• 제어로봇시스템학회:학술대회논문집
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• 1996.10a
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• pp.73-76
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• 1996

An impedance control approach based on an extended task space formulation is addressed to control the kinematically redundant manipulators. Defining a weighted inner product in joint space, a minimal parametrization of the null space can be achieved and we can visualize the null space motion explicitly. Based on this formulation, we propose a control method called inertially decoupled impedance controller to control the motion of the end-effector as well as the internal motion expanding the conventional impedance control. Some numerical simulations are given to demonstrate the performance of the proposed control method.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.21 no.2
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• pp.252-260
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• 1997

In this paper, a friction compensation method using a disturbance observer is proposed for an impedance control of pneumatic manipulator. It is assumed that the generated torque by a pneumatic actuator can be estimated based on the pressure signals and the discharge volume. In order to improve the dynamic characteristics of the pneumatic actuator driven by meter out method, we construct the inner torque control system by feeding back the generated torque. In order to reduce the influence of disturbances comprising friction torque and parameter variations of plant, the impedance control system is constructed with a disturbance observer which estimates the disturbances based on the generated torque of pneumatic actuator, the angular velocity and the reaction torque. From some experiments, it is confirmed that the proposed control system is effective to improve the robustness for the friction torque in the impedance control of a pneumatic manipulator.

• Smart Structures and Systems
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• v.17 no.6
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• pp.881-901
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• 2016

In this study, a method to compensate the effect of temperature variation on impedance responses which are used for prestress-loss monitoring in prestressed concrete (PSC) girders is presented. Firstly, an impedance-based technique using a mountable lead-zirconate-titanate (PZT) interface is presented for prestress-loss monitoring in the local tendon-anchorage member. Secondly, a cross-correlation-based algorithm to compensate the effect of temperature variation in the impedance signatures is outlined. Thirdly, lab-scale experiments are performed on a PSC girder instrumented with a mountable PZT interface at the tendon-anchorage. A series of temperature variation and prestress-loss events are simulated for the lab-scale PSC girder. Finally, the feasibility of the proposed method is experimentally verified for prestress-loss monitoring in the PSC girder under temperature-varying conditions and prestress-loss events.

• Journal of Power Electronics
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• v.18 no.4
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• pp.1235-1244
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• 2018

The application of shunt capacitor banks and underground cables typically induces resonance in power distribution systems. In this study, the propagation of resonance in a microgrid (MG) with inverter-based distributed generators (IBDGs) is investigated. If resonances are not properly damped, then the output current of the inverters may experience distortion via resonance propagation due to the adverse effect of resonances on MG power quality. This study presents a conceptual method for identifying resonances and related issues in multi-inverter systems. For this purpose, existing resonances are identified using modal impedance analysis. However, some resonances may be undetectable when this method is used. Thus, the resonances are investigated using the proposed method based on the frequency response of a closed-loop MG equivalent circuit. After analyzing resonance propagation in the MG, an effective virtual impedance damping method is used in the IBDG control system to damp the resonances. Results demonstrate the effectiveness of the proposed method in compensating for existing resonances.

• Journal of Advanced Navigation Technology
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• v.20 no.4
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• pp.361-366
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• 2016

This paper presents an arbitrary impedance transformer with unequal split, based on S- to admittance parameter conversion. When compared even/ odd- mode analysis, the parameter conversion design method constitutes a simple design method to include phase delay information and arbitrary port impedances and asymmetrical configurations. To validate this design method, we designed a 50 to $12.5{\Omega}$ impedance transformer with a 3:1 unequal power split, at an operating frequency of 1 GHz. To implement the proposed impedance transformer, the low impedance transmission lines of calculated result are fabricated by the transmission line connected shunt open stub. Good experimental performances were obtained, in full agreement with simulated results.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.62 no.5
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• pp.604-611
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• 2013

This paper presents an second harmonic elimination method based on the impedance variation scheme. Through the power quality analysis from the nonlinear loads connected on the power system, the second harmonic problems have been analyzed with a case study analysis and the experiments. In the paper, the second Harmonic generation was simulated with a single phase SCR rectifier and the analytical model is proposed for the second harmonic generation. A novel impedance variation scheme is proposed and analyzed to eliminate the second harmonic. The experiment has been performed on the 60(MVA) industry manufacturing plant. The experimental result demonstrates the proposed impedance variation scheme successfully operate on the 60(MVA) industry manufacturing plant.

• The Transactions of the Korean Institute of Power Electronics
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• v.20 no.2
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• pp.152-159
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• 2015

In a weak grid condition, the precise grid impedance estimation is essential to guaranteeing the high performance current control and power transfer for a grid-connected inverter. This study proposes a precise estimation method for grid impedance by PQ variations by employing the variation method of reference currents. The operation principle of grid impedance estimation is fully presented, and the negative impact of the phase locked loop is analyzed. Estimation error by a synchronization angle in the park's transformation using the phase locked loop is derived. As a result, the variation method of reference currents for accurate estimation is introduced. The validation of the proposed method is verified through several simulation results and experiments based on a 2-kW voltage source inverter prototype.

• KEPCO Journal on Electric Power and Energy
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• v.6 no.4
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• pp.473-480
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• 2020

In this paper, we proposed a high frequency equivalent circuit considering parasitic impedance components for differential noise analysis on the input stage during DC-DC buck converter switching operation. Based on the proposed equivalent circuit model, we presented a method to measure parasitic impedance parameters included in DC bus plate, IGBT, and PCB track using the gain phase method of a network analyzer. In order to verify the validity of this model, a DC-DC prototype consisting of a buck converter, a signal analyzer, and a LISN device, and then resonance frequency was measured in the frequency range between 150 kHz and 30 MHz. The validity of the parasitic impedance measurement method and the proposed equivalent model is verified by deriving that the measured resonance frequency and the resonance frequency of the proposed high frequency equivalent model are the same.

• Journal of Ocean Engineering and Technology
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• v.26 no.1
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• pp.27-33
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• 2012

This paper presents the effect of temperature on the impedance-based damage monitoring of steel-bolt connections using wireless impedance sensor nodes. In order to achieve the objective, the following approaches are implemented. First, a temperature-compensated damage monitoring scheme that includes a temperature compensation model and damage detection method is described. The temperature compensation model is designed by analyzing the linear regressions between the temperatures and impedance signatures. The correlation coefficient of the impedance signatures is selected as the damage index to monitor the damage occurrence in the target structures. Second, a wireless impedance sensor node is described for the design of the hardware components and embedded software. Finally, the performance of the temperature-compensated impedance-based damage monitoring scheme is evaluated for detecting a loose bolt in the steel-bolt connections on a lab-scale steel girder under various temperatures.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.62 no.5
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• pp.667-672
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• 2013

In this paper, we propose a multi-impedance changes localization method of on-voltage underground power cable using the wavelet transform based time-frequency domain reflectometry (WTFDR). To localize the impedance change in on-voltage power cable, the TFDR is the most suitable among reflectometries because the inductive coupler is used to inject the reference signal to the live cable. At this time, the actual on-voltage power cable has multi-impedance changes such as the automatic section switches and the auto load transfer switches. However, when the multi-impedance changes are generated in the close range, the conventional TFDR has the cross term interference problem because of the nonlinear characteristics of the Wigner-Ville distribution. To solve the problem, the wavelet transform (WT) is used because it has the linearity. That is, using WTFDR, the cross term interference is not generated in multi-impedance changes due to the linearity of the WT. To confirm the effectiveness and accuracy of the proposed method, the actual experiments are carried out for the on-voltage underground power cable.