dc busline snubber can achieve ZCS turn-on and ZVS turn-off transition commutation with the aid of a transformer leakage inductive component and consequently the total switching power losses can be effectively reduced. So that, a high switching frequency operation of IGBTs in the voltage source full bridge inverter can be actually designed more than about 20 kHz. It is confirmed that the more the switching frequency of full-bridge soft switching inverter increases, the more soft switching PWM dc-dc converter with a high frequency transformer link has remarkable advantages for its power conversion efficiency and power density implementations as compared with the conventional hard switching PWM inverter type dc-dc power converter. The effectiveness of these new dc-dc power converter topologies can be proved to be more suitable for low voltage and large current dc-dc power supply as arc welding equipment from a practical point of view.