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Le, Quoc Anh,Lee, Dong-Choon IEEE 2017 IEEE transactions on industry applications Vol.53 No.2
<P>In this paper, a novel space-vector pulse-width modulation (PWM) scheme for reducing the common-mode voltage (CMV) in the three-phase five-level active neutral-point clamped (5L-ANPC) inverter is proposed, where only the 55 selected voltage vectors among the entire 125 that produce low values of the CMV are utilized. This PWM scheme can significantly reduce the CMV without the increase of switching losses and total harmonic distortion of the output voltages. With the 55 selected voltage vectors, the inverter can still operate up to the maximum modulation index. In addition, the capacitor voltages are controlled by redundant switches of the 5L-ANPC inverters. It has been shown that the peak value of the CMV is decreased to one-twelfth of the dc-link voltage from the simulation and experimental results.</P>
Parameter Estimator Integrated-sliding Mode Control of Dual Arm Robots
Le Anh Tuan,주영훈,Pham Xuan Duong,Le Quoc Tien 제어·로봇·시스템학회 2017 International Journal of Control, Automation, and Vol.15 No.6
This paper presents the parameter estimator-integrated sliding mode control of dual arm robots. Todo so, a robust adaptive controller is designed for 3D cooperative motion of dual-arm robots based on the frameof second-order sliding mode control (SOSMC). Additionally, the method of the model-reference adaptive control(MRAC) is also utilized for constituting an adaptation mechanism then integrating it into the control loop to estimatethe unknown robot parameters. By doing so, the proposed controller is robust with disturbances and parametricuncertainties. Furthermore, the adaptive behavior is also achieved in which the control system does not need theinformation of many system parameters. Finally, the applicability and feasibility of the proposed controller ispresented through a 4 four degree-of-freedoms (DOFs) dual-arm manipulator.
Adaptive Neural Network Second-order Sliding Mode Control of Dual Arm Robots
Le Anh Tuan,주영훈,Le Quoc Tien,Pham Xuan Duong 제어·로봇·시스템학회 2017 International Journal of Control, Automation, and Vol.15 No.6
An adaptive robust control system is considered for dual-arm manipulators (DAM) using the combinationof second-order sliding mode control (SOSMC) and neural networks. The SOSMC deals with the system robustnesswhen faced with external disturbances and parametric uncertainties. Meanwhile, the radial basis function network(RBFN) is to constitute an adaptation mechanism for approximating the unknown dynamic model of DAM. Thestability of model estimator-integrated controller is analyzed using Lyapuov theory. To show the effectiveness ofproposed controller, a four DOFs-DAM is applied as an illustrating example. The results reveal that the controllerworks well, excellently adapt to no information of robot modeling.
Quoc Anh Le,Do-Hyeon Park,Dong-Choon Lee 전력전자학회 2017 JOURNAL OF POWER ELECTRONICS Vol.17 No.4
This paper proposes a novel scheme which can compensate the common-mode voltage (CMV) for five-level active neutralpoint clamped (5L-ANPC) inverters, which is based on modifying the space vector pulse width modulation (SVPWM) and adding an auxiliary leg to the inverter. For the modified SVPWM, only the 55 voltage vectors producing low CMV values among the 125 possible voltage vectors are utilized, which varies over the three voltage levels of –Vdc/12, 0 V, and Vdc/12. In addition, the compensating voltage, which is injected into the 5L-ANPC inverter system to cancel the remaining CVM through a commonmode transformer (CMT) is generated by the additional NPC leg. By the proposed method, the CMV of the inverter is fully eliminated, while the utilization of the DC-link voltage is not decreased at all. Furthermore, all of the DC-link and flying capacitor voltages of the inverter are well controlled. Simulation and experimental results have verified the validity of the proposed scheme.
