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Rodrigue Tchamna,Iljoong Youn 한국자동차공학회 2010 한국자동차공학회 학술대회 및 전시회 Vol.2010 No.11
Realistic models for ground vehicle attitude control need to take into account coupling effect between steering wheel input and suspension system. Control design based on vehicle models such as bicycle models can work for small operation range, but can become critical when the effects of suspension become important. This paper deals with investigation of coupling effect between steering wheel input and suspension system and the result of those effects on the orientation of the vehicle. The goal of this investigation being effective control designing for attitude control of the vehicle. Most of control methods nowadays employed for attitude control of vehicles are active anti-roll bars, active steering and electronic brake mechanism. In this paper, only vertical actuators locating on each suspension are used to control the attitude of the vehicle due to any given steering input during cornering. The resulting model is a set of highly nonlinear equations that allow studying deeply all aspect of vehicle dynamics, including ride comfort, handling, road holding, and attitude control of the chassis during straight path motion as well as cornering. The model developed here is 15 degrees of freedoms (d.o.f.) model, 6 d.o.f. for the chassis, 2 × 4 d.o.f. for each of the four wheels and 1 d.o.f. for the steering wheel. A controller is designed and simulations are carried out.
Rodrigue Tchamna,이문용 한국화학공학회 2017 Korean Journal of Chemical Engineering Vol.34 No.4
An efficient simplified method is proposed for the time domain design of industrial proportional-integralderivative (PID) controllers and lead-lag compensators for high order single input single output (SISO) systems. The proposed analytical method requires no trial error steps for a lead-lag compensator design in the time domain by using the root-locus method. A practical PID controller design method was obtained based on the corresponding lead-lag compensator to give a required time-domain specification. Simulation studies were carried out to illustrate the control performance of the controllers by the proposed method. The proposed PID controller and lead-lag compensator directly satisfied time domain control specifications such as damping ratio, maximum overshoot, settling time and steady sate error without trial and error steps. The suggested algorithm can easily be integrated with a toolbox in commercial software such as Matlab.
Rodrigue Tchamna,Muhammad Abdul Qyyum,Muhammad Zahoor,Camille Kamga,Ezra Kwok,이문용 한국화학공학회 2019 Korean Journal of Chemical Engineering Vol.36 No.3
This work presents an advanced and systematic approach to analytically design the optimal parameters of a two parameter second-order internal model control (IMC) filter that satisfies operational constraints on the output process, the manipulated variable as well as rate of change of the manipulated variable, for a first-order plus dead time (FOPDT) process. The IMC parameters are designed to minimize a control objective function composed of the weighted sum of the error between the process variable and the set point, and the rate of change of the manipulated variable, and to satisfy the desired constraints. The feasible region of the constrained IMC control parameters was graphically analyzed, as the process parameters and the constraints varied. The resulting constrained IMC control parameters were also used to find the corresponding industrial proportional-integral controller parameters of a Smith predictor structure.
Finger Detection Algorithm For Computer Mouse Control
Rodrigue, Gendusa Tulonge,Lee, Eung-Joo Korea Multimedia Society 2017 멀티미디어학회논문지 Vol.20 No.4
We propose a finger detection algorithm for computer mouse control to control the most commonly actions of a computer mouse(left, right and double click, scroll up and down then we add open and close, minimize and maximize a window, control the mouse.) We use a built-in web camera to control the mouse tasks. We detected, segment, then recognize the hand in our previous papers [1, 2]. The user will be able to interact with the computer with the number of fingers detected.
A shape memory alloy–based soft morphing actuator capable of pure twisting motion
Rodrigue, Hugo,Bhandari, Binayak,Han, Min-Woo,Ahn, Sung-Hoon SAGE Publications 2015 Journal of intelligent material systems and struct Vol.26 No.9
<P>This article introduces a novel design for a soft morphing actuator capable of pure twisting motion through a pair of shape memory alloy wires embedded in a polydimethylsiloxane matrix at constant and opposite eccentricity across the cross section in opposite directions. This report introduces the design of the actuator, the manufacturing method, and experimental results for the twisting angle and twisting force when varying the dimensions of the matrix of the actuator. Afterward, a simple model is applied to verify the effect of matrix dimensions on the twisting angle of the actuator. The results show that there is an optimal actuator thickness for both the twisting angle and the twisting force of the actuator, that there is a trade-off between the twisting angle and the twisting force for the actuator's thickness, and that a longer length is better for both metrics within the tested dimensions.</P>