Journal of Measurement, Control, and Automation

Fuzzy PID-Based Trajectory Control for a 5-DoF Robot with Disturbance Compensation and Simscape Integration

Thu, 13 Feb 2025 00:00:00 +0700

This paper presents a study on the trajectory tracking control of a 5-DoF robot using a Fuzzy PID controller. The robot’s kinematic and dynamic
models were developed, with specifications detailed for its components, including dimensions, weight, and joint angles. A Fuzzy PID controller
was implemented to dynamically adjust control parameters based on error feedback and its derivative. The simulations demonstrated the
controller’s efficacy in minimizing angular and positional errors, achieving high accuracy and stability. The system’s robustness was further
evaluated under disturbance conditions, showcasing the controller’s effectiveness in maintaining trajectory accuracy. Additionally, simulations
were performed in Simscape to simulate the physical environment of the robot. The results indicate that the proposed Fuzzy PID con-
troller significantly enhances the robot’s capability to follow desired trajectories, ensuring reliable and precise operation in various environments.

Research on development of online system for stroke prediction

Trong Tai Nguyen, Hai Dang Nguyen Le, Kien Hung Huynh Du — Thu, 13 Feb 2025 00:00:00 +0700

This paper presents a system for online stroke prediction. Firstly, a stroke prediction model is built using Random Forest machine learning method. Next, a mobile app user interface is created to collect patients' input data. Based on the trained model and the collected input data, the stroke risk for patients can be predicted. As a result, patients can take preventive measures to avoid severe outcomes from stroke. The training results indicate that the prediction accuracy exceeds 90% on the training dataset and 84% on the testing dataset. The trained machine learning model is then deployed on server as Application Programming Interface. This allows users can access and check their stroke risk from the mobile application.

Seamless Transition of Interior Permanent Magnet Synchronous Motor Base on Back Electromotive Force Observer

Quang Nguyen Duc, Tai Luong Cu Duc, Van Nam Giap, Hoang Phuong Vu — Thu, 13 Feb 2025 00:00:00 +0700

Electric motors are important in many fields such as industrial automation, electric vehicles, and other advanced devices. The increasing popularity of applications related to electric motors, especially in the transition from depleting non-reusable energy sources to electric power, has raised a demand for research and development in motor control. In operation mode, the sensor fault can affect the safety of users. Therefore, this paper presents an operation that considers two modes. Firstly, the motor is controlled using a field-oriented control strategy with an absolute encoder. Second, assuming a sensor fault occurs during operation, fault detection and switching commands are used to change the signal source. This paper focuses on the sensorless method, fault determination, and analysis of working conditions after transition. The feasibility of the algorithm is validated through MATLAB/Simulink simulation environment.

A Detailed Procedure to Implement Model Predictive Control for the Single-Phase Voltage-Source Inverter

Dung Vu, Son Nguyen Thanh, Tu Pham, Anh Hoang — Thu, 13 Feb 2025 00:00:00 +0700

This study aims to provide a detailed procedure to deploy model predictive control for the single-phase voltage-source inverter. Simulation and implementation of other control methods for the single-phase voltage-source inverter, including the sinusoidal pulse width (SPWM) and the hysteresis methods, are also given. In MPC control deployment for the single-phase voltage-source inverter, the mathematical model of the inverter is first required. Based on the obtained model of the inverter, the inductor current and the capacitor voltage can be conveniently formulated. The optimal control action in each sampling period is selected based on the minimum value of a cost function. Compared to conventional control methods for the single-phase inverter, the MPC method requires accurate sensors, and its implementation is also sometimes challenging. Due to this reason, this study provides detailed steps to conveniently implement the MPC method for the single-phase voltage-source inverter. In this study, control methods for the single-phase voltage-source inverter are conveniently deployed using the KIT STM32F407 DISCOVERY. The simulation and experimental results have proven that the MPC algorithm is suitable for fully understanding the concept of model-based discrete control of the single-phase voltage-source inverter and other types of power converters.

