WO2024056700A1 - Procédé de détermination d'un signal de commande pour commander un commutateur d'un convertisseur élévateur, système d'alimentation pour un véhicule, et véhicule - Google Patents

Procédé de détermination d'un signal de commande pour commander un commutateur d'un convertisseur élévateur, système d'alimentation pour un véhicule, et véhicule Download PDF

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Publication number
WO2024056700A1
WO2024056700A1 PCT/EP2023/075084 EP2023075084W WO2024056700A1 WO 2024056700 A1 WO2024056700 A1 WO 2024056700A1 EP 2023075084 W EP2023075084 W EP 2023075084W WO 2024056700 A1 WO2024056700 A1 WO 2024056700A1
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WO
WIPO (PCT)
Prior art keywords
converter
determining
signal
current flow
control
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Application number
PCT/EP2023/075084
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German (de)
English (en)
Inventor
Tristan Braun
Thomas CHIRON
Original Assignee
Zf Friedrichshafen Ag
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Publication date
Application filed by Zf Friedrichshafen Ag filed Critical Zf Friedrichshafen Ag
Publication of WO2024056700A1 publication Critical patent/WO2024056700A1/fr

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Classifications

    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
    • H02M3/00—Conversion of dc power input into dc power output
    • H02M3/02—Conversion of dc power input into dc power output without intermediate conversion into ac
    • H02M3/04—Conversion of dc power input into dc power output without intermediate conversion into ac by static converters
    • H02M3/10—Conversion of dc power input into dc power output without intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode
    • H02M3/145—Conversion of dc power input into dc power output without intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal
    • H02M3/155—Conversion of dc power input into dc power output without intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only
    • H02M3/156—Conversion of dc power input into dc power output without intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only with automatic control of output voltage or current, e.g. switching regulators
    • H02M3/158—Conversion of dc power input into dc power output without intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only with automatic control of output voltage or current, e.g. switching regulators including plural semiconductor devices as final control devices for a single load
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
    • H02M1/00—Details of apparatus for conversion
    • H02M1/0003—Details of control, feedback or regulation circuits

