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Author: search.filters.author.Wongvanich, NapasoolSubject: search.filters.subject.PLC

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    PLC-based mobile mecanum robot as multipurpose vehicle
    (2018-12-10)
    Wongvanich, Napasool
    ;
    Gulpanich, Suphan
    ;
    Suesat, Taweepol
    ;
    Kongratana, Viriya
    This paper presents the mobile robot that is able to mobilize in every direction through the use of four DC-motors-powered mecanum wheels. Each wheel can be programmed to rotate independently, allowing the vehicle to move in any direction without first turning, and thus can be used to navigate in narrow fields. The robot is controlled through the use of the Programmable Logic Controller CP1H-XA40DT-D, that takes the user intended direction from a joystick command and converts this command into movement vectors in conjunction to the mathematical kinematics model of the mecanum wheels. The motors themselves are controlled from the PWM signals. Two speed experiments were conducted. The first experiment tests the speed of the robot in a no-load environment, whilst the second tests the robot speed in a 50-kg loaded environment. Results show that the maximum attainable speed is around 31.9 ms <sup>−</sup> <sup>1</sup> with a drop of about 10% for the case of the added load from the no-load condition. This result validates the proposed applicability of the prototype as a wheelchair as well as a self-control shopping cart.
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    PLC-Based Wheelchair Control with Integration of the Internet of Things
    (2018-10-15)
    Gulpanich, Suphan
    ;
    Petchhan, Jirayu
    ;
    Wongvanich, Napasool
    This paper presents a PLC-based mobile mecanum-wheeled wheelchair control algorithm with the integration of the Internet of Things (IoT). The design aims to enhance comfort to the handicapped by offering wireless wheelchair control in addition to the Human Machine Interface (HMI) over the Ethernet port. The bottom-up approach was taken where proportional mobility control in the vector form of speed and direction is firstly configured and displayed over the touch screen. Remote access is then designed to access through the use of the HMI Remote Viewer application which supports and displays the corresponding speed and direction on a smartphone, upon wireless communication. Results show that the communication speed is within the rapidity range, whereas the locomotion test shows an average of 8.5% drop in speed from the no-load case to the loaded case. The proposed design thus provides a complete range of wheelchair control which can be used to assist the handicapped.
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    LQR/PID controller design of PLC-based inverted pendulum
    (2018-01-01)
    Sirisantisamrid, Kaset
    ;
    Wongvanich, Napasool
    ;
    Gulpanich, Suphan
    ;
    Tammarugwattana, Narin
    This paper presents an LQR based PID controller to control the inverted pendulum system. The control design employs a control zoning approach whereby the entire pendulum system is divided into two regions: a normal pendulum region and the inverted pendulum region where the system is approximately linear close to the upright position. The LQR architecture is used to obtain optimal gains for the PID controller. An algebraic approach is also presented for selection of Q and R matrices. Experimental implementations with a PLC based system show that the computed gains yield the most stable controlled responses compared to the gains chosen through trial and errors.