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Home | Project | Activity | Company | IEEE | HCMUTE| Learn LabVIEW | This page contants research demonstration and my recent activities Steer-by-wire/Hệ
thống lái không trục lái Abstract/tóm tắt In this project, a method to reproduce
realistic driving feeling and improve the returnability of steer-by-wire
systems (SBW) is proposed by measuring the roadwheel motor’s current
directly. The key contribution presented here is a novel method to recreate
the driving feeling in term of force feedback with simple and cheap current
sensors. A current sensor is used to fully measure the steering torque on the
rack of steering mechanism. This measured steering torque therefore, includes
the overall effects of road conditions, aligning moments, tire properties and
so on. Beside that, a free control scheme is proposed to improve returnability
as well as the handwheel stability in a free motion. Moreover, during this
research, the significant frequency effect of handwheel motions was found.
This effect could be useful and valuable for improving steer-by-wire
development based on torque-map based method. This method is investigated
with simulation results using the control design and simulation module in
LabVIEW programming language. The simulated results show that this method
offers a cheaper and simpler solution for the development of steer-by-wire
systems. In addition, stability and returnability of handwheel in
steer-by-wire systems could be improved. Result/kết quả nghiên cứu Computer based semi-experiment
Demo Video 1: Realistic feel for
steer-by-wire based on measured current method
Demo Video 2: Free control for
steer-by-wire system/Điều khiển ổn định vô
lăng cho hệ thốn SBW Publications Ba Hai Nguyen,
Jee-Hwan Ryu, “Direct Current Measurement Based Steer-By-Wire Systems for
Realistic Driving Feeling,” Proceedings of the IEEE International Symposium
on Industrial Electronics 2009,
Recommended paper on
steer-by-wire systems. (Download) Vehicle teleoperation/Điều khiển xe hơi từ xa Abstract/tóm tắt This project is to
intuitively teleoperate and control a vehicle. The master side is a haptic
interface including force feedback, audio feedback and vision feedback. The
slave side is a comercial vehicle (GM Windstorm) equiped with computer,
serveral actuators, and sensosrs. This project is done at Biorbotics Lab, KUT, Korea.
Result Graphical User Interface (Master side)
GM Windstorm (Slave side)
Demo video 1 (2008) Demo
video 1 (2009) Publications
Obverve-by-wire system
for forklifts based on haptics/Hệ thống nhìn qua dây cho xe nâng
công nghệ haptics Abstract/tóm tắt This paper proposes a new concept of a haptic
user interface for forklifts. The haptic interface is developed including
valuable features and we named it “Observe-By-Wire” (OBW), which can give
operators maximum visibility for safe operation. Particularly, the use of a OBW can help human to overcome the problems related to
the blind spots caused by the mast configuration of forklifts. The OBW
transmits distance information between forks and obstacles tooperator in term
of force feedback information. It is expected to be useful in emergency cases
such as: moving large boxes, lack of illumination in warehouses. We have
created OBW system, modeled the fork and its operations. Experiments were
carried out with a group of seven subjects. The experimental results indicated
that the OBW system can improve the visibility and operating performance of
forklift’s drivers. In particular, The OBW could give a haptic-based
interaction channel between the drivers and vehicles regardless to the height
of masts as well as intensity of illumination. Result
Publications Ba Hai Nguyen,
Jee-Hwan Ryu, “Development of a Observe-By-Wire System
for Forklifts Using Haptic Interfaces,” International Conference on Smart
Manufacturing Application, April. 9-11, 2008 in KINTEX, Download
from IEEE, Download
from KUT Advanced DC motor
control/Điều khiển nâng cao động cơ DC Abstract/tóm tắt In this paper, a novel
speed control algorithm of DC motors is presented. The key contribution here
is a simple speed controller only with speed feedback and without an inner
current control loop. This is possible by adjusting the reference speed based
on a certain rule. Therefore, the proposed speed controller here becomes
simpler while maintaining the control performance. Moreover, with the
proposed controller, the system response can be tuned with less complexity.
This proposed control method is investigated both mathematically and
experimentally. Keywords - DC motor
control, speed control of motor, robust control of DC motor, angular velocity
control. Result In this research, a
novel and simple robust control algorithm of motor’s speed was proposed. The
proposed method has an advantage in both noise reduction and simple tuning
method. Moreover, this controller does not require an inner loop current
control. The feasibility of the proposed method was demonstrated with
mathematical analysis and experimental results.
Demo Video
Publications Ba Hai Nguyen, Hai-Bac Ngo, Jee-Hwan Ryu,
“Novel Robust Control Algorithm of DC Motors,” The 6th International
Conference on Ubiquitous Robots and Ambient Intelligence (URAI 2009), Seoul,
Korea, 2009. PDF Others Tutorial
on DC motor control using LabVIEW and PCI-7356 (Tiếng việt/in
Vietnamese) Hybrid Vehicle
Simulation/Mô phỏng năng lượng xe lai Abstract/tóm tắt This
report is to provide simulation result of hybrid electric vehicle. In
particular, the simulation is constructed with a series hybrid electric
vehicle. Users can load different speed profiles, set simulation parameters,
and simulation settings. The software will automatically calculate and
generate graphs related to motor power, on/off status of the internal
combustion engine (ICE). Result In this project, a energy flow
simulation of hybrid
electric vehicle is completed. Friendly and intuitive graphical user
interface (GUI) has been developed. To utilize this simulation, users may
input the speed profile of vehicle, vehicle parameters in the GUI. Then users can observe the required power
for the vehicle, ICE operating status, and so on.
Video demo Publications Inverted Pendulum Using
Hydraulic Actuator/Điều khiển con lắc ngược
bằng bộ chấp hành thủy lực Abstract/tóm tắt Result Publications |
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