Definitions

  • the present invention relates to a method for determining a control signal for controlling a switch of a step-up converter, on an energy supply system for a vehicle and on a vehicle.
  • the input current and the output voltage are usually regulated at the same time.
  • the publication WO 2012/010613 A1 discloses an improved approach to MPPT control for PWM-based DC/DC converters with control of an averaged current.
  • the publication US 2007/0036212 A1 discloses a circuit for power factor correction based on a digital controller.
  • the document EP 2515423A1 discloses a device for controlling a current flow that flows through an inductor of an energy conversion device.
  • the present invention provides an improved method for determining a control signal for driving a switch of a boost converter, an improved power supply system for a vehicle and an improved vehicle according to the main claims.
  • Advantageous refinements result from the subclaims and the following description.
  • the advantages that can be achieved with the approach presented are, in particular, that a method is created that can enable reliable control of a switch of a step-up converter.
  • a method for determining a control signal for controlling a switch of a step-up converter has a step of reading in a current signal, a voltage signal and at least one parameter of a component of the ZF Friedrichshafen AG file 213485 Friedrichshafen 2022-09-13 step-up converter, a step of determining a control parameter and a step of determining a duty cycle.
  • the current signal represents a current flow and/or a desired current flow in a branch of the boost converter.
  • the voltage signal represents a voltage drop and/or a desired voltage drop between two tapping points of the step-up converter.
  • the step of determining the control parameter is carried out using the current signal, the voltage signal and the at least one parameter of the component.
  • the step of determining the duty cycle is carried out using the control parameter to determine the drive signal for driving a switch of the boost converter.
  • the step-up converter can be a form of a DC-DC converter in which the output voltage is always greater than the input voltage.
  • the approach presented here can also be understood as a control of a fuel cell-fed DC-DC boost converter system. In principle, the approach presented here enables switching in real time between control via current to control via voltage or vice versa.
  • the control parameter can be determined using a difference of a first control value and a second control value. The first control value can be determined using the desired current flow and the desired voltage drop, and the second control value can be determined using the current flow and the voltage drop. The performance of the step-up converter can thus advantageously be increased.
  • the first control value can be obtained by an algebraic combination of a first term dependent on the desired current flow with a second term dependent on the desired voltage drop.
  • the second control value can be determined by an algebraic combination of a first auxiliary term that depends on the current flow and one that depends on the voltage drop ZF Friedrichshafen AG file 213485 Friedrichshafen 2022-09-13 dependent second auxiliary term.
  • the performance of the step-up converter can thus advantageously be increased.
  • the first term may be determined by a product of the squared desired current flow with at least one parameter of the boost converter component.
  • the second term can be determined by a product of the squared desired voltage drop with at least one parameter of the component of the step-up converter.
  • the first auxiliary term can be determined by a product of the squared current flow with at least one parameter of the component of the step-up converter.
  • the second auxiliary term can be determined by a product of the squared voltage drop with at least one parameter of the component of the step-up converter.
  • the algebraic connection can represent an additive connection. The performance of the step-up converter can thus advantageously be increased. By using the auxiliary terms, a very precise setting of the control parameters can be achieved.
  • the current flow flowing into the step-up converter and additionally or alternatively the desired current flow can be read in as a current signal.
  • a voltage that can be tapped or desired to be tapped at the output of the step-up converter can be read in as a voltage signal.
  • Advantageous control of the step-up converter can thus be made possible using variables that are easy to obtain or provide.
  • the steps of reading, determining and determining can be carried out repeatedly. In this case, in the repeatedly carried out step of determining, either a desired current flow or a desired voltage drop can be kept the same compared to a previously carried out step of determining. This allows advantageous fine control of the step-up converter.
  • a PWM signal can be determined as the control signal based on the determined duty cycle.
  • Pulse width modulation or PWM for short, is a type of modulation in which, for example, an electrical voltage changes between two fixed level values and the duration of the voltage level at the individual level values reflects information about the controlled variable. In this way, a technically simple control can be achieved with simple designed switches.
