Benjanarasuth, Taworn

Preferred name

Alternative Name

Benjanarasuth, T.

Main Affiliation

School of Engineering

taworn.be@kmitl.ac.th

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CDM based servo state feedback controller with minimum-order observer for crane system
(2006-12-01)
Puwan, Santi
;
Nundrakwang, Songmoung
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Benjanarasuth, Taworn
;
Ngamwiwit, Jongkol
;
Komine, Noriyuki
In this paper, the design of servo state feedback controller with minimum-order observer by using the concept of Coefficient Diagram Method (CDM) for crane system is presented. An Integrator is augmented to the system so that the system will exhibit no steady-state error in the response to step input. In order to apply the CDM method, the mathematical model of the crane system must be firstly linearlized and converted into controllable canonical form by transformation matrix. Then feedback gain matrix, integral gain and observer gain matrix in sense of CDM can be obtained. The satisfied performances of the crane system controlled by the proposed controller are shown in simulation results. © 2006 IEEE.
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Hybrid controller for swinging up inverted pendulum system
(2005-12-01)
Nundrakwang, Songmoung
;
Benjanarasuth, Taworn
;
Ngamwiwit, Jongkol
;
Komine, Noriyuki
A hybrid controller for swinging up inverted pendulum system is proposed in this paper. The controller composes of two parts. The first part is the PD position control for swinging up the pendulum from the natural pendent position by moving the cart back and forth until the pendulum swings up around the upright position. The second part is a servo state feedback control designed by LQR which will be switched to stabilize the inverted pendulum in its upright position. The effectiveness and reliability of the proposed hybrid controller for swinging up inverted pendulum on cart are also shown by the experimental results. © 2005 IEEE.
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Simplified design of I-P controller for speed control of two-inertia system
(2008-12-01)
Suathed, Sataporn
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Nundrakwang, Songmoung
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Benjanarasuth, Taworn
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Ngamwiwit, Jongkol
;
Komme, Noriyuki
In this paper, a simplified design of I-P controller for a higher-order plant by using the concept of plant model reduction and the CRA method with less number of characteristic ratios α, is presented. The Padé type approximation method is used to obtain a lower-order plant model of the higher-order plant first. Then an I-P controller is designed for the model by using CRA method with the appropriate values of characteristic ratios in order to obtain the closed-loop step response without overshoot. Finally, the designed I-P controller is employed to control the original higher-order plant. The sufficient performance of the speed control of a two-inertia system employing the I-P controller designed from its lower-order plant model is shown by the simulation results. The simulation results of the speed control in term of varying the value of a factor β greater than one in the design, tracking the motor speed, and rejecting the disturbance effect are also investigated. © 2008 SICE.
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I-PD and PD controllers designed by CRA for overhead crane system
(2007-12-01)
Sridokbuap, Wanlop
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Nundrakwang, Songmoung
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Benjanarasuth, Taworn
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Ngamwiwit, Jongkol
;
Komine, Noriyuki
An overhead crane system controlled by an I-PD controller incorporating with PD controller is presented in this paper. The characteristic ratio assignment method is employed to design the I-PD controller and the PD controller for controlling the position of trolley and for controlling the load swing angle of the overhead crane system, respectively. Using the concept of characteristic ratio assignment method, the speed of the step response can also be increased by using a design factor k. The simulation results show that the step response can reach to the desired position without overshoot and with small load swing angle. The slightly change of the step responses when changing the parameters of the overhead crane system are also shown. The simulation results also show that when the speed of the step response is increased, the load swing angle is large related to the speed increased while the disturbance effect rejection is fast. © ICROS.
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Internet based crossover robot remote control competition among Asian countries - Development of practice based innovative education methodology, Phase V
(2012-10-23)
Xu, C.
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Ming, A.
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Kanamori, C.
;
Aoyama, H.
;
Li, H.
We introduce 2011's progress and achievements of an internet based crossover robot remote control competition between Japan and China, Thailand, and Taiwan respectively. The competition project has two subjects: the competition itself and the student-student communication and cooperation. The basic competition mode is a remotely controlled robot via the internet cooperates with a locally controlled robot to finish a specified task and, as a unique feature of the project, the studentstudent communication and cooperation is trained through a crossover team organization style that each team is organized by two groups from different universities and the team members required to cooperate with each other via the internet to make robots and deal with competition affairs. Our experience shows the competition benefits not only students' technical skills but also their various no-technical skills and is expected to promote the development of a practice based university education methodology in the future. © 2012 IEEE.
