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Controller design is one of the important steps during the modelling of various systems, starting with constructing an electric kettle to an aircraft system. To achieve a good controller it is needed to define suitable values for the controller coefficients. This paper describes the research practices of the tuning technique by using MATLAB/Simulink compared with manually PID tuning based on the trial...
The ball on plate system is the extension of traditional ball on beam balancing problem in control theory. In this paper the implementation of a proportional-integral-derivative controller (PID controller) to balance a ball on a plate has been demonstrated. To increase the system response time and accuracy multiple controllers are piped through a simple custom serial protocol to boost the processing...
Process control is an important aspect area to be studied as many industries are dealing with it. A water level control system (AUWLC) is implemented by the Mechatronics Engineering, Assumption University, Thailand. This paper will be beneficial to the reader to understand the actual system with links between feedback control system loop diagram and an actual system model. The main objective of this...
Our project aims at building solar tracking system that will be able to track the position of the sun and align itself with the sun in order to minimize the angle of incidence of the incoming sunlight. The system will be built using Light sensors, microcontroller programmed in MATLAB® and DC motor operated by microcontroller and external power source. The system was tested by exposing it to the solar...
This paper discusses on the AU Balancing BallBot or known as AUB3. AUB3 in a structure of robot is using three Omni wheels, which drive by stepper motors. Accelerometer and Gyroscope are used as main sensors. PIC24FJ48GA002 is used as a main controller. An intelligent complimentary filter with PD control algorithm is used to control AUB3 to be in balanced position. The controller is proven on the...
This paper discusses about the Autonomous AU Bicycle: Self-Balancing and tracking control (AUSB2). The system will be explained in two parts; balancing and tracking control. In the balancing part, the gyroscope and encoder are used to sense the balance position of the bicycle, the position of the flywheel. Compass, GPS and encoder are used for the tracking control. The main objective of this paper...
This paper evaluates the controllers performance on AU Self-balancing Bicycle (AUSB). The gyroscope is used to sense the balanced position of the bicycle while an encoder is used to sense the position of the flywheel. The Single loop uses a gyroscope sensor and an additional encoder sensor is used in the Double loop. The main objective of this paper is to demonstrate the improvement in the performance...
This paper proposes an approach of generating the gait pattern that Asian Institute of Technology's Leg EXoskeleton (ALEX) and its wearer can walk safely with the passing criteria of Zero Moment Point (ZMP) theorem for static and dynamic considerations, respectively. ALEX has 12 DOF (6 DOF for each leg: 3 at the Hip, 1 at the knee and 2 at the ankle), controlled by 12 DC motors. The CAD drawing and...
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