  • the approach presented here also creates a device that is designed to carry out, control or implement the steps of a variant of a method presented here in corresponding devices. This embodiment variant of the invention in the form of a device can also solve the problem on which the invention is based quickly and efficiently.
  • a device can be an electrical device that processes electrical signals, for example sensor signals, and outputs control signals depending on them.
  • the device can have one or more suitable interfaces, which can be designed in hardware and/or software.
  • the interfaces can, for example, be part of an integrated circuit in which functions of the device are implemented.
  • the interfaces can also be their own integrated circuits or at least partially consist of discrete components.
  • the interfaces can be software modules that are present, for example, on a microcontroller alongside other software modules.
  • FIG. 1 An energy supply system for a vehicle advantageously has an energy source, in particular a fuel cell, and an embodiment of a device mentioned herein.
  • a vehicle advantageously has an embodiment of a power supply system mentioned herein. The invention is explained in more detail using the accompanying drawings. Shown are: FIG.
  • FIG. 1 a representation of an exemplary embodiment of a vehicle
  • 2 shows a representation of a step-up converter for use with an exemplary embodiment of a method for determining a control signal for controlling a switch of the step-up converter
  • Fig. 3 is a representation of an exemplary embodiment of a device
  • Fig. 4 is a representation of an exemplary embodiment of a device
  • FIG. 5 shows a flowchart of an exemplary embodiment of a method for determining a control signal for controlling a switch of a step-up converter.
  • the same or similar reference numbers are used for the elements shown in the various figures and which have a similar effect, with a repeated description of these elements being omitted.
  • a DC-DC converter with step-up control can be described by the following ordinary differential equations: ZF Friedrichshafen AG file 213485 Friedrichshafen 2022-09-13 where L is the inductance, C is the capacitance, R is the charging resistance, E is the external DC voltage source, i is the induction current, v is the voltage of the output capacitor and the control input. Please note that this is a discrete signal that takes the value 0 or 1.
  • the system has a nonlinear or, more precisely, a bilinear affine structure, bilinear due to the products of the input ⁇ and the system variables x1 and x 2 , and affine due to the term a 21 ).
  • ZF Friedrichshafen AG file 213485 Friedrichshafen 2022-09-13 This means that the model of a boost converter circuit is not linear and therefore standard methods for controller design, such as methods in the frequency domain, cannot be used here.
  • the linearized model via setpoints can be used for standard PI control. To describe a nonlinear controller, we consider the nonlinear averaged model with output power:
  • FIG. 1 shows an illustration of an exemplary embodiment of a vehicle 100.
  • the vehicle 100 has an energy supply system 105.
  • the energy supply system 105 has an energy source 115, which is designed, for example, as a fuel cell.
  • the energy supply system 105 has a device 110, as described in more detail in the following figures.
  • FIG. 2 shows a representation of a step-up converter 200 for an exemplary embodiment of a method for determining a control signal for controlling a switch 205 of the step-up converter 200.
  • An energy 210 here E
  • the switch 205 here Q
  • the switch 205 is closed according to an exemplary embodiment, whereby the induction current 240, here i, and the stored energy 210 in a coil 215, here L, increase.
  • a capacitor 220, here C is designed to smooth the voltage.
  • a diode 225, here D, ZF Friedrichshafen AG file 213485 Friedrichshafen 2022-09-13 is designed to prevent the capacitor 220 from discharging via the switch 205.
  • R represents a load resistor 245.
  • the step-up converter 200 is connected to a device 110 in a manner capable of transmitting signals.
  • the device 110 is designed to determine a control signal 235 for controlling the switch 205 of the step-up converter 200.
  • the device 110 is described and shown, for example, in FIG. 3.
  • Fig. 3 shows an illustration of an exemplary embodiment of a device 110 for determining a control signal 235 for controlling a switch 205 of an up converter 200. This can be the device described in Fig. 2.
  • the device 110 is, for example, a component of an energy supply system for a vehicle, as described and shown, for example, in FIG. 1.
  • the device 110 has a reading device 300, a determining device 305 and a determining device 310.
  • the reading device 300 is designed to read in a current signal 315, a voltage signal 320 and, for example, a parameter 325 of a component of the step-up converter 200.
  • the current signal 315 represents a current flow i and/or a desired current flow i* in a branch of the step-up converter 200.
  • the voltage signal 320 represents a voltage drop v and/or a desired voltage drop v * at two tap points of the step-up converter 200. According to one In the exemplary embodiment, the reading device 300 reads in a current flow flowing into the step-up converter 200 and/or a desired current flow as a current signal 315.
  • the reading device 300 reads in as a voltage signal 320 a voltage that can be tapped or desired to be tapped at the output of the step-up converter 200.
