• Journal of Power Electronics
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• 제17권4호
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• pp.892-904
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• 2017

A design of a Class-E inverter with only one inductor and one capacitor is presented. It is operated at the optimal operation mode for domestic cooker. The design principle is based on the zero-voltage derivative switching (ZVDS) of the Class-E inverter with a parallel load network, which is a parallel resonant equivalent circuit. An induction load characterization is obtained from a large-signal excitation test bench, which is the key to an accurate design of the induction cooker system. Consequently, the proposed scheme provides a more systematic, simple, accurate, and feasible solution than the conventional quasi-resonant inverter analysis based on series load network methodology. The derivative of the switch voltage is zero at the turn-on transition, and its absolute value is relatively small at the turn-off transition. Switching losses and noise are reduced. The parameters of the ZVDS Class-E inverter for the domestic induction cooker must be selected properly, and details of the design of the components of this Class-E inverter need to be addressed. A 1,200 W prototype is designed and evaluated to verify the validation of the proposed topology.

• 제어로봇시스템학회논문지
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• 제15권10호
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• pp.1029-1038
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• 2009

This paper proposes a gain switching algorithm for joint position control of a hydraulic humanoid robot. Accurate position control of the lower body is one of the basic requirements for robust balance and walking control. Joint position control is more difficult for hydraulic robots than it is for electric robots because of an absence of reduction gear and better back-drivability of hydraulic joints. Backdrivability causes external forces and torques to have a large effect on the position of the joints. External ground reaction forces therefore prevent a simple proportional-derivative (PD) controller from realizing accurate and fast joint position control. We propose a state feedback controller for joint position control of the lower body, define three modes of state feedback gains, and switch the gains according to the Zero Moment Point (ZMP) and linear interpolation. Dynamic equations of hydraulic actuators were experimentally derived and applied to a robot simulator. Finally, the performance of the algorithm is evaluated with dynamic simulations.