This paper suggests a new control method to modify the virtual impedance performance in unbalanced conditions. The proposed method compensates the voltage drop that occurred due to the virtual impedance and adjusts the voltage of the point of common coupling at a desirable level. To compensate the voltage drop, the reference voltage in the droop control varies according to the proposed algorith...

microgrids are nowadays used to produce electric energy with more efficiency and advantage. however, the use of microgrids presents some challenges. one of the main problems of the microgrids widely used in electrical power systems is the control of voltage, frequency and load sharing balance among inverter- based distributed generators (dgs) in islanded mode. droop method performance degrades ...

In this paper, a new approach is proposed for voltage and current harmonics compensation in grid-connected microgrids (MGs). If sensitive loads are connected to the point of common coupling (PCC), compensation is carried out in order to reduce PCC voltage harmonics. In absence of sensitive loads at PCC, current harmonics compensation scenario is selected in order to avoid excessive injection of...

The dynamic characteristics of human upper extremities can be modeled with mechanical impedance. Although many studies have been reported on the human hand impedance properties in static tasks with arm posture maintained, there are no reports for human arm movements in dynamic tasks including interactions with environments. The human impedance should be regulated before motion in some tasks. In...

Impedance control is one of the most effective control methods for interaction between a robotic manipulator and its environment. Robot impedance control regulates the response of the manipulator to contact and virtual impedance control regulates the manipulator’s response before contact. Although these impedance parameters may be regulated using neural networks, conventional methods do not con...

Abstract A new power sharing method of a virtual sychronous generator control based inverters is introduced in this paper. Since virtual synchronous generator has virtual inertia and damping properties, it significantly enhances the grid stability. However, its output power considerably affects by the line impedance. Thus, in this paper, the relation between the droop control and the line imped...

This paper proposes an impedance control method called the multi-point impedance control (MPIC) for redundant manipulators. The method can not only control end-effector impedance, but also regulate impedances of several points on the links of the manipulator, which are called virtual end-point impedances, utilizing arm redundancy. Two approaches for realizing the MPIC are presented. In the firs...

Creating a compelling haptic sense of immersion in a virtual environment is a challenging task for the control engineer. A haptic display must render both low impedance free-space motion and high impedance rigid constraints while ensuring stable interaction. This paper outlines a control design approach for the most common haptic display implementation, the impedance display. Two-port absolute ...

In the field of human-machine interaction mechanical impedance has become well implement. However, in humanvehicle interaction there is a variant environment when drivin a vehicle, thus apart from cooperating with human, an impedance is needed to adapt to the variant environment. But as being a second order mass-viscosity-stiffness model with fixed parameters, for mechanical impedance it is dif...