• Journal of the Korean Society for Precision Engineering
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• v.22 no.6 s.171
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• pp.98-108
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• 2005

Conventional robot manipulators actuated by motors with the speed reducer such as the harmonic drive have weakness in the load capacity, since the speed reducer does not have enough strength. To improve this, a new type of robot actuator based on the four-bar-link mechanism driven by the ball screw was constructed. Also, a new type of revolute robot manipulator composed of the developed actuators was developed. But, modelling errors occur due to the off-set from the nominal model since the exact modeling of the complex inertia variation of the four-bar-link actuator is very difficult. To control the proposed robot along the prescribed trajectory, a sliding mode control algorithm was applied with compensation function for the modeling errors. To show performance of the proposed controller, a computer simulation was performed, and its results was presented.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.28 no.5
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• pp.539-546
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• 2004

Conventional robot manipulators actuated by motors with the speed reducer such as the harmonic drive have weakness in the load capacity, since the speed reducer does not have enough strength. To overcome this, a new type of the robot actuator based on the four-bar-link mechanism driven by the ball screw was proposed and constructed. Also, a new type of a revolute-jointed robot manipulator composed of the developed actuators was developed. The base axis is actuated by the motor with the conventional speed reducer, but the other axes are actuated by the proposed actuators. The kinematics and dynamics of the robot were analyzed, and the performance test of the robot was made. Through the test results, the performance of superior load capacity versus the robot weight is shown.

• Proceedings of the KIPE Conference
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• 2015.11a
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• pp.65-66
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• 2015

본 논문에서는 단상 다이오드 정류기와 소용량 직류단 캐패시터를 가지는 전동기 구동 시스템에서 계통 전류에 최소 고조파 전류 주입을 통하여 직류단 전압을 높이는 방법을 제안한다. 소용량 직류단 캐패시터를 가지는 전동기 구동 시스템은 직류단전압이 맥동하게 되는데 직류단 전압이 낮은 부분에서는 과도한 약자속 전류가 필요하게 된다. 기존의 연구에서는 직류단 전압을 확보하기 위해 직류단 최소 전압을 설정하는 방법이 제안되었다. 하지만 계통 전류의 고조파 규정 때문에 직류단 최소 전압을 높이는 것은 한계가 있다. 제안된 방법에서는 계통 전류에 고조파를 주입함으로써 기존의 한계보다 더 높은 직류단 최소 전압을 가지면서도 계통 전류의 고조파 규정을 만족시킬 수 있도록 한다. 제안된 방법은 시뮬레이션을 통해 그 타당성을 검증한다.

• The Transactions of the Korean Institute of Power Electronics
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• v.4 no.1
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• pp.26-34
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• 1999

According to increase of nonlinear power electronics equipment, active power filters have been researched and developed for many years to compensate harmonic disturbances and reactive power. However the commercial of active power filter is being proceeded slowly, because the cost of active power filter compared to the passive filter for harmonic and reactive power compensation is expensive. Especially, the use of DSP (Digital Signal Processing) chip, which is frequently used to control 3-phase active power filter, is a factor of increasing the cost of active power filters. On the other hand, the use of only analog controller makes the controller's circuits much more complicate and depreciates the flexibilities of controller. In this paper, a controller with low cost for 5[kVA] 3-phase active power filter system is designed. To reduce the expense of active filter system, the presented controller is composed of digital control part using Intel 80C196KC $\mu$P and analog control part using hysteresis controller for current control. Characteristic analysis of designed controller for active filter system is performed by computer simulation and compensating characteristics of the designed controller are verified by experiment.tegy can apply to the vector control, leading to better output torque capability in the ac motor drive system. This strategy is that in the overmodulation range, the d-axis output current is given a priority to regulate the flux well, instead the q-axis output curent is sacrificed. Therefore, the vector control even in the overmodulation PWM operation can be achieved well. For this purpose, the d-axis output voltage of a current controller to control the flux is conserved. the q-axis output voltage to control the torque is controlled to place the reference voltage vector on the hexagon boundary in case of the overmodulation. The validity of the proposed overall scheme is confirmed by simulation and experiments for a 22[kW] induction motor drive system.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.17 no.7
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• pp.380-388
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• 2016

Using the magnet gear, it is possible to transmit power without mechanical contact. As the drive shaft in a magnet gear-based speed reducer system is isolated from the drive shaft, the system is a two-inertia resonance system that should cope with an external load with the limited air-gap stiffness. On the other hand, the drive shaft or low-speed side is controlled only by the torque of the drive shaft through an air-gap, and the excessive oscillation or the slip can then be generated because of an abrupt disturbance that is different from the general mechanical gear system. Therefore, the disturbance loaded at the low speed side should be measured or estimated, and considered in the control of the driving shaft. This paper proposes a novel full-state feedback controller with a reduced-order observer for the speed reducer system using a magnet gear with a unified harmonic modulator. The control method was verified by simulation and experiment. To estimate the load at the low speed side, a novel observer was designed, in which the new state variable is introduced and the new state equation is formulated. Using a full-state feedback controller including the observer, the test result against disturbance was compared with two D.O.F PI speed controllers. The pole slip was compensated within relatively a short time, and the simulation result about the estimated variable shows a similar tendency to the test result. The test results showed that the magnet gear-based reducer can be applied to an accurate servo system.

