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All Journal International Journal of Electrical and Computer Engineering International Journal of Power Electronics and Drive Systems (IJPEDS) TELKOMNIKA (Telecommunication Computing Electronics and Control) Bulletin of Electrical Engineering and Informatics Journal of Engineering and Technological Sciences
Nguyen Hong Quang
Thai Nguyen University of Technology
Computer Science & IT Control & Systems Engineering Electrical & Electronics Engineering Engineering

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Journal : International Journal of Electrical and Computer Engineering

 1 
Impact analysis of actuator torque degradation on the IRB 120 robot performance using simscape-based model Le Ngoc Truc; Nguyen Phung Quang; Nguyen Hong Quang
International Journal of Electrical and Computer Engineering (IJECE) Vol 11, No 6: December 2021
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.11591/ijece.v11i6.pp4850-4864

Abstract

Actuators in a robot system may become faulty during their life cycle. Locked joints, free-moving joints, and the loss of actuator torque are common faulty types of robot joints where the actuators fail. Locked and free-moving joint issues are addressed by many published articles, whereas the actuator torque loss still opens attractive investigation challenges. The objectives of this study are to classify the loss of robot actuator torque, named actuator torque degradation, into three different cases: Boundary degradation of torque, boundary degradation of torque rate, and proportional degradation of torque, and to analyze their impact on the performance of a typical 6-DOF robot (i.e., the IRB 120 robot). Typically, controllers of robots are not pre-designed specifically for anticipating these faults. To isolate and focus on the impact of only actuator torque degradation faults, all robot parameters are assumed to be known precisely, and a popular closed-loop controller is used to investigate the robot’s responses under these faults. By exploiting MATLAB-the reliable simulation environment, a simscape-based quasi-physical model of the robot is built and utilized instead of an actual expensive prototype. The simulation results indicate that the robot responses cannot follow the desired path properly in most fault cases.
On tracking control problem for polysolenoid motor model predictive approach Nguyen Hong Quang; Nguyen Phung Quang; Do Trung Hai; Nguyen Nhu Hien
International Journal of Electrical and Computer Engineering (IJECE) Vol 10, No 1: February 2020
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | Full PDF (513.65 KB) | DOI: 10.11591/ijece.v10i1.pp849-855

Abstract

The Polysolenoid Linear Motor (PLM) have been playing a crucial role in many industrial aspects due to its functions, in which a straight motion is provided directly without mediate mechanical actuators. Recently, with several commons on mathematic model, some control methods for PLM based on Rotational Motor have been applied, but position, velocity and current constraints which are important in real systems have been ignored. In this paper, position tracking control problem for PLM was considered under state-independent disturbances via min-max model predictive control. The proposed controller forces tracking position errors converge to small region of origin and satisfies state including position, velocity and currents constraints. Further, a numerical simulation was implemented to validate the performance of the proposed controller.
A sensorless approach for tracking control problem of tubular linear synchronous motor Nguyen Hong Quang; Nguyen Phung Quang; Nguyen Van Lanh
International Journal of Electrical and Computer Engineering (IJECE) Vol 12, No 3: June 2022
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.11591/ijece.v12i3.pp2393-2404

Abstract

As well-known, linear motors are widely applied to various industrial applicationsdue to their abilities in providing directly straight movement without auxiliary mechanical transmissions. This paper addresses the sensorless control problem of tubular linear synchronous motors, which belong to a family of permanent magnet linear motor. To be specific, a novel velocity observer is proposed to deal with an unmeasurable velocity problem, and asymptotic convergence of the observer error is ensured. Unlike other studies on sensorless control methods for linear motors, our proposed observer is designed by regrading unknown disturbance load in the tracking control problem whereas considering theoretical demonstrations. By adjusting controller parameters properly, the position and velocity tracking error converge in arbitrary small values. Finally, the effectiveness of the proposed method is verified in two illustrative examples.
Co-Authors Dao Phuong Nam Dao Sy Luat Do Trung Hai Le Ngoc Truc Ngo Kien Trung Nguyen Nhat Tung Nguyen Nhu Hien Nguyen Phung Quang Nguyen Phung Quang Nguyen Phung Quang Nguyen Thanh Binh Nguyen Tung Lam Nguyen Tung Lam Nguyen Van Lanh Nguyen Van Quyen Pham Tuan Thanh Pham Van Tuan Tran Phuong Nam Tran Thi Hai Yen Tran Trong Minh Tran Xuan Tinh Vo Thanh Ha Vo Thanh Ha Vu Ngoc Kien