A hybrid dc–dc converter suitable for the on-board charger applications consisted of a Soft Switching Full Bridge (SSFB) converter and a Half Bridge (HB) LLC resonant converter is proposed. The proposed topology employs an additional switch and a diode at the secondary of the SSFB converter to eliminate the circulating current and to achieve the full soft switching of the primary switches. The output voltage is regulated by adjusting the duty of the secondary side switch. The validity and feasibility of the proposed converter are verified by the experiments with a 10-kW prototype converter. The maximum of 96.8% efficiency is achieved at 5 kW output power.
Unicycle is a robot that imitates a performance of a circus artist on a one-wheeled self-balancing bicycle. This research assumes that this model is equivalent to two separated popular models: a two-wheeled self-balancing robot and reaction wheeled inverted pendulum. On each model, we build a PD controller. Thence, we present a structure of PD controllers to balance this model at the equilibrium point. We also build an experimental unicycle robot for the laboratory. Our method is proven to work well based on both simulation and experiment.
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