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Firmware Design and Development of MCU and Matlab-Simulink Interfacing for Real-time Measurement, Analysis and control Applications

Firmware Design and Development of MCU and Matlab-Simulink I...

引用

International Conference on Electrical engineering/Electronics, Computer, Telecommunications and Information Technology

作者： Santi Nuratch Department of Control System and Instrumentation Engineering Faculty of Engineering King Mongkut's University of Technology Thonburi Bangkok

ISBN: (纸本)9781467397506

This research describes the design and development of firmwares for microcontroller and computer (Matlab-Simulink) interfacing techniques. The firmwares are particularly designed and implemented for real-time measurement, analysis and control applications. They are developed with C language to archive better performance. A C-file of the microcontroller is compiled by the XC16 compiler to generate a HEX-file. While a C-file of the Matlab-Simulink is written as standard s-function of the Matlab and then compiled by Visual Studio 2013 using MEX command in Matlab workspace to generate a MEX-file. A Matlab-Simulink application uses the MEX-file as a core function for exchanging data with the microcontroller. Both of the firmwares are implemented based on Event-driven and Queue-driven techniques to maintain real-time ability and to guarantee that all data flowing over UART (RS-232) are transmitted, received and processed on time. To test and evaluate the firmwares, we develop 4-Channel Data Acquisition (DAQ) and 4-Channel PWM Signal Generator (PSG) running on the microcontroller. And in the Matlab-Simulink, an application for visualizing the signals of the DAQ and controlling the signals of the PSG is developed. The experimental results obviously show that the firmwares can be used for computer-based measurement, analysis and control applications properly.

关键词： Firmware Microcontroller Matlab Interfacing Real-time Data communication

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Design and analysis of current control for shunt active filter based on repetitive control technique using optimization in the frequency domain

Design and analysis of current control for shunt active filt...

引用

IEEE International Conference on Robotics and Biomimetics

作者： Bhumiphan Cheowait Benjamas Panomruttanarug Wanchak Lenwari Department of Control System and Instrumentation Engineering King Mongkut's University of Technology Thonburi Bangkok Thailand

This paper proposes the design and analysis of repetitive control technique for tracking the output current of active filter. The proportional plus integral (PI) controller performs a feedback control task and the repetitive control law periodically adjusts the input command to the control system to achieve a desired trajectory. In this work, the repetitive control law is designed using optimization in the frequency domain. The method of finding minimum gains for the optimization cost function is also presented in this paper. Simulation results confirm here the performance of the proposed method.

关键词： Current control Active filters Design optimization Frequency domain analysis Pi control Proportional control control systems Feedback control Optimization methods Cost function

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Visual feedback arm robot based on iterative learning control using repetitive control optimization

Visual feedback arm robot based on iterative learning contro...

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International Conference on Electrical engineering/Electronics, Computer, Telecommunications and Information Technology, ECTI-CON

作者： Siriwat Wenai Benjamas Panomruttanarug Poj Tangamchit Department of Control System and Instrumentation Engineering King Mongkut's University of Technology Thonburi Bangkok Thailand

This paper introduces a use of iterative learning control to improve a performance of arm robot in repeatable task. Iterative learning control aims to converge the repeating distance error produced from arm robot by adjusting the control input in the current run to feedback control system based on error observed from the previous run. The feedback signal to the system is experimentally obtained from the two hardware devices: encoder and Webcam. Performance of robot using the two types of feedback signal is discussed in detail. Simple learning control law is first applied to the system and a more complicated control law designed from optimization in the similar field is later used.

关键词： control systems Feedback control Error correction Service robots Servosystems Servomechanisms Instruments systems engineering and theory Hardware Design optimization

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Filtering of traffic-irrelevant GPS data

Filtering of traffic-irrelevant GPS data

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International Conference on Electrical engineering/Electronics, Computer, Telecommunications and Information Technology, ECTI-CON

作者： Thammapon Raksook Poj Tangamchit Department of Control System and Instrumentation Engineering King Mongkut's University of Technology Thonburi Bangkok Thailand

We proposed an algorithm for filtering unusual GPS data from multiple GPS-equipped cars. The GPS data was periodically transmitted to a base station via a radio link every 3 minutes and 10 seconds by 3000-4000 taxis around Bangkok and suburb. We manually analyzed the data and mark the data that seems irregular. From our analysis of the data, there are four main problems affect the accuracy of traffic estimation system: (1) Taxi driver drives round one place for a long time, (2) Taxi waiting for passengers, (3) The direction of a car does not flow along the direction of the street, (4) The measurement error of the GPS receivers. If these invalid data is filtered out before using it to estimate traffic congestion, the system will be more consistent and accurate. We used the coefficient of variations (C.V.) as a performance indicator, because invalid data is the cause of data inconsistency. From the experiment, our proposed algorithm could reduce the C.V. from 0.9179 to 0.8184.

关键词： Filtering Global Positioning system Data analysis Base stations Measurement errors Filters Vehicles Roads Velocity measurement Space exploration

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FIR optimization control for external vibration in self servo track writer

FIR optimization control for external vibration in self serv...

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SICE Annual Conference

作者： Parnupong Thongsuk Benjamas Panomrattanarug Department of Control System and Instrumentation Engineering King Mongkut's University of Technology Thonburi Bangkok Thailand

In hard disk drive manufacturing, the servo tracks are written with the equipment of servo track writer. External vibrations during servo track writing process give rise to servo track writing error. The servo track writing error can cause some critical errors during data writing operation. This paper proposes two control schemes using an effective Finite Impulse Response (FIR) compensator to attenuate external vibrations based on optimization technique. The former aims to decrease the error in each frequency by minimizing the sensitivity transfer function from command/disturbance to error. It is constructed in a feedback control loop without any sensor to detect vibrations. The latter is also designed in the frequency domain with a slightly different objective function. Here the designed compensator is constructed in a feedforward scheme with a use of accelerometer to measure vibrations. Without a mathematical model of the system, the FIR compensator from the two structures can be practically designed by using the experimental data of the system. The more number of gains used in the compensator design, the better the performance. Weighting functions are applied to emphasize on the addressed frequencies where the vibrations usually dominate.

