• International Journal of Control, Automation, and Systems
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• v.5 no.5
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• pp.559-569
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• 2007

In this paper, the dynamic controller design problem of a redundant planar 2-dof parallel manipulator is studied. Using the Euler-Lagrange equation, we formulate the dynamic model of the parallel manipulator in the joint space and propose an augmented PD controller with forward dynamic compensation for the parallel manipulator. By formulating the controller in the joint space, we eliminate the complex computation of the Jacobian matrix of joint angles with end-effector coordinate. So with less computation, our controller is easier to implement, and a shorter sampling period can be achieved, which makes the controller more suitable for high-speed motion control. Furthermore, with the combination of static friction model and viscous friction model, the active joint friction of the parallel manipulator is studied and compensated in the controller. Based on the dynamic parameters of the parallel manipulator evaluated by direct measurement and identification, motion control experiments are implemented. With the experiments, the validity of the dynamic model is proved and the performance of the controller is evaluated. Experiment results show that, with forward dynamic compensation, the augmented PD controller can improve the tracking performance of the parallel manipulator over the simple PD controller.

• Journal of Power Electronics
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• v.17 no.1
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• pp.76-87
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• 2017

Finite-set predictive current control (FS-PCC) is advantageous for power converters due to its high dynamic performance and has received increasing interest in multilevel inverters. Among multilevel inverter topologies, the cascaded H-bridge (CHB) inverter is popular and mature in the industry. However, a main drawback of FS-PCC is its large computational burden, especially for the application of CHB inverters. In this paper, an FS-PCC method based on a deadbeat solution for three-phase zero-common-mode-voltage CHB inverters is proposed. In the proposed method, an inverse model of the load is utilized to calculate the reference voltage based on the reference current. In addition, a cost function is directly expressed in the terms of the voltage errors. An optimal control actuation is selected by minimizing the cost function. In the proposed method, only three instead of all of the control actuations are used for the calculations in one sampling period. This leads to a significant reduction in computations. The proposed method is tested on a three-phase 5-level CHB inverter. Simulation and experimental results show a very similar and comparable control performance from the proposed method compared with the traditional FS-PCC method which evaluates the cost function for all of the control actuations.

• Journal of Power System Engineering
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• v.14 no.2
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• pp.34-39
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• 2010

Recently, technical trend for machine tools is focused on enhancement of speed and accuracy. High speedy processing causes thermal and structural deformation of objects from the machine tools. Water cooler has to be applied to machine tools to reduce the thermal negative influence with accurate temperature controlling system. Existing On-Off control type can't control temperature accurately because compressor is operated and stopped repeatedly and causes increment of power consumption and decrement of the expected life of compressor. The goal of this study is to minimize temperature error in steady state. In addition, control period of an electronic expansion valve were considered to increment of lifetime of the machine tools and quality of product with a water cooler. PI controller is designed using type of hot-gas bypass for precise control of temperature. Gain of PI is decided easily by method of critical oscillation response, excellent performance of control is shown with 4.24% overshoot and ${\pm}0.2^{\circ}C$error of steady state. Also, error range of temperature is controlled within $0.2^{\circ}C$although disturbance occurs.

• Nuclear Engineering and Technology
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• v.44 no.8
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• pp.911-918
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• 2012

Steam generator level control at low power is difficult due to its adverse thermal hydraulic properties, and is usually conducted by an operator. The basic model predictive control (MPC) is similar to the action of an operator in that the operator knows the desired reference trajectory for a finite period of time and takes the necessary control actions needed to ensure the desired trajectory. An MPC is based on a model; the performance as well as the efficiency of the MPC depends heavily on the exactness of the model. In this study, steam generator models that can describe in detail its thermal hydraulic behaviors, particularly at low power, are used in the MPC design. The design scope is divided into two parts. First, the MPC feedwater controller of the feedwater station is determined, and then the MPC level controller for the overall system is designed. Because the dynamic properties of a steam generator change with the power levels, a realistic situation is simulated by changing the transfer functions of the steam generator at every time step. The resulting MPC controller shows good performance.

• Journal of international Conference on Electrical Machines and Systems
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• v.3 no.3
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• pp.354-361
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• 2014

The Unified Power Flow Controller (UPFC) can flexibly manage power flow and maintain line voltage. The UPFC consists of two inverters in parallel side and series side. In parallel side, the reactive power can be compensated to improve the power factor. In series side, the voltage drop can be compensated to maintain proper line voltage. It is necessary for the operation in both sides to output the current and the voltage quickly and accurately. As the method for the UPFC control, the deadbeat control with state observer is applied. The deadbeat control is able to realize a quick response of the current and voltage control for only a sampling period compared with the general PI control. A principle and simulation results are presented in this paper.

