ISSN 1805-3386

April 6, 2020


2017 No.3

MATLAB-based Tools for Modelling and Control of Underactuated Mechanical Systems

Jadlovská, S., Koska, L., Kentoš, M.

Underactuated systems, defined as nonlinear mechanical systems with fewer control inputs than degrees of freedom, appear in a broad range of applications including robotics, aerospace, marine and locomotive systems. Studying the complex low-order nonlinear dynamics of appropriate benchmark underactuated systems often enables us to gain insight into the principles of modelling and control of advanced, higher-order underactuated systems. Such benchmarks include the Acrobot, Pendubot and the reaction (inertia) wheel pendulum. The aim of this paper is to introduce novel MATLAB-based tools which were developed to provide complex software support for modelling and control of these three benchmark systems. The presented tools include a Simulink block library, a set of demo simulation schemes and several innovative functions for mathematical and simulation model generation.


Keywords: underactuated mechanical systems, nonlinear systems, Acrobot, Pendubot, Reaction Wheel Pendulum


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Simplified Modelling of a Battery Parameters and Application in Electric Vehicle Battery Charging Based on State of Power (SoP) and State of Energy (SoE)

Bhattacharya, S., Bauer, P.

Estimation of equivalent circuit parameters and open circuit voltage of a battery to predict its state is important for electric vehicle (EV) applications. There is a need to measure the open circuit voltage as accurately as possible as it mirrors the state-of-charge (SoC) of the battery. As calculation of the SoC by integrating the amount of current going in or out of the battery is inaccurate and requires post-processing, this investigation presents one different way to calculate the open circuit voltage and thus the state of charge while the battery is being used. This paper also presents an analytical model of the state of an EV battery pack with the concept of State of Power (SoP) and State of Energy (SoE). These figures of merits help the user to determine how far a battery pack can be used in terms of the vehicle range and acceleration/deceleration capability. LiFePo4 cells were used as the type of Li-ion battery in this investigation. This paper investigates these aspects with the help of vehicle and battery data obtained experimentally and in laboratory environment. The simulation results have been compared and validated against the experimentally obtained results.


Keywords: battery modeling, electric vehicle, State-of-Power (SoP), State-of-Energy (SoE), SoC Estimation


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MV Network Operation Issues and Elimination of Phase Voltage Unbalance

Žák, F.

This article focuses on networks with great phase voltage unbalance. Formerly, it was necessary to operate these networks with an isolated neutral, resistance or solid grounding. The three-phase compensation system eliminates phase voltage unbalance and can substitute or complement the arc-suppression coil. This system enables a more effective operation of distribution networks with non-effectively grounded node, even in networks with a significantly high capacity unbalance.


Keywords: phase voltage unbalance, earth-fault current, active part of earth-fault current, charging capacitive current, phase capacitive unbalance, island operation, voltage symmetrization system


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Control of Diesel-electric AC/DC Traction Drive of Motor Truck WŽB 10.1-M

Mašek, Z., Novák, J., Sadílek, O., Lelek, T.

The paper describes the control of traction drive and control systems properties of a special rail vehicle WŽB10.1-M used in the Prague metro (subway). Measured values of main quantities of the control system and experience from duty are included. Software for the traction drive control system was developed at the University of Pardubice.


Keywords: rail, vehicle, metro, subway, traction, drive, diesel, engine, control, system, tractive, effort, WŽB, MUV, MMD


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