Sharif Digital Repository

In this paper the impact of Static Synchronous Series Compensator (SSSC) on the impedance calculated by distance relay is investigated. Analytical results are presented and verified by detailed simulations. Six different phase to phase and phase to ground measuring units of the distance relay are simulated to resemble the behavior of the relay. It is shown in this paper that zero sequence of the injected voltage by 48 pulse SSSC converter has the most impact on the apparent impedance seen by the phase to ground fault measuring unit and cause under reaching of distance relay. It can be concluded from the results that SSSC located in the middle of the transmission line cause to divide trip... 

Optimal probabilistic neural network-based method has been porposed in this paper to identify different types of fault in high voltage direct current (HVDC) system. Probabilistic neural network is a type of artificial neural networks capable of approximating the optimal classifier. The particle swarm optimization is porposed to achive an optimal value of smoothing factor for PNN which is an important parameter. The main purpose of this paper is fast and accurate fault classification, for this purpose simple HVDC system has been evaluated under various fault type condition to examine the efficacy of the proposed method. The performance of the proposed method is investigated using... 

Sigma-Delta modulator ADCs used in signal processing applications usually, are implemented by switched-capacitor (SC) circuits and CMOS transmission gates due to its simplicity for implementation. Channel charge injection (CCI) and clock feed-through (CFT) are two major non-ideal effects existing in TG switches and SC integrators reducing modulator total SNR, its linearity and its total gain. This paper presents a precise model for SC integrator including CCI and CFT non-ideal effects in MATLAB SIMULINK environment which allows designers to perform time-domain behavioral simulations of switched-capacitor (SC) Sigma-Delta modulators. Evaluation and validation of extracted models were... 

With increasing the share of wind farms in generation profile, their contribution to frequency regulation has become crucial. This study presents an optimal robust first-order frequency controller in the wind farms, which collectively emulates the inertial response as well as governor droop of synchronous generators. To account for various uncertainties associated with system inertia, damping, and doubly-fed induction generator (DFIG)-based wind turbine's parameters, the robustness of controller is verified through the 16-plant theorem. An analytic method based on the small-signal model of the system is utilised to determine the stability region of the first-order controller. To evaluate the... 

The aim of this article is design, fabricate, and control a conceptual prototype of a flexible wearable robot to increase fingers’ force using a novel cable mechanism. In this robot, force and position are controlled in separate phases by a fuzzy system equipped with emotional learning. A Flexible structure has been chosen for this robot, because flexible gloves are lighter and much more suitable for use in daily tasks compared to rigid structures. Since this system is supposed to be substituted for weak or damaged limb, it should have a behavior similar to the body organs as much as possible. Therefore, a novel mechanism, inspired by the natural movement mechanism of the human hand, has... 

The aim of this article is design, fabricate, and control a conceptual prototype of a flexible wearable robot to increase fingers’ force using a novel cable mechanism. In this robot, force and position are controlled in separate phases by a fuzzy system equipped with emotional learning. A Flexible structure has been chosen for this robot, because flexible gloves are lighter and much more suitable for use in daily tasks compared to rigid structures. Since this system is supposed to be substituted for weak or damaged limb, it should have a behavior similar to the body organs as much as possible. Therefore, a novel mechanism, inspired by the natural movement mechanism of the human hand, has... 

The aim of this article is design, fabricate, and control a conceptual prototype of a flexible wearable robot to increase fingers’ force using a novel cable mechanism. In this robot, force and position are controlled in separate phases by a fuzzy system equipped with emotional learning. A Flexible structure has been chosen for this robot, because flexible gloves are lighter and much more suitable for use in daily tasks compared to rigid structures. Since this system is supposed to be substituted for weak or damaged limb, it should have a behavior similar to the body organs as much as possible. Therefore, a novel mechanism, inspired by the natural movement mechanism of the human hand, has... 

In this paper a novel supplementary subsynchronous damping controller (SSDC) is proposed for the STATic synchronous COMpensator (STATCOM) which is capable of damping out subsynchronous oscillations in power system with series compensated transmission lines. An auxiliary subsynchronous damping controller (SSDC) for a STATCOM using the generator rotor speed deviation signal as the stabilizing signal has been designed to damp subsynchronous oscillations. Eigenvalue analysis and transient simulations of detailed nonlinear system are considered to investigate the performance of the controller. Robustness of the controller has been analyzed by facing the system with disturbances leading to... 

Modular multilevel converter (MMC) is among the promising topologies used in high-voltage/power purposes, especially for high-voltage direct-current (HVDC) transmission systems. In this paper, a modified model predictive control (MPC) strategy for an MMC-HVDC system is presented. In the proposed MPC strategy, output current, circulating current and capacitors voltage are controlled separately. In order to reduce the computational burden of the controller, the output current is controlled directly without any optimization. For suppression of the circulating current, capacitors voltage variations are employed to settle the converter arms voltages to their reference values. In addition, the... 

Synthetic inertial frequency response has attracted increasing attention due to the paradigm shift in power generation from synchronous generators toward wind turbines. This paper presents a novel nonlinear controller to enable inertial response of a variable speed wind turbine (VSWT). The VSWT has a nonlinear model which cannot efficiently be dealt with by linear control techniques as it may experience large deviations from its operating point during the frequency support period. To design the controller, a nonlinear model for the wind turbine together with power system is utilized. The output power of the wind turbine is expressed in terms of the state variables, and its exact Taylor... 

This paper presents a novel Gait Pattern Generator ((IPC) developed for the "Alice" social humanoid robot, which up to now lacked an appropriate walking pattern. Due to t he limitations of this robot, the proposed gate pattern generator was formulated based on a nine-mass model to decrease the modeling errors and t he inverse kinematics of the whole lower-body was solved in such a way that the robot remained statically stable during t he movements. The main challenge of this work was to solve t he inverse kinematics of a 7-link chain with 12 degrees of freedom. For this purpose, a new graphical-numerical technique has been provided using the definition of the kinematic equations of the robot... 

This paper presents a novel Gait Pattern Generator ((IPC) developed for the "Alice" social humanoid robot, which up to now lacked an appropriate walking pattern. Due to t he limitations of this robot, the proposed gate pattern generator was formulated based on a nine-mass model to decrease the modeling errors and t he inverse kinematics of the whole lower-body was solved in such a way that the robot remained statically stable during t he movements. The main challenge of this work was to solve t he inverse kinematics of a 7-link chain with 12 degrees of freedom. For this purpose, a new graphical-numerical technique has been provided using the definition of the kinematic equations of the robot...