• The Journal of Korea Robotics Society
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• v.4 no.4
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• pp.289-297
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• 2009

This paper presents the development and control of a two wheeled car-like mobile robot using balancing mechanism whose heading control is done by turning the handle. The mobile inverted pendulum is a combined system of a mobile robot and an inverted pendulum system. A sensor fusion technique of low cost sensors such as a gyro sensor and a tilt sensor to measure the balancing angle of the inverted pendulum robot system accurately is implemented. Experimental studies of the trajectory following control task has been conducted by command of steering wheel while balancing.

• Journal of the Institute of Electronics and Information Engineers
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• v.51 no.2
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• pp.190-196
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• 2014

In this paper, we get state equations based on wheel's rotation, tilt and steering are independent each other in balancing robot. Accordingly, we propose two LQR controllers which are appropriate for rotation and steering control of a balancing robot. And its superiority and appropriateness are demonstrated by a comparison to a PID method. Simulation results verify the possibility of upright balancing, rectilinear motion and position control. Moreover, experimental results show that it guarantees the performance to apply the two LQR controllers to balance the robot.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.66.4-66
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• 2001

In this paper we have fabricated the two-dimensional Rod Balancing System which expands conventional one-dimensional inverted pendulum control system and designed its controller. The X-axis cart and Y-axis bar of the Rod Balancing System, which is composed of X-Y table, are actuated through timing belt by each of two geared DC motors, and the rod mounted on a X-axis cart can be brought to the desired position and maintained in a vertical position by motor-control. For the control of the Rod Balancing System, we used a fuzzy logic controller that is an approach to systems control when the exact mathematical model of the plant is unknown or the mathematical model is too complex to understand.

• Journal of Institute of Control, Robotics and Systems
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• v.21 no.4
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• pp.336-341
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• 2015

This paper proposes a balancing and driving control system for a Mecanum wheel ball robot which has a two axis structure and four motors. The inverted pendulum control method is adopted to maintain the balance of the ball robot while it is driving. For the balancing control, an anon-model-based controller has been designed to control the device simply without the need of a complex formula. All the gains of the controller are heuristically adjusted during the experiments. The tilt angle is measured by IMU sensors, which is used to generate the control input of the roll and pitch controller to make the tilt angle zero. For the driving control, the PID control algorithm has been adopted with angles of the wheels and the encoder data. The performance of the designed control system has been verified through the real experiments with the suggested ball robot.

• Journal of Institute of Control, Robotics and Systems
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• v.18 no.6
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• pp.532-539
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• 2012

This paper proposes a balancing and driving control system for a bicycle robot. A reaction wheel pendulum control method is adopted to maintain the balance while the bicycle robot is driving. For the driving control, PID control algorithm with a variable gain adjustment has been developed in this paper, where the gains are heuristically adjusted during the experiments. To measure the angles of the wheels the encoders are used. For the balancing control, a roll controller is designed with a non-model based algorithm to make the shortest cycle. The tilt angle is measured by the fusion of the acceleration and gyroscope sensors, which is used to generate the control input of the roll controller to make the tilt angle zero. The performance of the designed control system has been verified through the real experiments with the developed bicycle robot.

• The Transactions of the Korean Institute of Power Electronics
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• v.23 no.4
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• pp.247-255
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• 2018

This paper proposes a transformer design of a direct cell-to-cell active cell balancing circuit with a multi-winding transformer for battery management system (BMS) applications. The coupling coefficient of the multi-winding transformer and the output capacitance of MOSFETs significantly affect the balancing current transfer efficiency of the cell balancing operation. During the operation, the multi-winding transformer stores the energy charged in a specific source cell and subsequently transfers this energy to the target cell. However, the leakage inductance of the multi-winding transformer and the output capacitance of the MOSFET induce an abnormal energy transfer to the non-target cells, thereby degrading the transfer efficiency of the balancing current in each cell balancing operation. The impacts of the balancing current transfer efficiency deterioration are analyzed and a transformer design methodology that considers the coupling coefficient is proposed to enhance the transfer efficiency of the balancing current. The efficiency improvements resulting from the selection of an appropriate coupling coefficient are verified by conducting a simulation and experiment with a 1 W prototype cell balancing circuit.

• The Transactions of the Korean Institute of Power Electronics
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• v.20 no.5
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• pp.448-455
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• 2015

A model predictive control (MPC) method without individual PWM has been recently researched to simplify and improve the control flexibility of a multilevel inverter. However, the input power of each H-bridge cell and the switching frequency of switching devices are unbalanced because of the use of a restricted switching state in the MPC method. This paper proposes a control method for balancing the switching patterns and cell power supplied from each isolated dc source of a cascaded H-bridge inverter. The supplied dc power from isolated dc sources of each H-bridge cells is balanced with the proposed cell balancing method. In addition, the switching frequency of each switching device of the CHB inverter becomes equal. A simulation and experimental results are presented with nine-level and five-level three-phase CHB inverter to validate the proposed balancing method.

• Journal of Institute of Control, Robotics and Systems
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• v.10 no.12
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• pp.1210-1216
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• 2004

This paper deals with a human-like gait generation of a biped robot with a balancing weight of an inverted pendulum type by using genetic algorithm. The ZMP (Zero Moment Point) is the most important index in a biped robot's dynamic walking stability. To perform a stable walking of a biped robot, a balancing motion is required according to legs' trajectories and a desired ZMP trajectory. A dynamic equation of the balancing motion is nonlinear due to an inverted pendulum type's balancing weight. To solve the nonlinear equation by the FDM (Finite Difference Method), a linearized model of equation is proposed. And GA (Genetic Algorithm) is applied to optimize a human-like balancing motion of a biped robot. By genetic algorithm, the index of the balancing motion is efficiently optimized, and a dynamic walking stability is verified by the ZMP verification equation. These balancing motion are simulated and experimented with a real biped robot IWR-IV. This human-like gait generation will be applied to a humanoid robot, at future work.

• Journal of the Korean Society for Geothermal and Hydrothermal Energy
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• v.12 no.4
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• pp.15-20
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• 2016

Even though the control device of the heating system works well, insufficient water flow rates can degrade control performance and thermal comfort. The water flow rate should be adjusted appropriately to cope with the heating load of each zone. In order to solve these problems, a new balancing concept 'dynamic balancing' was proposed where a balancing valve opening can be automatically modulated according to the heating condition of the room. This study analyzed the effects of dynamic balancing upon indoor thermal environment and energy consumption in a radiant floor heating system through field measurement. Under part-load conditions, the use of a dynamic balancing is a more effective method to reduce energy consumption and to prevent a cavitation. Dynamic balancing is able to help boost the temperature of a room in the start-up period.

• Proceedings of the KSME Conference
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• 2003.04a
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• pp.2168-2173
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• 2003

Pressure balancing valve is one of important control devices, which is fully automatic and no manual controls, regulating or adjustments are needed. It is typically used to maintain constant temperature of working fluid in power and chemical plants and domestic water supply systems. Pressure balancing valve is composed of body, cylinder and balancing piston. Therefore, the balancing piston shapes are important design parameters for a pressure balancing valve. In this study, numerical and experimental analyses are carried out with two different balancing piston shapes. Especially, the distribution of static pressure is investigated to calculate the flow coefficient($C_v$). The governing equations are derived from making using of three-dimensional Navier-Stokes equations with standard ${\kappa}-{\varepsilon}$ turbulence model and SIMPLE algorithm. Using commercial code, PHOEIC, the pressure and flow fields in pressure balancing valve are depicted.