  • the determination device 305 is designed to determine a control parameter 330, here ⁇ , using the current signal 315, the voltage signal 320 and the at least one parameter 325 of the component.
  • the determination device 305 has a first regulator unit 335 for regulating the current, a second regulator unit 340 for regulating the voltage and a third regulator unit 345 for regulating the control parameter 330.
  • a switch unit 350 is arranged between the control units 335, 340, which forms two switches according to the exemplary embodiment shown here.
  • the switch unit 350 is designed, for example, to control the control units 335, 340 separately from one another.
  • the determination device 310 is designed to determine a duty cycle 355, here ⁇ , using the control parameter 330. Using the determined duty cycle 355, the control signal 235 for driving the switch 205 of the step-up converter 200 is determined. According to one exemplary embodiment, the control signal 235 is determined as a PWM signal on the basis of the determined duty cycle 355.
  • a first control value 360 is determined in the first control unit 335 of the determination device 305 using the desired current flow i* and the desired voltage drop v*.
  • a second control value 365 is determined in the second controller unit 340 using the current flow i and the voltage drop v.
  • the control parameter 330 is determined, for example, in the third control unit 345 using a difference between the first control value 360 and the second control value 365.
  • the first control value 360 is determined, for example, in the first control unit 335 by an algebraic combination of a desired current flow ZF Friedrichshafen AG file 213485 Friedrichshafen 2022-09-13 dependent first term 370 with a second term 375 dependent on the desired voltage drop.
  • the second control value 365 is obtained, for example, in the second controller unit 340 by an algebraic combination of a first auxiliary term 380, which is dependent on the current flow, with a second auxiliary term 385, which is dependent on the voltage drop. More specifically, according to one embodiment, the first term 370 is determined by a product of the squared desired current flow with at least one parameter 325 of the component of the boost converter 200. Additionally or alternatively, the second term 375 is determined by a product of the squared desired voltage drop with at least one parameter 325 of the component of the step-up converter 200. Additionally or alternatively, the first auxiliary term 380 is determined by a product of the squared current flow with at least one parameter 325 of the component of the step-up converter 200.
  • the second auxiliary term 380 is determined by a product of the squared voltage drop with at least one parameter 325 of the component of the step-up converter 200 definitely.
  • the algebraic link represents, for example, an additive link.
  • the control parameter 330 obtained in the third control unit 345 is output to the determination device 310, so that the determination device 310 determines the duty cycle 355 using the control parameter 330.
  • the control signal 235 for driving the switch 205 of the up converter 200 is determined.
  • the determination device 310 is designed, for example, as a forward controller and a feedback controller.
  • the approach presented here shows a fuel cell-powered boost converter 200, which can also be referred to as a DCDC boost regulator.
  • the boost converter 200 enables the control of the first control unit 335, which can also be referred to as the input current, and the control of the second control unit 340, which can also be referred to as the output voltage, switching between the control modes in real time and where each switch of the switch unit 350, which can also be referred to as a feedback controller, with the same or different control parameters ZF Friedrichshafen AG File 213485 Friedrichshafen 2022-09-13 are parameterized, and the switches of the switch unit 350 have the same structure, so that the underlying non-linear dynamics of the fuel cell-fed step-up converter 200 are exactly the same in both current and voltage regulation is linearized with respect to a base size, which in turn enables both current and voltage control to ensure that only usable physical trajectories are enforced by the controller.
  • the variables v, i, P, R, i out , E are measured, estimated or calculated values for output voltage, input current, output power, load resistance, output or load current, input voltage or fuel cell voltage.
  • the variables v*, i*, P*, R*, i*out, E* are desired predetermined or calculated variables for output voltage, input current, output power, load resistance, output or load current, input voltage or fuel cell voltage.
  • the size y is a basic performance.
  • the quantities ⁇ , ⁇ are first and second time derivatives of y.
  • the quantity ⁇ is a virtual input.
  • the size ⁇ refers to an averaged controller output and is standardized between 0 and 1. It also refers to a duty cycle.
  • the parameters L, C, R L are the inductance, the capacitance and the coil resistances, respectively. Each variable can be constant over time or time-variable/time-dependent.
  • the parameters K p , k p , K i , k i , K d , k d are the gains of the feedback controller.
  • the available load parameters P, R, i out can be translated into one another. If the current is to be regulated, that is, if i* is given, then where Therefore and ZF Friedrichshafen AG File 213485 Friedrichshafen 2022-09-13 If the voltage should be controlled, ie if ⁇ * is given, then where Therefore and See also the illustration in Fig.3.
