• Proceedings of the Korean Society of Precision Engineering Conference
• /
• 1993.04b
• /
• pp.218-222
• /
• 1993

A sliding mode controller associated with the moving sliding surface is formulate for the tip position control of a single-link flexible manipulator. After establishing the plant model which characterizes a noncollocated control system, a discontinuous control law is then constructed by restricting that velocity state variables are not available from direct sensor measurements. Using the proposed control law favorable system responses are accomplished through shortening the reaching phase without increasing maximum control torque. Furthermore, a low sensitiveness to extraneous disturbance is obtained. Computer simulations are undertaken in order to demonstrate these superior control performance characteristics to be accrued from the proposed methodology.

• 제어로봇시스템학회:학술대회논문집
• /
• 1990.10a
• /
• pp.7-12
• /
• 1990

In this paper, we propose a new manipulator control scheme based on the CMAG neural network. The proposed control consists of two components. The feedforward component is an output of trained CMAC neural network and the feedback component is a modified sliding mode control. The CMAC accepts the position, velocity and acceleration of manipulator as input and outputs two values for the controller : One is the nominal torque used for feedforward compensation(M1 network) and the other is the inertia matrix related information used for the feedback component(M2 network). Since the used control algorithm guarantees the robust trajectory tracking in spite of modeling errors, the CMAC mapping errors due to the memory limitation are little worth consideration.

• The Transactions of the Korean Institute of Power Electronics
• /
• v.6 no.2
• /
• pp.158-163
• /
• 2001

Current Source Inverter(CSI), operated in square wave mode, is more efficient thant the PWM CSI because of increased cost, greater complexity of control algorithm and substantial switching losses, EMI. But, the square wave output current of CSI, rich in low order harmonics produce motor torque ripples. Therefore, in this paper, describes active power filters for compensating square wave input current of current source induction motor. Also, notch filtering as compensation algorithm is employed. To confirm the validity of proposed system, PSIM simulation results are presented and discussed.

• Transactions of the Korean Society for Noise and Vibration Engineering
• /
• v.19 no.10
• /
• pp.1043-1052
• /
• 2009

In this work, a master-slave manipulator system which will be used for handling objects contaminated by radioactivity has been addressed. The links of manipulators are driven independently by individual motors installed on the base and the driving torque is transmitted through pre-tensioned tendons. Since the measurable variables are the positions and rates of master/slave motors, only a constrained specific bilateral control structure is available. In the consideration of the flexibility of the tendon and constrained control structure, we derived a necessity for tendon design to prevent uncontrollable vibration mode through a modal analysis. Based on a reduced rigid body model, a control design was suggested and tendons were selected. The feasibility of the proposed analysis and tendon design were verified along with some simulation results.

• Proceedings of the KIPE Conference
• /
• 2007.07a
• /
• pp.391-393
• /
• 2007

The rotor speed and flux information is most important in the vector control. The accuracy of flux observers for induction machine inherently depends on parameter sensitivity. The control strategy is using online flux observer for flux estimation. In the proposed system, the speed control characteristics using a online flux observer control isn't affected by a load torque parameter disturbance. Simulation results are presented to prove the effectiveness of the adaptive sliding mode controller for the drive variable load of induction motor.

• Proceedings of the KIEE Conference
• /
• 1992.07b
• /
• pp.1228-1230
• /
• 1992

The permanent magnet synchronous motor(PMSM) is receiving Increased attention for servo drive applications in recent years because of its high torque to inertia ratio, superior power density and high efficiency. By vector-controll method, PMSM has the same operating characterics as seperately excited dc motor. The drive system of servo motor is requested to have an accurate response for the reference input and a quick recovery for the disturbance such as load torque. However, when the unknown disturbances and parameter variations are imposed on the permanent magnet synchronous motor(PMSM), the drive system is significantly effected by them. As a result, the drive system with both a fast compensation and a robustness to a parameter variations is requested. This paper investigates the possibility of applying the fuzzy logic controller(FLC) using Multi-Rule Base In a servo motor control system. In this paper, The five Rule Bases(1 to 5) are selected to recover the state error caused by the disturbance in steady state. In the initial operating mode. Rule Base 0 is used. To show the validity of the proposed fuzzy logic controll system, the computer simulation results are provided.

• Journal of the Korean Institute of Telematics and Electronics
• /
• v.27 no.10
• /
• pp.53-59
• /
• 1990

In the control of robot manipulators, this paper presents a design of a new variable structure model following controller(VSMFC) using computed torque method (CTM). A sufficient condition for the existence of a sliding mode is derived by Lyapunov function. The reference model is a double integrators and the acceleration input consists of a proportional-derivative controller for the purpose of the stabilization of system and the desired performance. The proposed control scheme which consists of upper bounded and estimated value of each term of the manipulator of matrix inversion. Therefore the simulation results show that this controller is improved to the convergence of desired trajectories.

• The Transactions of the Korean Institute of Power Electronics
• /
• v.9 no.1
• /
• pp.73-80
• /
• 2004

In this paper, a maximum output power control of stand-alone cage-type induction generator systems for wind power generation is proposed. The induction generator is operated in a vector-controlled mode, which is excited with d-axis current and of which torque is controlled with q-axis current. The generator speed is controlled by this torque, along which speed the generator produces the maximum output power. The generated power charges the battery bank for energy storage through an ac/dc PWM converter. The proposed scheme has been verified for the wind turbine simulator system which consists of M-G set.

• Journal of Electrical Engineering and Technology
• /
• v.6 no.3
• /
• pp.375-383
• /
• 2011

This paper describes a real-time hardware simulator for a grid-tied Permanent Magnet Synchronous Generator (PMSG) wind power system, which consists of an anemometer, a data logger, a motor-generator set with vector drive, and a back-to-back power converter with a digital signal processor (DSP) controller. The anemometer measures real wind speed, and the data is sent to the data logger to calculate the turbine torque. The calculated torque is sent to the vector drive for the induction motor after it is scaled down to the rated simulator power. The motor generates the mechanical power for the PMSG, and the generated electrical power is connected to the grid through a back-to-back converter. The generator-side converter in a back-to-back converter operates in current control mode to track the maximum power point at the given wind speed. The grid-side converter operates to control the direct current link voltage and to correct the power factor. The developed simulator can be used to analyze various mechanical and electrical characteristics of a grid-tied PMSG wind power system. It can also be utilized to educate students or engineers on the operation of grid-tied PMSG wind power system.

• The Transactions of the Korean Institute of Power Electronics
• /
• v.22 no.2
• /
• pp.175-180
• /
• 2017

The measurement of three-phase current is important to control the instantaneous torque of a interior permanent magnet synchronous motor(IPMSM) using a three-phase inverter. Therefore, shunt resistors are used in low-cost motor-driving systems to measure three-phase current instead of additional current sensors that are too expensive for these systems. However, in certain regions of a space vector plane, shunt resistors cannot reconstruct three-phase current in high-speed driving mode. In this paper, predictive current control is used to compensate for the three-phase current in those regions, which results in a reduction of current ripple in a three-shunt sensing inverter(TSSI) and torque ripple in IPMSM.