A Novel SVPWM Scheme for Common-Mode Voltage Reduction in Five-Level Active NPC Inverters
Quoc Anh Le,Dong-Choon Lee 전력전자학회 2015 ICPE(ISPE)논문집 Vol.2015 No.6
In this paper, a novel space vector pulse width modulation (SVPWM) scheme for reducing the commonmode voltage (CMV) in the three-phase five-level active neutral-point clamped (5L-ANPC) inverter for the machine drive systems is proposed, where only the 55 selected voltage vectors with low values of CMV instead of all 125 voltage vectors are utilized. This PWM scheme can significantly reduce the common-mode voltage without the increase of switching loss and total harmonic distortion (THD) of the output voltages compared with the conventional one. With the 55 voltage vectors only, the inverter can still work in the full range of modulation index (MI). In addition, the DClink capacitor and flying capacitor voltages can also be controlled for balancing. The PSIM simulation results show that the peak value of the CMV is decreased to one twelfth of the DC-link voltage.
Le, Quoc Anh,Lee, Sangmin,Lee, Dong-Choon The Korean Institute of Power Electronics 2016 JOURNAL OF POWER ELECTRONICS Vol.16 No.6
In this paper, a novel scheme to eliminate common-mode voltage (CMV) is proposed for three-level neutral-point clamped (NPC) inverters. In the proposed scheme, a low-power full-bridge converter is utilized to produce compensatory voltage for CMV, which is injected into an NPC inverter through a single-phase four-winding transformer. With the proposed circuit, the power range for applications is not limited, and the maximum modulation index of the inverter is not reduced. These features are suitable for high-power medium-voltage machine drives. The effectiveness of the proposed method is verified by simulation and experimental results.
Quoc Anh Le,Sangmin Lee,Dong-Choon Lee 전력전자학회 2016 JOURNAL OF POWER ELECTRONICS Vol.16 No.6
In this paper, a novel scheme to eliminate common-mode voltage (CMV) is proposed for three-level neutral-point clamped (NPC) inverters. In the proposed scheme, a low-power full-bridge converter is utilized to produce compensatory voltage for CMV, which is injected into an NPC inverter through a single-phase four-winding transformer. With the proposed circuit, the power range for applications is not limited, and the maximum modulation index of the inverter is not reduced. These features are suitable for high-power medium-voltage machine drives. The effectiveness of the proposed method is verified by simulation and experimental results.
Le, Quoc Anh,Park, Do-Hyeon,Lee, Dong-Choon The Korean Institute of Power Electronics 2017 JOURNAL OF POWER ELECTRONICS Vol.17 No.4
This paper proposes a novel scheme which can compensate the common-mode voltage (CMV) for five-level active neutralpoint clamped (5L-ANPC) inverters, which is based on modifying the space vector pulse width modulation (SVPWM) and adding an auxiliary leg to the inverter. For the modified SVPWM, only the 55 voltage vectors producing low CMV values among the 125 possible voltage vectors are utilized, which varies over the three voltage levels of $-V_{dc}/12$, 0 V, and $V_{dc}/12$. In addition, the compensating voltage, which is injected into the 5L-ANPC inverter system to cancel the remaining CVM through a common-mode transformer (CMT) is generated by the additional NPC leg. By the proposed method, the CMV of the inverter is fully eliminated, while the utilization of the DC-link voltage is not decreased at all. Furthermore, all of the DC-link and flying capacitor voltages of the inverter are well controlled. Simulation and experimental results have verified the validity of the proposed scheme.
A Novel Six-Level Inverter Topology for Medium-Voltage Applications
Le, Quoc Anh,Lee, Dong-Choon Institute of Electrical and Electronics Engineers 2016 IEEE transactions on industrial electronics Vol.63 No.11
<P>In this paper, a novel topology of six-level inverters for a medium-voltage high-power applications is proposed, which consists of inner flying-capacitor inverter (FCI) units and outer two-level inverter units. The proposed topology can reduce the number of devices, components, and isolated sources compared with the existing ones in the case of the same number of output voltage steps, which result in a reduction of the size and weight of the inverters. Also, the total power loss of the proposed topology is lower than that of the diode-clamped inverter (DCI) and FCI. Besides, the estimated cost of the proposed topology is about 60.5% and 81.3% compared with the DCI and FCI, respectively. In addition, the modulation technique and the control strategy for the dc-link capacitor and flying-capacitor voltages are developed for the proposed topology. The effectiveness of the proposed six-level inverter for the medium-voltage applications has been verified by simulation results. Also, the feasibility of the proposed inverter has been proved by experimental results for the prototype at the laboratory.</P>