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Self-balancing Robot Control Using Fractional-Order PID Controller
(2019-01-01)
Kankhunthodl, K.
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Kongratana, V.
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Numsomran, A.
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Tipsuwanporn, V.
This paper presents a two-wheeled robot control that can balance upright on its own by controlling the angular speed of the motor to keep the robot upright using measured data from the gyroscope sensor. The aim of this study is to demonstrate the design of fractional-order PID controller (FOPID) that has more controllability and the ability to adjust outperform traditional PID controller. The design of optimal FOPID controller based on integer-order PID parameters are explained and validated its performance compared with the traditional PID controller using Matlab simulation. As well as the real system experiment is implemented on Raspberry Pi using IIR filters cascaded second-order section form II. The study revealed the appropriate concept of implementation of FOPID on the real system.
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Mini-drone quadrotor altitude control using characteristic ratio assignment PD tuning approach
(2019-01-01)
Chaoraingern, J.
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Tipsuwanporn, V.
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Numsomran, A.
This paper presents PD tuning approach using characteristic ratio assignment (CRA) method for Parrot rolling spider mini-drone quadrotor altitude control system. The aim of this study is to examine the PD controller design and parameter tuning for achieving six degrees of freedom motion control. The CRA technique has been used for determining the proper controller parameters based on the selection of the characteristic polynomial coefficients of the closed loop system conform to the specified the performance criteria. The altitude control simulations applied to Parrot rolling spider mini-drone quadrotor system so that investigated the performance of the proposed controller deign scheme. The results clearly exposed that the control system is fairly stable and out performance, likewise has the effectiveness of controller's parameters adjustability.
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Head loading control for hard disk drive process MRAC technique
(2018-01-01)
Boonpranchoo, V.
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Chaoraingern, J.
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Tipsuwanporn, V.
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Numsomran, A.
Head to disk striking is an essential problem in the servo track writing process caused by less dynamic response control. This paper describes head loading control for the hard disk drive process using model reference adaptive (MRAC) technique, in order to decrease the occurrences of the head striking. The introduced technique, discrete time model reference adaptive has an adjustable control mechanism to decrease the deviation of a system output from the output of the reference model so that increase reference tracking performance. The experiment results implemented in self-servo track writer illustrated that the proposed controller design can achieve the effective control performance comparing with the conventional PID control.
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Chemical dosing control for ultrafiltration water treatment system
(2017-12-13)
Kungwalrut, P.
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Numsomran, A.
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Chaiyasith, P.
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Chaoraingern, J.
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Tipsuwanporn, V.
Chemical dosing is a significant process of water treatment system because it influences on water quality and operational cost. This paper presents a chemical dosing pH control using temporal logic technique for ultrafiltration water treatment system, in order to validate and analyze an appropriate control approach. In this study, a simulation was built in Matlab Simulink, and has been tested with the data collected from a pilot-scale ultrafiltration water treatment system. As stated in the simulation results, the proposed control scheme can achieve the performance specification in pH control.
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Non-linear fuzzy-PID controller design for track following of hard disk drive servo system
(2017-12-13)
Boonpranchoo, V.
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Numsomran, A.
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Chaiyasith, P.
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Chaoraingern, J.
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Tipsuwanporn, V.
This paper presents a non-linear control design scheme for track following control of hard disk drive using Fuzzy-PID controller. The proposed scheme, using a parallel structure combined of non-linear Fuzzy PI controller and Fuzzy PD controller, controls the response of a track following control of hard disk drive system to decrease total of non-repeatable position error (NRPE) and position error signal (PES). A performance verification of the proposed controls was also conducted using HDD benchmark simulation system. Results showed that the non-linear Fuzzy PID controller satisfies an acceptable performance in hard disk drive head track following control and effectively robust to disturbance and process parameter perturbations.
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A PIλDμ controller design for peltier-thermoelectric cooling system
(2017-12-13)
Kungwalrut, P.
