• The Journal of the Institute of Internet, Broadcasting and Communication
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• v.17 no.5
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• pp.199-208
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• 2017

Lithium polymer batteries are used in energy storage systems (ESS), electric vehicles (EVs), etc. due to their high safety, fast charging and long lifecycle, and now they are used in agricultural drones. However, when overcharging and overdischarging, the lithium-polymer battery is destroyed in the gap structure in the lithium-ion battery and the battery life is reduced. In order to prevent overcharge and overdischarge, uneven cell voltage Cell balancing system is needed. In this paper, a fuzzy controller suitable for nonlinear systems is proposed by detecting the unbalanced cells by detecting the voltage difference between charging and discharging of each cell, and suggesting the applied cell balancing algorithm. In this paper, we have designed the cell balancing of the battery pack of agricultural drones by fuzzy control and it is designed for equal control between cells. As a final result, we checked whether cell balancing is good, and when there are two cells, Cell balancing was confirmed. We tested whether it could be used for other products. As a result, we confirmed that cell balancing is good regardless of the number of cells used.

• Journal of Institute of Control, Robotics and Systems
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• v.17 no.7
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• pp.714-719
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• 2011

This paper proposes a scheme for distributed load balancing in mobile communication networks based on supervisory control framework. Using load information exchanged with neighboring cells, the "supervisors" that reside in the base stations distribute load among cells by controlling handover parameters in a distributed manner. The supervisors are designed so that the load difference among neighboring cells are kept under a pre-defined value. Results from systematic analysis and simulation indicate that our scheme effectively balances traffic load among cells and reduces call blocking rate of the overloaded cells.

• Journal of Institute of Control, Robotics and Systems
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• v.13 no.7
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• pp.656-663
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• 2007

A new dynamic balancing algorithm has been proposed to minimize the number of sensors necessary for the horizontal balancing of the mobile inverted pendulum while maintaining the same level of the commercial performance. The inverted pendulum technique is getting attention and there have been many researches on the Segway since the US inventor Dean Kamen commercialized. One of the major problems of the Segway is that many sensors are required for the control of the Segway, which results in the high price. In this research, a single gyro and a tilt sensor are fused to obtain the absolute tilt information, which is applied for the control of the mobile inverted pendulum. A dynamic balancing technique has been developed and applied for a robust control system against disturbances. The intelligent handling and stable curving of the Segway as a next generation mobile tool are verified with a human loading.

• Proceedings of the Korean Society for Agricultural Machinery Conference
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• 1996.06c
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• pp.448-457
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• 1996

Chemical application is one of the most important field operation in rice production . Rolling of a boom due to local unevenness and softness in fields causes a local under/over-application of spray. This study was conducted to develop a control system for balancing a boom. A boom mounting mechanism was modfied and a control algorithm was developed in the study. The results for testing the performance of the control system showed that the system could balance the boom in flat and inclined fields. This research can contribute to improve spraying uniformity in applying agricultural chemicals with a boom sprayers.

• Journal of Biosystems Engineering
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• v.22 no.2
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• pp.151-162
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• 1997

Chemical application is one of the most important field operation in rice production. Rolling of a boom due to local unevenness and softness in fields causes a local under/over-application of spray. In this study, the vertical movement of boom tips due to unevenness of ground in paddy fields was investigated, and an active pendulum suspension control system was designed and tested for compensating the movement and balancing the boom to the ground. The results for testing the performance of the control system showed that the system could balance the boom both in flat and inclined fields. The active pendulum control system developed in this study could be properly used for improving spraying performance of a boom sprayer.

• Journal of Power Electronics
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• v.18 no.2
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• pp.432-444
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• 2018

This paper presents a capacitor voltage balancing topology using a three-level boost converter (TLBC) for a neutral point clamped (NPC) three-level inverter fed surface permanent magnet synchronous motor drive (SPMSM). It enhanced the performance of the drive in terms of its voltage THD and torque pulsation. The main attracting feature of the proposed control is the boosting of the input voltage and at the same time the balancing of the capacitor voltages. This control also reduces the computational complexity. For the purpose of close loop vector control, a software based cost effective resolver to digital converter RDC-less estimation is implemented to calculate the speed and position. The proposed drive is simulated in the MATLAB/SIMULINK environment and an experimental investigation using dSPACE DS1104 validates the proposed drive system at different operating condition.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2002.05a
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• pp.446-449
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• 2002

Quadruped walking robot requires dynamic control to keep its stability in high speed walking. To keep its walking stability by control of only legs' Joint angle lowers energy efficiency. It is known that an animal or a human use the moving of the mass center of one's upper body to keep the stability. We have developed a quadruped walking robot with weight balancing oscillator that have high energy efficiency. In this study, walking tests are performed for the robot to verify the validity of the weight balancing oscillator.

• The Journal of Korea Robotics Society
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• v.7 no.2
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• pp.57-64
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• 2012

This paper introduces several mobile robots developed by using LEGO MIDSTORM for experimental studies of robotics engineering education. The first mobile robot is the line tracer robot that tracks a line, which is a prototype of wheel-driven mobile robots. Ultra violet sensors are used to detect and follow the line. The second robot system is a two-wheel balancing robot that is somewhat nonlinear and complex. For the robot to balance, a gyro sensor is used to detect a balancing angle and PD control is used. The last robot system is a combined system of a line tracer and a two-wheel balancing robot. Sensor filtering and control algorithms are tested through experimental studies.

• The Journal of Korea Robotics Society
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• v.8 no.4
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• pp.229-237
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• 2013

In this paper, we report a self-balancing robot wheelchair which has the capability of keeping upright posture regardless of the terrain inclination in terms of the three dimensional balancing motion. It has the mobility of five degrees of freedom, where pitching, yawing, and forward motions are generated by the two-wheeled inverted pendulum mechanism and the rolling and vertical motions are implemented by the movement of the tilting mechanism. Several design considerations are suggested for the sliding type vehicle body, wheel actuator module, tilting actuator module, power and control system, and the riding module.

• Journal of Institute of Control, Robotics and Systems
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• v.18 no.1
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• pp.28-34
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• 2012

Human generally uses three methods to keep balance. One of them is using reactive momentum such as swing an upper body or arms. In this study, we proposed a balancing controller for the reactive momentum method using an inverted pendulum. We simplified a human or a humanoid robot as a two-link inverted pendulum having two edges. In addition, we proposed a distinctive condition for controller transition. If a human is pushed, he has to change a balancing controller from using an ankle torque to using a reactive momentum or changing foot placement. When the balancing controller is changed from using an ankle torque to using a reactive momentum, it is required a proper timing to keep a stability and make smooth movement. In the experiment, the proposed controller and distinctive condition were verified.