关键词： Vibrations Servomotors Feedforward neural networks Finite impulse response filter Feedback control Frequency response Transfer functions

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Two-degree-of-freedom ℋ∞ control design for harmonic current control of shunt active filters

Two-degree-of-freedom ℋ∞ control design for harmonic curre...

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International Conference on Harmonics and Quality of Power

作者： Sudchai Boonto Wanchak Lenwari Department of Control System and Instrumentation Engineering King Mongkut's University of Technology Thonburi Bangkok Thailand

This paper presents a precise harmonic current control for shunt active filters (SAF) based on the robust control design. To ensure robust stability causing by system uncertainties and tracking performance, the robust control employing a two-degree-of-freedom ℋ ∞ control method is designed to accurately track harmonics generated by nonlinear loads in power system. The controller is synthesized by using mixed sensitivity loop shaping. The principle of the proposed control method and the design procedure are described. Robustness to parameter uncertainties can be achieved. The excellent control performance has been carried out by simulations.

关键词： Switches Current measurement

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Robust PID controller design using convex-concave optimization: Application to an unstable system

Robust PID controller design using convex-concave optimizati...

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International Conference on control, Automation and systems ( ICCAS)

作者： Chawalit Thabthimrattana Surachai Saelim Suchol Tiewcharoen Sudchai Boonto Department of Control System and Instrumentation Engineering King Mongkut's University of Technology Thonburi Bangkok Thailand

ISBN: (纸本)9781467390583

This paper shows a PI with phase-lead controller design using convex-concave optimization. The phase-lead term is added to reduce a high frequency measurement noise effect. By fixing all parameters of the phase-lead part, the optimization program searches the remain parameters subject to robustness constraints. The optimization constraints are functions in a frequency domain. The design problem can be solved by frequency gridding on a software package CVX. Experiments on an unstable magnetic levitation system are presented. The proposed controller shows significantly better performance than a robust H ∞ controller designed by a standard method on the same unstable system.

关键词： Optimization Robustness Magnetic levitation Transfer functions Closed loop systems Sensitivity Mathematical model

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Portable reckless driving detection system

Portable reckless driving detection system

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International Conference on Electrical engineering/Electronics, Computer, Telecommunications and Information Technology, ECTI-CON

作者： Sakchai Boonmee Poj Tangamchit Department of Control System and Instrumentation Engineering King Mongkut's University of Technology Thonburi Bangkok Thailand

We present a portable system that detects bad driving behaviors of a bus using a 2-axis accelerometer. The system can identify four driving events: take off, brake, turn left, and turn right using a rule-based method. Then, the system gives scores to the behaviors detected by fuzzy logic rules. The system verification is done by 11 volunteers who keep track of driving events and scores according to their feeling. The scores from three volunteer are averaged and compared with that from the system. The results indicate an accuracy of 88.04% for taking off events, 87.21% for brake, 88.84% for turning right, and 84.36% for turning left.

关键词： Hidden Markov models Accelerometers Fuzzy logic Cities and towns Acceleration Navigation Turning Accidents Humans Event detection

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Genetic algorithms-based gain optimization of a simple learning control for single-phase shunt active filters

Genetic algorithms-based gain optimization of a simple learn...

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International Conference on control, Automation and systems ( ICCAS)

作者： Wanchak Lenwari Department of Control System and Instrumentation Engineering King Mongkut''s University of Technology Thonburi Bangkok Thailand

The repetitive or learning based control has proven to achieve high steady-state performances for control systems. The iterative learning algorithm aims to accomplish zero tracking error without full knowledge of the system model. However, its dynamic behaviors were not satisfied in some conditions particularly under non-periodic disturbances since the control uses the information from the previous iteration to calculate the system input. This paper proposes the investigation of the use of genetic algorithm to optimize the learning gain of a simple proportional-type (P-type) learning control applied to current control for shunt active filters. The merit of the proposed control is its simplicity, potentially suitable for commercial active filters. All design concepts are verified and the results obtained in the simulation confirm the improvement in the dynamic responses during the transient condition while the harmonic control accuracy in steady-state can remain excellent with the proposed control system.

关键词： Active filters Power harmonic filters Harmonic analysis control systems Steady-state Impedance Gallium

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Cooperative Overhead Transportation of a Box by Decentralized Mobile Robots

Cooperative Overhead Transportation of a Box by Decentralize...

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IEEE Conference on Robotics, Automation and Mechatronics

作者： Mahitthidetch Udomkun Poj Tangamchit Department of Control System and Instrumentation Engineering King Mongkut's University of Technology Thonburi Bangkok Thailand

We demonstrated that the regular behavior-based architecture can be used to control decentralized multiple robots on a tightly-coupled task. With carefully designed behaviors, the robots can work cooperatively and effectively. We divided the behaviors into two types: individual behaviors and group behaviors. Group behaviors, embedded as layers in the behavior-based architecture, act as a mechanism to induce coordination and synchronization among robots. The tightly-coupled task that we use as our testbed is the cooperative overhead transportation of a box, in which two robots have to carry a box over their tops. Little movement error will result in a fall of the box. The result illustrated the validity of the proposed method. The robots can move the box to a goal without falling down with a success rate of 80%.

关键词： Transportation Mobile robots Robot kinematics Distributed control control systems Centralized control Robot control Instruments systems engineering and theory Testing

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