• The Transactions of the Korean Institute of Electrical Engineers P
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• v.67 no.2
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• pp.57-62
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• 2018

A brush-less type synchronous generator driven by an internal-combustion engine is used for emergency electric source. These types of generators have to maintain a certain range of output voltage even under the sudden load change conditions such as full load application and removal. This paper describes a method for suppressing the output voltage of a synchronous generator that operates excessively when the load fluctuates. The method used in this paper is a feedforward control method in which the main voltage control consists of a feedback loop using a typical PID controller and the load current is detected as a disturbance element and compensated directly. A feedforward system is constructed in which the load current is regarded as disturbance, and the appropriate feedforward controller configuration and parameters are found through simulation. Finally, it can be seen through the experiment that the feedforward control is performed properly. It can be seen that the generator terminal voltage is recovered to the steady state in a short period of time as compared with the existing PID control method even when the entire load of the generator is changed.

• Journal of Korean Academy of Nursing
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• v.34 no.5
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• pp.739-750
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• 2004

Purpose: This study was to evaluate the effects of foot reflexology on blood pressure, serum lipids level and life satisfaction in essential hypertension patients. Method: The research design used was a nonequivalent control group pretest-posttest design. Foot Reflexology was used as the experimental treatment from June 23rd, 2003 until August 31st, 2003. Thirty-four subjects were assigned to an experimental group(18) and control group(16). Foot Reflexology was administered twice a week for 6 weeks and self foot Reflexology was administered twice a week for 4 weeks on the experimental group. Result: There was a significant decrease in systolic blood pressure but no significant decrease indiastolic pressure in the experimental group compared to the control group. The total cholesterol level in the experimental group compared to the control group was not significantly decreased after foot reflexology. However, the triglyceride level in theexperimental group compared to the control group was significantly decreased after foot reflexology. On the other hand, high density lipoprotein and low density lipoprotein levels in the experimental group compared to the control group was not significantly decreased after foot reflexology. Life satisfaction in the experimental group compared to the control group was significantly improved after foot reflexology. Conclusion: The results proved that foot reflexology was an effective nursing intervention to decrease systolic pressure, and triglyceride but not for the blood cholesterol and to improve life satisfaction. Therefore, blood cholesterol should be further evaluated in a larger group of subjects and for a longer period. Further research is regarded as necessary to evaluate and to compareeffects of self-foot reflexology and foot reflexology.

• The Journal of Korean Academy of Orthopedic Manual Physical Therapy
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• v.19 no.1
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• pp.33-39
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• 2013

Background: The purpose of this study was to find out the effect of trunk stabilization training on the self posture control efficacy, physical self-description and perception stress in high school students. Methods: 92 voluntary students (73 females, 19 males) participated in this study. They received trunk stabilization training for 40 minutes per day and a time per week during 6 weeks period. Trunk stabilization training was an approach of education in proper posture and coordination of movement. In the evaluation, the self posture control efficacy scale (SPCES) was used to measure the posture control efficacy, the physical self-description questionnaire (PSDQ) was used to measure the physical self description and the perception stress scale (PSS) was used to measure the stress. All measurement of each subject were measured before and after stabilization training. Results: The SPCES were significantly different before and after (p<.05). The PSDQ and PSS were no significantly different before and after (p>.05) but the means were increased slightly. Conclusion: Conclusionally these results suggest that the trunk stabilization training increased the self posture control efficacy and would give help to control Students themselves.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.63 no.11
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• pp.1538-1544
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• 2014

In recent years, The electronic and energy industries demand low power consumption and high efficiency, so under their demands, the white goods industries which are represented for refrigerator and air conditioner system be implemented energy-saving power suppling structure with inverter control system. As inverter control system is different from step control type, when switching system is optimizing temperature control during short period, the inrush plus current can be flown in the circuit. In despite of these characteristics, there is no fuse which can be applied to this type until now. For this reason, we suggest the method of manufacturing protector in the high efficient inverter control system using the alumina-based ceramic radiated heat characteristics and metal films laminated plating. And through the evaluating electrical characteristics, we make a possible to utilize the method when designing overall fuses.

• Journal of Internet Computing and Services
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• v.19 no.2
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• pp.27-32
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• 2018

In industries that are operating various enterprise systems, new systems are integrated and operated in accordance with each period. In particular, when a new system is to be integrated, one of the major considerations is the single sign-on part for integrating and operating the authentication. To implement this authority system using role-based access control method, an extension method for access control method is needed. Therefore, in this paper, we design an extended role-based access control model for interworking with legacy authority system and provide its APIs. The extended role-based access control model is a model in which external authority information, which holds authority information in the authority information, is added. And we describe operations that the REST Web APIs are based on these models. In this paper, the method is described in the back-end APIs and can be implemented as an operation of an extended role-based access control system based on the method.