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RISS 인기검색어
- 검색키워드
- 저자 : Ha Quang Thinh Ngo (검색결과 6 건)
- 무료
- 기관 내 무료
- 유료
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Thinh, Ngo Ha Quang,Kim, Won-Ho Korean Institute of Intelligent Systems 2014 INTERNATIONAL JOURNAL of FUZZY LOGIC and INTELLIGE Vol.14 No.2
The existing conventional motion controller does not perform well in the presence of nonlinear properties, uncertain factors, and servo lag phenomena of industrial actuators. Hence, a feasible and effective fuzzy self-tuning proportional integral derivative (PID) and feed-forward control scheme is introduced to overcome these problems. In this design, a fuzzy tuner is used to tune the PID parameters resulting in the rejection of the disturbance, which achieves better performance. Then, both velocity and acceleration feed-forward units are added to considerably reduce the tracking error due to servo lag. To verify the capability and effectiveness of the proposed control scheme, the hardware configuration includes digital signal processing (DSP) which plays the main role, dual-port RAM (DPRAM) to guarantee rapid and reliable communication with the host, field-programmable gate array (FPGA) to handle the task of the address decoder and receive the feed-back encoder signal, and several peripheral logic circuits. The results from the experiments show that the proposed motion controller has a smooth profile, with high tracking precision and real-time performance, which are applicable in various manufacturing fields.
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Ha-Quang-Thinh Ngo,Quoc-Chi Nguyen,Won-Ho Kim 제어로봇시스템학회 2015 제어로봇시스템학회 국제학술대회 논문집 Vol.2015 No.10
In this paper, a method to implement the input shaping control in Mechatrolink-III motion system is introduced. Firstly, the underdamped system is theoretically built by modeling. Then, the motion controller of Mechatrolink-III network is designed to apply the input shaper for reducing residual vibration in manufacturing machine. Later, the experimental beam is set-up to verify the effective performance of input shaping technique. The validity of the control strategy is practically performed by testing ZV, ZVD and ZVDD input shapers. Especially, the successful implementation provides an opportunity to apply the input shaper for multi-axes since Mechatrolink-III motion controller supports up to 32 axes.
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Ngo Ha Quang Thinh,Won-Ho Kim 한국지능시스템학회 2014 INTERNATIONAL JOURNAL of FUZZY LOGIC and INTELLIGE Vol.14 No.2
The existing conventional motion controller does not perform well in the presence of nonlinear properties, uncertain factors, and servo lag phenomena of industrial actuators. Hence, a feasible and effective fuzzy self-tuning proportional integral derivative (PID) and feed-forward control scheme is introduced to overcome these problems. In this design, a fuzzy tuner is used to tune the PID parameters resulting in the rejection of the disturbance, which achieves better performance. Then, both velocity and acceleration feed-forward units are added to considerably reduce the tracking error due to servo lag. To verify the capability and effectiveness of the proposed control scheme, the hardware configuration includes digital signal processing (DSP) which plays the main role, dual-port RAM (DPRAM) to guarantee rapid and reliable communication with the host, field-programmable gate array (FPGA) to handle the task of the address decoder and receive the feed-back encoder signal, and several peripheral logic circuits. The results from the experiments show that the proposed motion controller has a smooth profile, with high tracking precision and real-time performance, which are applicable in various manufacturing fields.
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A Novel Infrastructure Design of Industrial Autonomous System
Quang Thinh Truong,Ha Quang Thinh Ngo,Thanh Phuong Nguyen,Hung Nguyen,Won-Ho Kim 한국지능시스템학회 2019 INTERNATIONAL JOURNAL of FUZZY LOGIC and INTELLIGE Vol.19 No.2
In this era, the integrated technologies in a unit bring huge benefits for customers. In this paper, a novel design of structure for autonomous system is illustrated. It is superior by combining the specifications of various types in commercial market. As a result, numerous advantages of systems are converged into unified unit. The design of autonomous platform consists of hardware components and infrastructure. Later, the modeling of autonomous system is simulated on computer to fit with proposed design. The implementation of control scheme into model is to drive autonomous system to complete mission. From simulation results, it can be seen that the proposed strategy is feasible, effective and capable in reality.
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Nonlinear Adaptive Control of a 3D Overhead Crane
Quoc Chi Nguyen,Ha-Quang-Thinh Ngo,Won-Ho Kim 제어로봇시스템학회 2015 제어로봇시스템학회 국제학술대회 논문집 Vol.2015 No.10
In this paper, a nonlinear adaptive control of a 3D overhead crane is investigated. A dynamic model of the overhead crane is developed, where the crane system is assumed as a lumped mass model. Under the mutual effects of the sway motions of the payload and the hoisting motion, the nonlinear behavior of the crane system is considered. A nonlinear control model-based scheme is designed to achieve the three objectives: (i) drive the crane system to the desired positions, (ii) suppresses the vibrations of the payload, and (iii) velocity tracking of hoisting motion. The nonlinear control scheme employs adaptation laws that estimate unknown system parameters, friction forces and the mass of the payload. The estimated values are used to compute control forces applied to the trolley of the crane. The asymptotic stability of the crane system is investigated by using the Lyapunov method. The effectiveness of the proposed control scheme is verified by numerical simulation results.
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A Study on Sliding Mode Tracking Control for a Robotic Manipulator
Won Ho Kim,Ha Quang Thinh Ngo,Jin Ho Shin 한국정보기술학회 2007 한국정보기술학회논문지 Vol.5 No.4
This paper proposes a novel sliding mode tracking control scheme for a robotic manipulator. Generally, sliding mode control which has more advantages than the others, is used to track the error and control the torque applied to each joint of manipulators. However, it exhibits chattering imposed by the discontinuity of the control action. By using the proposed controller, a proportional-integral combination of the sliding function in the boundary layer, it holds all good properties of sliding mode system while avoiding unnecessary discontinuity of the control. Thus, chattering is alleviated without deterioration of system robustness. The results of simulation for a two-link robot are presented to show the feasible and systematic control scheme. Numerical simulation compared with the other control scheme is also performed for the same robot.
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