http://chineseinput.net/에서 pinyin(병음)방식으로 중국어를 변환할 수 있습니다.
변환된 중국어를 복사하여 사용하시면 됩니다.
- 中文 을 입력하시려면 zhongwen을 입력하시고 space를누르시면됩니다.
- 北京 을 입력하시려면 beijing을 입력하시고 space를 누르시면 됩니다.
RISS 인기검색어
- 검색키워드
- 저자 : Manukid Parnichkun (검색결과 3 건)
- 무료
- 기관 내 무료
- 유료
-
Development and Control of the Stick Robot Using Three Reaction Wheels
Matee Vadrukchid,Manukid Parnichkun 제어로봇시스템학회 2022 제어로봇시스템학회 국제학술대회 논문집 Vol.2022 No.11
A prototype of a stick robot with three reaction wheels is developed. Its balancing control is proposed in this paper. The stick robot is an inverted pendulum system using three reaction wheels as actuators. The robot can maintain itself at the upright position by applying appropriate motions of the three reaction wheels. A mechanical design, electrical circuit design, and control algorithm design are all required to build and balance the stick robot. The Linear Quadratic Regulator (LQR) is proposed to balance the robot. This control method attempts to minimize the cost related to the robots states and control energy. This paper illustrates the dynamic model of the stick robot that has coupling effects between axes and can be used to describe the robots behavior in terms of dynamics equation. From both simulations and experiments, the stick robot is able to stand on its own at the upright position. The angle in the x-direction has an error band of 0.1343 degree. It has a 0.2-second settling time. It also has 0.0011 degrees and 0.0335 degrees for mean square error and root mean squared error. The angle in the y-direction has an error band of 0.1186 degree. It has 0.14 second settle time and a mean square error of 0.0008 degree. It also has a root mean squared error equal to 0.0278 degrees. The results show an effective control performance of the proposed LQR.
-
Attitude Control of a Satellite based on Sliding Mode Control
Prasitthichai Naronglerdrit,Manukid Parnichkun 제어로봇시스템학회 2022 제어로봇시스템학회 국제학술대회 논문집 Vol.2022 No.11
This paper proposes an attitude control of a satellite using a sliding mode control algorithm and a new design testbed. A testbed of the satellite system is designed and built to mimic the attitude control while the satellite is orbiting on a 2D platform. The system consists of the satellite model, the flat table, and the counterbalance mass. The satellite model can be divided into two sections, the top section and the bottom section which can be rotated independently. The bottom section was installed with the flat air bearing to reduce the friction between the satellite model and the flat table, the link between the satellite model and the counterbalance mass to simulate the centripetal force for the satellite orbiting, and the IMU to determine the angle of rotation during the orbit. The top section has the IMU to determine the actual heading of the satellite by calculating the relative angle with the IMU in bottom section, and two cold gas thrusters to control the heading of the satellite. The dynamics of the system is derived based on cold gas thrusters as the actuators and combined with the dynamics of the attitude of the satellite. The sliding mode controller is proposed to control the duty cycle of the on-off cold gas thrusters. The control performance is evaluated from both of simulation and experimental results.
-
ScienceON연관 검색어 추천
이 검색어로 많이 본 자료
활용도 높은 자료
