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KRaiRobotic SCILAB Toolbox
(2023-01-01)
Udompuchphon, S.
;
Yanyong, S.
;
Kaitwanidvilai, S.
This paper presents a developed toolbox in SCILAB that is useful for teaching and training purposes in the field of robotics. The essential commands in kinematics have been developed to simulate a robotic arm, and the paper demonstrates the modeling of a specified robot arm, PUMA560, by comparing the results with those obtained using MATLAB software. The conclusion discusses the next steps for future work.
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Robust cascade H infinity control of BLDC motor systems using fixed-structure two degrees of freedom controllers designed via genetic algorithm
(2018-01-01)
Chitsanga, N.
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Giaralis, A.
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Kaitwanidvilai, S.
A robust control technique is proposed to regulate the current and angular velocity in typical brushless direct current (BLDC) motors. The proposed technique relies on two degree-of-freedom (2-DOF) H infinity control with loop shaping in which the structure of the two controllers and the loop shaping function are pre-specified parametrically (i.e., attain a fixed-structure). This consideration allows for striking a desirable balance between control effectiveness and controllers’ simplicity safeguarding feasibility of practical implementation. It further allows for using standard genetic algorithm (GA) for searching optimal controller parameters. Herein, two 2-DOF fixed-structure H infinity control structures are used in cascade to regulate BLDC motor response in time and in frequency domain subject to internal and external disturbances. Simulation results pertaining to a model of a particular commercial BLDC motor derived through standard system identification demonstrate the applicability and robustness of the proposed control technique to changes to internal BLDC resistance and external BLDC payload. It is shown that the proposed technique is more robust than optimal cascade 1-DOF PID control treated as a special case of the proposed technique.
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Robust DC motor system and speed control using genetic algorithms with two degrees of freedom and h infinity control
(2017-01-01)
Chitsanga, N.
;
Kaitwanidvilai, S.
This paper presents a new design controller called "Robust and fixed-structure 2DOF control" for a DC motor and speed control system. The controller is designed using the concept of 2DOF control with robust loop shaping. The specification of time domain includes in the controller design by using the reference model. Moreover, the structures of both pre-filter and feedback controllers are fixed as a simple structure to make the system robust and still useful in practical works. Instead of solving mathematically complicated equations, Genetic Algorithm is proposed to solve the process of the design control problem. The proposed control is implemented in a speed control of DC Motor. As seen in the results, the proposed system performs better performance, compared to the 1DOF Fixed Structure control and Robust Loop Shaping Control. When the system payloads are changed from 0 kg to 16 kg, the step response from the conventional 1 DOF controller is oscillated obviously at 16 kg., while the proposed controller performs the smooth and stable response.
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Robust control design for three-phase power inverters using genetic algorithm
(2011-08-12)
Nimpitiwan, N.
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Kaitwanidvilai, S.
This paper proposes a new technique to design a fixed-structure robust controller for grid connected inverter systems. The proposed technique applies the Genetic Algorithm to evaluate the optimal controller parameters. The integral squared error (ISE) of the controlled system is minimized and the robust performance (RP) of the system is satisfied. In the proposed design, the structure of controller is specified as a decentralized PI controller which is preferred for practical implementations. Simulation results show that the proposed technique is promising. © 2011 IEEE.
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Discrete wavelet transform and back-propagation neural networks algorithm for fault classification in underground cable
(2011-07-26)
Kaitwanidvilai, S.
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Pothisarn, C.
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Jettanasen, C.
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Chiradeja, P.
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Ngaopitakkul, A.
This paper proposes a new technique using discrete wavelet transform (DWT) and back-propagation neural network (BPNN) for fault classifications on underground cable. Simulations and the training process for the back-propagation neural network are performed using ATP/EMTP and MATLAB. The mother wavelet daubechies4 (db4) is employed to decompose high frequency component from these signals. Positive sequence current signals are used in fault detection decision algorithm. The variations of first scale high frequency component that detect fault are used as an input for the training pattern. Various cases studies based on Thailand electricity distribution underground systems have been investigated so that the algorithm can be implemented. The results are shown that an average accuracy values obtained from BPNN can indicate the fault classification with satisfactory accuracy, and will be very useful in the development of a power system protection scheme.