• Proceedings of the KIPE Conference
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• 2001.10a
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• pp.484-488
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• 2001

The grid voltage of commercial utility power source hi Japan and USA is 100rms, but in China and European countries, it is 200rms. In recent years, In Japan 200Vrms out putted single phase three wire system begins to be used for high power applications. In 100Vrms utility AC power applications and systems, an active voltage clamped quasi-resonant Inverter circuit topology using IGBTs has been effectively used so far for the consumer microwave oven. In this paper, presented is a half bridge type voltage-clamped high-frequency Inverter type AC-DC converter using which is designed for consumer magnetron drive used as the consumer microwave oven in 200V utility AC power system. This zero voltage soft switching Inverter can use the same power rated switching semiconductor devices and three-winding high frequency transformer as those of the active voltage clamped quasi-resonant Inverter using the IGBTs that has already been used for 100V utility AC power source. The operating performances of the voltage source single ended push pull type Inverter are evaluated and discussed for consumer microwave oven. The harmonic line current components In the utility AC power side of the AC-DC power converter operating at ZVS­PWM strategy reduced and improved on the basis of sine wave like pulse frequency modulation and sine wave like pulse width modulation for the utility AC voltage source.

• Journal of the Institute of Electronics Engineers of Korea TC
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• v.49 no.2
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• pp.72-75
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• 2012

In this paper, high-efficiency DC-AC converter is implemented for the wireless power transmission. The DC-AC converter is implemented by combining the oscillator and power amplifier. Because the conversion efficiency of wireless power transmitter is strongly affected by the efficiency of power amplifier, the high-efficiency power amplifier is implemented by using the Class-E amplifier structure. Also, because the output power of oscillator connected to the input stage of power amplifier is low, high-gain two-stages power amplifier using the drive amplifier is implemented to realize the high-output power DC-AC converter. The dual band harmonic suppression filter is implemented to suppress 2nd, 3rd harmonics of 13.56 MHz. The output power and conversion efficiency of DC-AC converter are 40 dBm and 80.2 % at the operation frequency of 13.56 MHz.

• Journal of the Korean Institute of Illuminating and Electrical Installation Engineers
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• v.16 no.4
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• pp.22-29
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• 2002

Usually, much harmonics are included and cause harmonic loss of motor, torque pulsation, electro-magnetic noise and shock etc. by switching function of inverter when drive induction motor variableness inside. It applied partial resonant Buck converter and three phase voltage type SPWM inverter circuit to induction motor driving system in this paper that see to solve such problem. Changed operation condition variously to do input current of circuit that propose sine-wave by unit power factor almost and capacitor supplied bringing back to life voltage by power supply arranging properly assistance diode and electric power switching. Power factor and efficiency improved as that minimize variation of input at power supply voltage polarity reverse by that add voltage reversal function. Also, by using output filter, reduced harmonic of output line to line voltage components, and introduce state space analysis and forecast operation of rectifier. Such all items confirmed validity through simulation and an experiment.

• Journal of the Korean Institute of Illuminating and Electrical Installation Engineers
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• v.24 no.5
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• pp.94-105
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• 2010

To detect faults in an inverter-fed permanent magnet synchronous motor (PMSM) drive under the circumstance having faults in a stator winding and inverter switch, an on-line basis fault detecting scheme during operation is presented. The proposed scheme is achieved by monitoring the second-order harmonic component in q-axis current and the fault is detected by comparing these components with those in normal conditions. The linear interpolation method is employed to determine the harmonic data in normal operating conditions. As soon as the fault is detected, the operating mode is changed to identify a fault type using the phase current waveform. To verify the effectiveness of the proposed fault detecting scheme, a test motor to allow inter-turn short in the stator winding has been built. The entire control algorithm is implemented using DSP TMS320F28335. Without requiring an additional hardware, the fault can be effectively detected by the proposed scheme during operation so long as the steady-state condition is satisfied.

• Journal of the Korean Society of Manufacturing Process Engineers
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• v.15 no.6
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• pp.129-135
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• 2016

There have been many types of development and commercialization efforts for superconducting power applications with the continuous development of High Temperature Superconducting (HTS) conductors. In particular, HTS power cables are going to be commercialized in real power grids. A cryogenic refrigeration system should be used to keep it below 77 K, and its required cooling capacity continuously increases as the unit length of the HTS power cable increases. Among the many kinds of cryogenic refrigerator, a reverse Brayton refrigerator that uses turbo expanders is a promising refrigerator due to its efficiency and reliability. Among the various components in refrigerators, the cryogenic turbo-expander is the most important part for increasing efficiency and assuring reliability. The design of a 300 W class turbo-expander is described in this paper prior to the development of a 10 kW class turbo expander, which is the required capability for the commercialization of a HTS power cable. The impeller shape and rotation speed are determined based on the cycle analysis. The Eigen frequency and harmonic analysis are conducted with gas bearings at cryogenic temperatures to determine the operational stability.