  • the above parameterization allows to control the desired current and voltage separately by controlling the total stored energy:
  • ZF Friedrichshafen AG File 213485 Friedrichshafen 2022-09-13 Where ⁇ is the controller.
  • a suitable continuous time controller is defined as where with and The controller gains can be designed as described above so that: is exponentially stable. Alternatively, the discrete-time controller be applied. See also Fig.4.
  • the approach presented here enables the control of a fuel cell-powered boost converter 200, whereby only the input current of the DCDC boost converter is regulated and/or only the output voltage of the DCDC boost converter is regulated. Furthermore, switching between current and voltage control takes place in real time.
  • the boost converter 200 is powered by a fuel cell.
  • the output voltage of the fuel cell i.e. the input voltage of the step-up converter 200, depends on the input current of the step-up converter 200, i.e. the output current of the fuel cell.
  • the fuel cell can be neglected ZF Friedrichshafen AG file 213485 Friedrichshafen 2022-09-13 and the input voltage is determined by a constant voltage source.
  • the boost converter 200 consists of at least one DC/DC converter circuit.
  • the controller output is pulse width modulated.
  • the PWM signal may be interleaved or non-interleaved if the boost converter 200 consists of more than one DC/DC converter circuit.
  • the device 110 carries out the following steps cyclically, or for each sample, or event-oriented, see also Fig.
  • a current setpoint 400 and a voltage setpoint 405 are, for example, routed to an interface 410, which forwards the current setpoint 400 and the voltage setpoint 405 as desired setpoints 415 to the determination device 310.
  • a current signal 315, a voltage signal 320, a charging or output current 420 and a power 425 are passed to a further interface 430 and passed to the determination device as a measurement signal 435.
  • ZF Friedrichshafen AG file 213485 Friedrichshafen 2022-09-13 The first control unit 335 and the second control unit 340 are controlled separately from each other by means of the switch unit 350, so that the energy from the control units 335, 340 is forwarded to the third control unit 345 and from the third control unit 345 is directed to the determination device 310.
  • the duty cycle 355 determined in the determination device 310 is finally output.
  • 5 shows a flowchart of an exemplary embodiment of a method 500 for determining a control signal for controlling a switch of a step-up converter.
  • the method 500 has a step 505 of reading, a step 510 of determining and a step 515 of determining.
  • a current signal, a voltage signal and at least one parameter of a component of the step-up converter are read in.
  • the current signal represents a current flow and/or a desired current flow in a branch of the step-up converter.
  • the voltage signal represents a voltage drop and/or a desired voltage drop at two tapping points of the step-up converter.
  • step 510 of determining a control parameter is determined using the current signal, the voltage signal and the at least one parameter of the component.
  • a duty cycle is determined using the control parameter in order to determine the control signal for driving a switch of the step-up converter.
  • a PWM signal is determined as the control signal on the basis of the determined duty cycle.
  • the control parameters are determined using a difference of a first control value and a second control value. The first control value is determined using the desired current flow and the desired voltage drop ZF Friedrichshafen AG file 213485 Friedrichshafen 2022-09-13 determined, and the second control value determined using the current flow and the voltage drop.
  • the first control value is obtained by algebraically combining a first term dependent on the desired current flow with a second term dependent on the desired voltage drop
  • the second control value is obtained by algebraically combining a first auxiliary term dependent on the current flow with a second auxiliary term dependent on the voltage drop is obtained.
  • the first term is determined by a product of the squared desired current flow with at least one parameter of the component of the step-up converter.
  • the second term is determined by a product of the squared desired voltage drop with at least one parameter of the component of the step-up converter.
  • the first auxiliary term is determined by a product of the squared current flow with at least one parameter of the component of the step-up converter.
  • the second auxiliary term is determined by a product of the squared voltage drop with at least one parameter of the component of the step-up converter.
  • the algebraic operation represents an additive operation.
  • the current flow and/or desired current flow flowing into the step-up converter is read in as a current signal and/or a voltage that can be tapped or desired can be tapped at the output of the step-up converter is read in as a voltage signal.
  • steps 505, 510, 515 are carried out repeatedly.
  • an exemplary embodiment includes an “and/or” link between a first feature and a second feature, this can be read as meaning that, according to one embodiment, the exemplary embodiment has both the first feature and the second feature and, according to a further embodiment, either only has the first feature or only the second feature.