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A new directional relay algorithm for the protection of transmission network systems using discrete wavelet transforms
(2010-12-01)
Ngaopitakkul, A.
;
Kaitwanidvilai, S.
This paper proposes a novel directional relay algorithm to protect transmission network systems with an application of discrete wavelet transform (DWT). The fault signals are simulated using PSCAD/EMTDC. The coefficients of the positive sequence current obtained from each bus are compared in order to identify the direction of fault signals. The coefficient ratio between buses that the fault occurred is calculated so that the proper protective relay sequence can be selected. The result is shown that the algorithm is capable of performing the fault detection as well as arranging the protective relay sequence, with accurate results. ©2010 IEEE.
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Coefficient comparison technique for identifying the fault types in underground cable
(2010-12-01)
Ngaopitakkul, A.
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Kaitwanidvilai, S.
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Apisit, C.
This paper proposes a novel comparison technique for identifying the phase with fault appearance in underground cable using Discrete Wavelet Transform. The Wavelet transform has been employed to extract high frequency components superimposed on fault signals simulated using ATP/EMTP. The fault type algorithm is constructed on the basis of coefficient comparison from signals decomposed from Discrete Wavelet Transform. Various cases studies based on Thailand electricity distribution underground systems have been investigated so that the algorithm can be implemented. It is found that the proposed method can indicate the fault types with satisfactory accuracy. ©2010 IEEE.
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Design of a Gaussian filter based on Particle swarm optimization for automatic visual inspection system
(2010-12-01)
Thongyoun, K.
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Seanton, A.
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Kaitwanidvilai, S.
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Kanprachar, S.
This paper proposes a development of image processing technique for inspecting the printed circuit board (PCB) of hard disk drive (HDD), which is an important part. Normally, PCB inspection is carried out by using high-resolution line scan camera. The visual inspection system of PCB is usually corrupted by image processing noise. Measuring system is significantly affected by noise because the size of the PCB is very small. To overcome this problem, this paper proposes an effective filter which uses Particle swarm optimization to design the optimal standard deviation parameter in the Gaussian filter. Experimental results demonstrate the effectiveness of the proposed filtering technique.
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Low-cost microprocessor-based alternating current voltage controller using genetic algorithms and neural network
(2010-07-01)
Kaitwanidvilai, S.
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Piyarungsan, P.
A low-cost, high-performance microprocessor-based pulse width modulated (PWM) AC voltage controller with a novel harmonic reduction technique is proposed. Genetic algorithm is adopted to evaluate the optimal turn-on and turn-off angles in the PWM pattern such that the total current harmonic distortion is minimised. The evolved angles are only optimised at a desired output voltage. In the proposed design, an artificial neural network trained by sets of optimal angles is utilised, making the designed system applicable to all operating points. The simulation and experimental results verify that the proposed technique is a suitable technique, and its performance is comparable to the conventional techniques. © 2010 © The Institution of Engineering and Technology.
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Development of new edge-detection filter based on genetic algorithm: An application to a soldering joint inspection
(2010-02-01)
Saenthon, A.
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Kaitwanidvilai, S.
This paper proposes a new technique of edge detection for inspecting edge and perfection of soldering joint in the flip-chip, which is an important part of a hard disk drive. Summation of error between the actual values and the measured values from the designed system of several data sets is formulated as the objective function. Genetic algorithm is adopted to find the optimal filter mask to enhance the accuracy of the inspection system. As the results indicated, the accuracy of a system with the proposed edge-detection technique is superior to that of a system with conventional filters. © 2009 Springer-Verlag London Limited.

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