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This paper describes a high-frequency soft-switching dc-dc converter with a simple energy recovery capacitor snubber on the secondary side. The presented dc-dc full-bridge converter with the energy recovery snubber removes the main drawbacks of the classic Phase Shifted PWM (PS-PWM) dc-dc converter, e.g., the circulating current flowing during the free-wheeling interval and dependency of the soft switching on the load current. The converter utilizes a full-bridge topology with pulse-width modulation and a centre-tapped full-wave controlled rectifier with one active switch. The zero-voltage switching on the primary side is ensured by utilising only the magnetizing current of the high-frequency transformer, and thus is load-independent. The proposed energy recovery snubber is described in detailed time waveforms of the converter and verified by simulation. The control algorithm also removes the circulating current, which is typical for PS-PWM converters. The soft-switching of the secondary side transistor is achieved by a simple capacitor snubber with an energy-recovery circuit connected to the output of the dc-dc converter. The principle of operation is verified by measurements on a 2 kW, 50 kHz laboratory model of the proposed dc-dc converter.

The paper describes the digital twin of a Li-ion battery cell based on the MATLAB/Simulink generic model. The digital twin is based on measured data for constant current/constant voltage charging and discharging cycles with State of Health (SoH) up to 79%, also including fast charging. Mathematical equations used for the digital twin are obtained by 3D data fitting of measured SoH, battery capacity, and battery cell current. The input to the proposed digital twin is only the measured battery cell current, and its output includes State of Charge (SoC), SoH, and battery cell voltage. The designed digital twin is tested and compared with MATLAB/Simulink generic model and battery cell measurements for constant discharging current and dynamically generated discharging current profile. The results show significant improvement in the generic MATLAB/Simulink model.

Cell balancing, a critical aspect of battery management in electric vehicles (EVs) and other applications, ensures a uniform state of charge (SOC) distribution among individual cells within a battery pack, enhancing performance and longevity while mitigating safety risks. This paper examines the effectiveness of capacitor-based active cell-balancing techniques using simulations under dynamic loading conditions. Utilising MATLAB and Simulink, various circuit topologies are evaluated, considering real-world cell parameters and open-circuit voltage (OCV) curve modelling. Results indicate that advanced configurations, such as double-tiered switched-capacitor balancing, offer improved balancing speed and efficiency compared to conventional methods. However, challenges such as transient events during charging and discharging phases underscore the need for further research. By leveraging simulations and experimental data, researchers can refine cell-balancing strategies, contributing to the development of safer, more efficient battery systems for EVs and beyond. This study underscores the importance of systematic analysis and optimisation in advancing cell-balancing technology for future energy-storage applications.

This paper presents a quadrotor drone designed for the 3D reconstruction of indoor environments using a depth camera and a tracking camera. The drone’s hardware and software components are described, including the Holybro X500V2 kit, the Intel RealSense T265 tracking camera, and the Intel RealSense D435i depth camera. The paper outlines the process of building a complete TF tree, capturing point clouds with RtabMap, and streaming video. The drone’s pose stabilization and successful test flight in an indoor environment are also discussed, including its ability to navigate through indoor spaces and provide accurate data for 3D reconstruction. The paper concludes with recommendations for future development, such as autonomous navigation and exploration of unknown areas. The results demonstrate the feasibility and potential of this drone for creating detailed and comprehensive maps of indoor environments.

The paper is focused on the analysis of changes in the internal impedance of the selected battery cell. In addition, the paper describes basic information about these batteries, their advantages/disadvantages and possible uses. Battery data was obtained using our own testing device, which performed long-term cyclical tests on batteries to decrease SOH. Thanks to these tests, we obtained batteries with different SOH used for further measurement and evaluation. The internal impedance of selected batteries was measured with an accurate measuring device. Based on these measured data, the analysis described in this paper was created.

The paper presents an approach to the modelling of a cyclic battery tester and contains observations about lithium-ion (Li-ion) batteries, charging/discharging procedures, conditions and protections which must be observed during the testing process. The main goal was to create and simulate a schematic which will be capable of cyclically testing Li-ion battery cells. Regulation of the final schematic is based on cascade connections of operation amplifiers, which work as a voltage source with current-limiting functions. The power part is created by two MOSFETs connected as a half-bridge. This topology allows current to flow in both directions (from and to the battery). Final simulation is supplemented by protections such as reverse polarity protection, short circuit protection and overvoltage protection during charging. Proper operation of the whole connection is demonstrated by the simulation outputs in the final section.

The paper deals with development and implementation of the direct and inverse kinematics to control of 6 DOF industrial robot SEF-ROBOTER SR25 by a real time control system. To obtain the angular position of each joint an iterative algorithm is applied that is developed in the Simulink program. This solution creates a basis for real time control of the robot drives utilizing features of SIEMENS SINAMICS family of frequency converters. The developed control system presents a universal platform enabling to debug any robot control algorithm and also easy to change a desired trajectory of the end effector. The equipment is suitable for testing different trajectories of the robot and is suitable also for educational purposes.

Five-phase induction machines (5pIMs) are a viable alternative for a wide range of industrial applications. The penetration of drives with 5pIM into industrial applications is slow because of the complexity of the proposed control algorithms. In standard V/f control of induction machines, the stator current is not controlled directly and options for current limitation are restricted. This paper hence addresses a novel current limitation technique for the V/f control algorithm of 5pIM. In addition, a simple speed sensorless control algorithm based on the slip compensation is introduced. A combination of both algorithms is suitable for low-cost medium-precision drive applications. Experimental results, realized on Texas Instruments F28335 DSP, illustrating the performance of novel current limitation technique and sensorless control, are included.

The paper describes the design procedure for a finite control set model predictive control (FCS-MPC) of brushed permanent magnet DC (PMDC) machine supplied from DC-DC converter. Full order linear Kalman filter is used for estimation of an unmeasured load torque and reduction of speed measurement noise. A new cost function has been introduced with a feedforward dynamic current component and a feedforward static load current component. The performance of the proposed control strategy is compared to the conventional PI-PWM cascade speed control through the experimental verification on the 250 W laboratory prototype. Obtained results show excellent dynamic behaviour and indicate possible energy savings of the proposed speed control.

The paper is dedicated to parallel parking maneuver description. Parking maneuver is based on movement along two circles. Maneuver is experimentally verified on physical model of vehicle.