Trong bài này, tác giả muốn so sánh bộ điều khiển PID truyền thống và bộ điều khiển Robust Feedforward (thực tế không phải là Feedforward, mà là cải tiến của tác giả) trong quá trình tác giả và bạn của tác giả (Bá Hải) cùng nghiên cứu tại BioRobotics Lab

Các bộ điều khiển được thiết kế trên Labview 8.5 với card NI Motion.

Thí nghiệm được thiết lập như sau:

Động cơ DC được dùng là động cơ của Maxon có các tham số Ra, La, … cho sẵn. Là đối tượng có chính xác mô hình nên không cần thiết(…)

2008

Beibei Han, Jee-Hwan Ryu “An Injecting Method of Physical Damping to Haptic Interfaces Based on FPGA,” Proceedings of the International Conference on Control, Automation and Systems (ICCAS 2008), Seoul, Korea. PDF

Ildar Farkhatdinov, Jee-Hwan Ryu, Jury Poduraev “A Feasibility Study of Time-Domain Passivity Approach for Bilateral Teleoperation of Mobile Manipulator,” Proceedings of the International Conference on Control, Automation and Systems (ICCAS 2008), Seoul, Korea. PDF

Jee-Hwan Ryu (editor). Parallel manipulators. New developments. I-Tech Education and Publishing, Vienna, Austria. ZIP about

Ildar Farkhatdinov, Jee-Hwan Ryu “Teleoperation of multi-robot and multi-property systems,” Proceedings of the IEEE International

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Course Description:

In this course, dynamics and control methodologies of robot manipulators will be introduced. From independent joint control to impedance control, many different kinds of control methodologies for robots will be reviewed. After introducing general control method of robots, telerobotics and haptics will be introduced.

Instructor: Jee-Hwan Ryu, F401, T: 560-1250

Prerequisite: Feedback Control System, Introduction to Robotics

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ME2025 Digital Control

Course Description:

The goal of this course is to enable all students to have the skills and knowledge to successfully apply digital control methods. Implementation of control systems often involves digital components, even if the controlled system consists of analog electrical, mechanical, or other continuous time processes. This course covers methods of digital control, including issues related to A/D and D/A conversion. Topics include discrete-time and sampled-data systems, the Z-transform, frequency domain properties; sampling, D/A and A/D conversion issues; controller design via discrete-time equivalents to continuous-time controllers, by direct-digital root locus, by loop shaping, and via state feedback and observers; quantization effects, LQR optimal control and an introduction to LQG optimal control.

Instructor: Jee-Hwan Ryu, F401, T: 560-1250

Prerequisite: Feedback Control System.

Text: “Digital Control Systems (Second Edition), by Benjamin C. Kuo, Oxford, 2006

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Chào các bạn.

Cuốn này có ở thư viện trường mình, xuất bản năm 2006, đọc khá hay. Sau đây là lời giới thiệu của amazon.com :D.

Combines the theory and the practice of applied digital control.

This book presents the theory and application of microcontroller based automatic control systems. Microcontrollers are single-chip computers which can be used to control real-time systems. Low-cost, single chip and easy to program, they have traditionally been programmed using the assembly language of the target processor. Recent developments in this field mean that it is now possible to program these devices using high-level languages such as BASIC,

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