http://chineseinput.net/에서 pinyin(병음)방식으로 중국어를 변환할 수 있습니다.
변환된 중국어를 복사하여 사용하시면 됩니다.
Phuc Thinh Doan,Pandu Sandi Pratama,Suk Yoel Kim,Hak Kyeong Kim,Hwang Yeong Yeun,Gi Sig Byun,Sang Bong Kim 한국해양공학회 2011 韓國海洋工學會誌 Vol.25 No.6
This paper describes a new method for a digital gas metal arc welding (GMAW) system. The GMAW system is an arc welding process that incorporates the GMAW power source (PS-GMAW) with a wire feed unit (WFU). The PS-GMAW requires an electric power of constant voltage. A constant magnitude is maintained for the arc current by controlling the wire-feed speed of the WFU. A mathematical model is derived, and a self-tuning fuzzy proportional-integral-derivative (PID) controller is designed and applied to control the welding current. The electrode wire feeding mechanism with this controller is driven by a DC motor, which can compensate for both the molten part of the electrode and undesirable fluctuations in the arc length during the welding process. By accurately maintaining the output welding current and welding voltage at constant values during the welding process, excellent welding results can be obtained. Simulation and experimental results are shown to prove the effectiveness of the proposed controller.
A New Approach for Development of Quadruped Robot Based on Biological Concepts
Phuc Thinh Doan,Hoang Duy Vo,김학경,김상봉 한국정밀공학회 2010 International Journal of Precision Engineering and Vol.11 No.4
This paper proposes the design and development results of a new quadruped robot. The proposed new quadruped robot has a couple of advantages of flexible locomotion. The quadruped robot is designed and modeled based on a new concept that is the structure model with three segments of quadruped legs. New leg configuration with the simplified operation of four hip actuators is introduced. The posture of the new quadruped robot is more similar to the posture of dog than that of the previous quadruped robots. The objective of this paper is to develop a quadruped robot, which can walk and run in a trot gait with a simple PID controller. Numerical simulation and experimental results are shown to prove the locomotion performance of the proposed controller for the proposed quadruped robot.
Fuzzy Control of Omnidirectional Mobile Plaform for Tracking the Curved Path
김상봉(Sang Bong Kim),Thinh Phuc Doan,김학경(Hak Kyeong Kim) 한국마린엔지니어링학회 2010 한국마린엔지니어링학회 학술대회 논문집 Vol.2010 No.4
In this paper, a simple algorithm based on fuzzy logic is applied to control an omnidirectional mobile platform (OMP) tracking a desired trajectory at a given desired bounded velocity. Tracking trajectory is a black line on the floor. An error configuration including angle error, distance error and velocity error is defined and measured by camera sensor. The motion of OMP is separated into three kinds of moving such as rotational moving, horizontal moving and vertical moving. Its movings are controlled independently. The proposed controller is designed by using PID fuzzy control method. The simulation and experimental results are presented to illustrate effectiveness and applicability of the proposed controller.
Tuan Dinh Viet,Phuc Thinh Doan,Nguyen Hung,김학경,김상봉 대한기계학회 2012 JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY Vol.26 No.7
This paper proposes a tracking control method for a three-wheeled omnidirectional manipulator system (OMMS) with disturbance and friction. The OMMS is separated into two subsystems, a three-wheeled omnidirectional mobile platform (OMP) and a selective compliant articulated robot for assembly (SCARA) type of manipulator. Therefore, two controllers are designed to control the OMP and the manipulator system. Firstly, based on a kinematic modeling of the manipulator, a kinematic controller (KC), combined with an integral sliding mode controller (ISMC), is designed for the end-effector of the manipulator to track a desired trajectory with the desired angular velocity vector of links. Secondly, a differential sliding mode controller (DSMC) based on a dynamic modeling of the OMP with force external disturbances is proposed to obtain control inputs moving the OMP so that the manipulator tracks the desired posture without singularity. The system stability is proven using Lyapunov stability theory. The simulation and experimental results are presented to illustrate the effectiveness of the proposed controllers in the presence of disturbance and friction.
Control of a 2-DOF omnidirectional mobile inverted pendulum
Tuan Dinh Viet,Phuc Thinh Doan,Hoang Giang,김학경,김상봉 대한기계학회 2012 JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY Vol.26 No.9
In this paper, stabilization of a 2-degrees-of-freedom (2-DOF) omnidirectional mobile inverted pendulum (OM-IP) is studied. The OM-IP consists of the rod that rotates around a rotary point of a universal joint which is connected at the center of the omnidirectional mobile platform (OMP). For ease of analysis, the OM-IP is decoupled into two subsystems: a 2-DOF inverted pendulum (IP) and an OMP. The IP is a rod that rotates around a universal joint with 2-DOF. The OMP is a body consisting of disk and three omnidirectional wheels that moves on plane and keeps the rod in balance. Dynamic modeling of the 2-DOF OM-IP is presented. From the dynamic equation,an adaptive backstepping control method is proposed to keep the rod in balance. Update law is presented as differential equation of an unknown parameter when the distance from the center of gravity of the rod to the rotary point on the OMP is unknown. Stability of the adaptive controller is proven by using Lyapunov function. Simulation and experimental results show the effectiveness of the proposed controller.
Motion Control of Omnidirectional Mobile Platform for Path Following Using Backstepping Technique
Viet-Tuan Dinh,Thinh Doan-Phuc,Hoang Giang,Hak Kyeong Kim,Sea June Oh,Sang Bong Kim 한국해양공학회 2011 韓國海洋工學會誌 Vol.25 No.5
The paper proposes a controller design for an omnidirectional mobile platform (OMP) with three wheels using backstepping control. A kinematic model and dynamic model of the system are presented. Based on the dynamic modeling a backstepping controller is designed to stabilize the OMP when following a desired path. The controller is designed based on a backstepping control theory. It includes two steps: first, a virtual state and a stability function are introduced. Second, Lyapunov functions for the system are chosen and an equation for the virtual control that makes the system stabile is obtained. The system stability is guaranteed by the Lyapunov stability theory. The simulation and experimental results are presented to demonstrate the effectiveness of the proposed controller.
Trajectory Tracking Control Of Omnidirectional Mobile Robot Using Sliding Mode Controller
Pham Hung Kim Khanh,Nguyen Thanh Trung,Phuc Thinh Doan,Nguyen Hung 제어로봇시스템학회 2013 제어로봇시스템학회 국제학술대회 논문집 Vol.2013 No.10
In this paper, a new tracking controller that integrates a kinematic controller (KC) with a new integral sliding mode dynamic controller (NISMC) is designed for an omnidirectional mobile robot (OMR) to track a desired trajectory at a desired velocity. First, a posture tracking error vector is defined, and kinematic controller (KC) is chosen to make the posture tracking error vector go to zero asymptotically. Second, an integral sliding surface vector is defined based on the angular velocity tracking error vector and its integral term. A new integral sliding mode dynamic controller (NISMC) is designed to make the integral sliding surface vector and the angular velocity tracking error vector go to zero asymptotically. The above controllers are obtained based on Lyapunov stability theory. The simulation results are presented to illustrate effectiveness of the proposed tracking controller.