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Numsomran, A.
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Chaiyasith, P.
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Chaoraingern, J.
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Tipsuwanporn, V.
This paper describes the fractional-order controller design to achieve stability, performance and robustness of peltier-thermoelectric cooling system modeled as a first-order plus dead-time process which is widely used in a variety of applications. By using the purposed method, the process parameters are estimated from experimental based model identification. Then, the fractional-order controller is designed and optimized by minimizing the function of ISE performance index. Simulation validates theoretical analysis and demonstrates the enhanced performance of the fractional-order controller compared with integer-order.
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Asymmetrical two-phase induction motor speed controlled by multilevel inverter employing cascaded transformers
(2017-08-03)
Tipsuwanpom, V.
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Kaenthong, K.
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Numsomran, A.
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Charean, A.
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Sawaengsinkasikit, W.
This research presented multilevel inverter using cascade transformers to supply the output voltage levels which are used to control speed of asymmetrical two-phase induction motor. Two sets of full bridge inverters and transformer with difference of number of turn ratio are combined to generate the voltage levels to supply each winding of asymmetrical two-phase induction motor. Triangular multicarrier sine pulse width modulation signal was generated by Arduino Due AT91SAM3X8E microcontroller and IC number IR2130 was used for power circuit. Multilevel inverter was presented to use a low level of input voltage as multilevel of output voltage is high that voltage stress on switches are reduced. The experiment shows the result of speed controlled by volt per hertz constant so as to be sure steady torque and PI method technique was used to closed-loop control.
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The improved sensitivity of remote robot control via parallel method
(2015-12-23)
Samaimak, S.
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Tipsuwanporn, V.
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Numsomran, A.
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Harnnarong, Sh
In a robot control system, the process of data reading affects the consumed time which will directly affect to the time is used in this system. The more channels exist, the more time will be consumed in the robot control system. This work presents the application of parallel reading in the wireless receiver with eight channels for robot semi-automatic control. The software presented in this work was intentionally written as a standard library for Arduino which can read both in sequence and parallel. Obviously the result shows that the all of eight channels, the parallel reading in this work consumed the reading time less than the sequence reading, which decreased the time consumed in the reading process. It affects to improve the sensitivity of remote robot control.
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Asymmetrical two-phase induction motor speed controlled with 4-leg voltage source inverter
(2015-09-28)
Kaenthong, K.
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Tipsuwanporn, V.
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Numsomran, A.
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Sawaengsinkasikit, W.
This research is design and construct of Sine Pulse Width Modulation (SPWM) 4-leg voltage source inverter for controlling speed of asymmetrical two-phase induction motor. The Sine PWM switching signal is generated by ARM7 (Adu7024) microcontroller which is programmable and cheap, while having high frequency to generating switching signal. Two ICs No. IR2130 are used for motor driving part. The characteristics of output current signal are nearly closed to sinusoidal pattern resulting to high efficiency for motor control. In order to control the speed of induction motor, ratios of voltage to frequency (V/f) are controlled and constant torques are obtained by implementing technique of PI close-loop control.
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Asymmetrical two-phase induction motor speed controlled with 3-leg voltage source inverter
(2015-06-16)
Kaenthong, K.
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Tipsuwanporn, V.
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Numsomran, A.
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Charean, A.
This research is design and construct of Sine Pulse Width Modulation (SPWM) 3-leg voltage source inverter for controlling speed of asymmetrical two-phase induction motor. ICs No. IRF2130 are used for motor driving part. The characteristics of output current signal are nearly closed to sinusoidal pattern, so that low harmonics and high efficiency for motor control are obtained. The Sine PWM switching signal is generated by ARM7 (Adu7024) micro-controller which is programmable and cheap, while having high frequency to generating switching signal. In order to control the speed of induction motor, ratios of voltage to frequency (V/f) are controlled and constant torques are obtained by implementing technique of PI close-loop control.

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