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      저자 : S.Mangkalajan (검색결과 2 건)
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      • The Design of PI + Approximation 2 Degree of Freedom Cascade Controller for Vertical Coupled Liquid Tank System

        S. Mangkalajan,W. Koodtalang,T. Sangsuwan,C. Deelertpaiboon,K. Jirasereeamornkul 제어로봇시스템학회 2022 제어로봇시스템학회 국제학술대회 논문집 Vol.2022 No.11

        This paper presents the proportional-integral (PI) plus approximate 2 degrees of freedom (A2DOF) controller, which is compared to cascade PI+PI controller and PI+PID controller, applying to the vertical coupled liquid tank system to observe their performances. The cascade control has an inner loop for the liquid level control of tank#1 that can make a faster response. There also is an outer loop for controlling the liquid level of tank#2 that can make the slower response. The performances of PI+PI, PI+PID, and PI+A2DOF controllers were experimentally compared. It can be noticed that the PI+A2DOF controller gives more improved performance than PI+PI and PI+PID controllers. The PI+A2DOF has an overshoot of about 0.8% of the input with a settling time of about 20sec, which is better than two time of a dual controller. In the sudden setpoint change, the PI+A2DOF controller spent time in the new setpoint about 15sec that, faster than two times of both compared controllers without overshoot. The fact and experimental results demonstrate the usefulness and practicality of our method.

      • Monitoring and Controlling the Multiple Mobile Robots in Outdoor Environments Based on IoT

        W.Koodtalang,S.Mangkalajan,T.Supsatien,P.Thammalangka,W. Darawan,T.Sangsuwan 제어로봇시스템학회 2022 제어로봇시스템학회 국제학술대회 논문집 Vol.2022 No.11

        This paper presents a method for monitoring and controlling the multiple mobile robots in outdoor environments based on IoT. Two robot tank kits are modified and implemented to provide movement capability for outdoor environments. Each robot destination can be reached by a proposed navigation method, incorporating with GPS, encoders and digital compass sensor. Moreover, three ultrasonic sensors placed in 45 degree apart, which has been utilized to automatically avoid obstacles when robot moving towards the goal location. Then, the robot measures temperature, humidity and light intensity in each destination and record to InfluxDB database. Each robot uses an Arduino Mega 2560 broad as a processing unit. Robots can be communicated to connected IoT hub device (coordinator-server) implemented by Raspberry-Pi broad and Xbee module. Therefore, multi robots can be controlled, including both environmental parameters and statuses of each robot able be monitored based on IoT, achieving by Grafana and Node-RED. Experimental results showed that a proposed method is suitable for monitoring and controlling the multiple mobile robots in outdoor environments. The connection between robots and coordinator, reaching a distance of up to 916 meters. While, a proposed navigation method makes robot reached to its destination with small error of ±1 meter.

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