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Internet based crossover robot remote control competition among Asian countries: Development of practice based innovative education methodology, phase III
(2010-11-29)
Xu, C.
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Ming, A.
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Kanamori, C.
;
Aoyama, H.
;
Li, H.
We report the 3<sup>rd</sup> year's progress of an internet based crossover robot remote control competition which is an international cooperative educational project among Japan, China, Thailand, and Taiwan. In 2009 we proposed a new competition model called "Cargo loading via internet based cooperation" in which a locally controlled humanoid robot and a wheeled mobile robot under remote control cooperate with each other to search for and find some cargos, then load them on the mobile robot or put them into a cargo box. The unique of the project is that everything concerned with the competition, e.g. the competition rules, the detailed technical problems, etc., are discussed and solved by students themselves from different partner universities via the internet based cooperation. The demonstration of the proposed competition between UEC and partner universities proves the project helps to improve students' practical ability, creative thinking, good teamwork spirit, and communication skills in English, etc. © 2010 IEEE.
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Multivariable control of overhead crane system by CRA method
(2008-12-01)
Nundrakwang, Songmoung
;
Benjanarasuth, Taworn
;
Ngamwiwit, Jongkol
;
Komine, Noriyuki
In this paper, three controllers, namely I-PD, PD and I-P controllers designed by CRA method for simultaneously controlling the trolley position, load-swing angle and hoisting rope length of the overhead crane system is proposed. The non-linear model of the crane system is first approximated to be three transfer functions in accordance with the trolley position, load-swing angle and hoisting rope length respectively. Then, the corresponding parameters of the I-PD, PD and I-P controllers are designed independently based on the appropriate values of generalized time constant and characteristic ratios. The implementation results show the good performances of the overhead crane system controlled by these controllers. The speed adjustment effects and fast rejection of the disturbance effect occurred at the input force of the trolley are also shown by the experimental results. © 2008 SICE.
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Hybrid controller for rotational inverted pendulum systems
(2008-12-01)
Benjanarasuth, Taworn
;
Nundrakwang, Songmoung
In this paper, a controller designed by energy control technique and servo state feedback with minimum-order observer control algorithm to swing up the pendulum of the rotational inverted pendulum system from the natural pendent position to around the upright position and to stabilize the pendulum in upright position is proposed. The proposed control scheme composes of two parts. The first part is the swing-up control using the energy-based controller and the second part is the stabilizing control using the servo state feedback with minimum-order observer controller. From the implementation of the controller to the rotational inverted pendulum system in laboratory, the pendulum can be swung up within a short period of time with small oscillation of the base angle. Furthermore, without changing the parameters of the proposed controller, the responses of the system when changing the length of the pendulum is also shown to demonstrate the robustness of the proposed control system. © 2008 SICE.
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Internet based crossover robot remote control competition among Asian countries - Development of practice based innovative education methodology, phase IV
(2011-11-17)
Xu, C.
;
Ming, A.
;
Kanamori, C.
;
Aoyama, H.
;
Li, H.
We report the up-to-date progress of an internet based crossover robot remote control competition project starting from 2007, which is an international cooperative education program among Japan, China, Thailand, and Taiwan. The project contains two sub-subjects: the robot competition and the student-student cooperation among the participating universities. The competition is designed to be remotely controlling a robot via the internet to cooperate/compete with a locally controlled robot to finish some specified tasks where both robots are made by the students. The unique feature of the project is that everything concerned with the competition, e.g. the competition rules, the detailed technical problems, etc., are discussed and solved by the students themselves via the internet based cooperation. The demonstration of the competition between UEC and each of the partner universities proves the project helps to improve students' practical ability, innovative skills, good teamwork spirit, and communication skills, etc. © 2011 IEEE.
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Hybrid controller for inverted pendulum system
(2008-12-01)
Panya, Samatthachai
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Benjanarasuth, Taworn
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Nundrakwang, Songmoung
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Ngamwiwit, Jongkol
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Komine, Noriyuki
In this paper, a hybrid controller designed for swinging up and stabilizing an inverted pendulum on cart system is presented. The controller composes of a PD controller and a sliding mode controller. The PD controller is implemented to control the position of the cart to swing up the pendulum from the natural pendent position to around the upright position, while the sliding mode controller is implemented to stabilize the inverted pendulum in the upright position. Root-locus method is applied to design the PD controller and LQR method is employed to design the sliding mode controller. The implementation results of the proposed hybrid controller are shown in this paper. © 2008 IEEE.

Benjanarasuth, Taworn

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