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Dc-Dc Converters (AREA)

Abstract

Un procédé de détermination d'un signal de commande (235) pour la commande d'un commutateur (205) d'un convertisseur élévateur (200) comprend une étape consistant à lire un signal de courant (315), un signal de tension (320) et au moins un paramètre (325) d'un composant du convertisseur élévateur (200), une étape consistant à déterminer un paramètre de régulation (330) et une étape consistant à déterminer un cycle de service (355). À l'étape de lecture, le signal de courant (315) représente un flux de courant et/ou un flux de courant souhaité dans une branche du convertisseur élévateur (200). À l'étape de lecture, le signal de tension (320) représente une chute de tension et/ou une chute de tension souhaitée entre deux points de prise du convertisseur élévateur (200). L'étape de détermination du paramètre de régulation (330) est réalisée en utilisant le signal de courant (315), le signal de tension (320) et ledit paramètre (325) du composant. L'étape de détermination du cycle de service (355) est réalisée en utilisant le paramètre de régulation (330) afin de déterminer le signal de commande (235) pour commander un commutateur (205) du convertisseur élévateur (200).
PCT/EP2023/075084 2022-09-13 2023-09-13 Procédé de détermination d'un signal de commande pour commander un commutateur d'un convertisseur élévateur, système d'alimentation pour un véhicule, et véhicule WO2024056700A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102022209547.2 2022-09-13
DE102022209547.2A DE102022209547A1 (de) 2022-09-13 2022-09-13 Verfahren zum Bestimmen eines Ansteuersignals zur Ansteuerung eines Schalters eines Aufwärtswandlers, Energieversorgungssystem für ein Fahrzeug und Fahrzeug

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Citations (3)

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Publication number Priority date Publication date Assignee Title
US20070036212A1 (en) 2005-05-06 2007-02-15 Silicon Laboratories Inc. Digital Controller Based Power Factor Correction Circuit
WO2012010613A1 (fr) 2010-07-22 2012-01-26 Anacores Ltd. Modèle amélioré de régulateur à recherche du point de puissance maximum pour convertisseurs cc-cc à base de modulation d'impulsions en durée avec régulation d'intensité moyenne
EP2515423A1 (fr) 2011-04-19 2012-10-24 Mitsubishi Electric R&D Centre Europe B.V. Appareil pour le contrôle du courant traversant un inducteur d'un dispositif de conversion d'énergie

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20070036212A1 (en) 2005-05-06 2007-02-15 Silicon Laboratories Inc. Digital Controller Based Power Factor Correction Circuit
WO2012010613A1 (fr) 2010-07-22 2012-01-26 Anacores Ltd. Modèle amélioré de régulateur à recherche du point de puissance maximum pour convertisseurs cc-cc à base de modulation d'impulsions en durée avec régulation d'intensité moyenne
EP2515423A1 (fr) 2011-04-19 2012-10-24 Mitsubishi Electric R&D Centre Europe B.V. Appareil pour le contrôle du courant traversant un inducteur d'un dispositif de conversion d'énergie

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Title
GIL-ANTONIO LEOPOLDO ET AL: "Trajectory Tracking Control for a Boost Converter Based on the Differential Flatness Property", IEEE ACCESS, vol. 7, 13 May 2019 (2019-05-13), pages 63437 - 63446, XP011728986, DOI: 10.1109/ACCESS.2019.2916472 *
MAJID ZANDI ET AL: "Flatness based control of a non-ideal DC/DC boost converter", IECON 2011 - 37TH ANNUAL CONFERENCE ON IEEE INDUSTRIAL ELECTRONICS SOCIETY, IEEE, 7 November 2011 (2011-11-07), pages 1360 - 1365, XP032104680, ISBN: 978-1-61284-969-0, DOI: 10.1109/IECON.2011.6119506 *
RODRIGUEZ-MEZA JUAN ANTONIO ET AL: "Switched implementation via modulators of a tracking average controller for a boost converter", 2016 INTERNATIONAL CONFERENCE ON ELECTRONICS, COMMUNICATIONS AND COMPUTERS (CONIELECOMP), IEEE, 24 February 2016 (2016-02-24), pages 134 - 139, XP032885607, DOI: 10.1109/CONIELECOMP.2016.7438565 *

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