Comparative analysis of inverter topologies for 400Hz Ground Power Unit

Son Tran, Huynh Van Diep, Nguyen Anh Vuong, Dich Nguyen Quang, Nguyen Kien Trung — Thu, 13 Feb 2025 00:00:00 +0700

This paper presents a survey research, analysis, and comparison of the performance of three three-phase inverter circuit topologies applied to GPU ground power supplies in the aviation industry. One of the prominent characteristics of aircraft load systems is their unbalance; therefore, evaluating the operational performance and output voltage quality of the power supply under unbalanced load conditions for these three inverter circuit topologies is the main focus of this research. Additionally, several other parameters such as DC voltage and the input DC filter capacitance utilization are also analyzed and compared. The simulation results using Matlab software demonstrate that the three-single-phase H-bridge topology provides the highest efficiency, maintaining the best output voltage quality, especially under conditions of unbalanced load, thus opening up a new design direction for GPU power supplies for aircraft.

A Novel Active Quasi Z-Source Multilevel Inverter with Capacitor Voltage Reduction

Duc Tri Do, Bich Nga Truong Thi, Vinh Thanh Tran, Anh Tuan Nguyen Phan — Thu, 13 Feb 2025 00:00:00 +0700

This study presents an innovative Active quasi-Z source inverter, incorporating extra switches and diodes into the impedance-source network. The innovative topology features two key elements: an AqZS, which improves the inverter's voltage gain, and a Three-level T-type inverter at the forefront. The shoot-through state added to the inverter side pulse sequence optimizes the input voltage by charging and discharging the impedance-source network voltage appropriately, thus improving the overall efficiency. The paper introduces the discontinuous pulse width modulation (DPWM) technique to control the inverter. This control method combined with ST state ensures no additional switching compared to other conventional inverters. The effectiveness and reliability of the proposed method are demonstrated through experimental and simulation results

Study on the thermal distribution of dry-type transformer with epoxy-cast windings at rated load and partial load

Hong Hai Pham, Tung LE DUC — Thu, 13 Feb 2025 00:00:00 +0700

Dry transformers are increasingly widely used, present everywhere in our lives and especially used in places requiring fire and explosion safety such as apartment buildings, mines, important civil and industrial works. Thermal distribution research in dry transformers to find local hot spots in the coils is always a topic of interest to many researchers. This paper presents a study, applying the finite element method to simulate heat distribution in dry transformers, insulated with epoxy material. Simulations are performed at rated load and part load in two cases: the thermal parameter is constant and the thermal parameter varies with temperature. The simulation results are compared with the experimental measurement results to demonstrate the correctness of the calculation model.

Improved NLM modulation method without measuring capacitor voltage applied to Modular Multilevel Converter

Thu, 13 Feb 2025 00:00:00 +0700

The NLM modulation method is a very suitable method to apply to MMC multilevel converters with a large number of SMs. This method can produce a voltage on the ac side of the MMC with a number of levels up to 2N+1 (where N is the number of SMs on each branch). This article deals with improving the NLM modulation method for MMC converter through the use of an algorithm that does not need to use voltage information on capacitors. This algorithm uses simple logic operations are used to select which SMs will be turned on or off during a working duty cycle. This has great significance in reducing capacitors voltage and current sensors on branches as well as complex signal connections. As a result, the hardware design becomes more compact when MMC converter need to use a large number of SMs in medium and high voltage applications. The results of the study were performed on Matlab/simulink and compared with conventional NLM modulation method in which the measurement of capacitor voltages is required to evaluate the effectiveness of the proposed method.

Optimization Design of a Surface Permagnent Magnet Synchronous Motor for Colaboration robot’s joint application

Duy Hoc Pham, Dinh Nguyen, Tien Dung Pham — Thu, 13 Feb 2025 00:00:00 +0700

This paper optimized the surface permanent magnet synchronous motor (SPMSM) using genetic algorithm (GA) for collaboration robot arm joints application. The optimal variables are modeled according to the motor dimensions. The algorithm has significantly improved motor torque performance, with torque ripple reduced to 2.15% and the torque magnitude increased to 1.81Nm. The evaluation results are analyzed on Jmag simulation software. With the optimal motor dimensions, the prototype of SPMSM is manufactured, tested with the testing system including a dynamometer and power analyzers.

Active control of vibration of large span structures by controlling force in tendon

THUY NGUYEN THI BICH — Thu, 13 Feb 2025 00:00:00 +0700

Cùng với sự phát triển của ngành khoa học kỹ thuật xây dựng hiện nay, khi các công trình được xây dựng ngày càng cao hơn, nhịp ngày càng lớn hơn, thì vấn đề điều khiển dao động những công trình như vậy sẽ trở nên cấp thiết hơn trong quá trình tính toán. Trong phạm vi bài báo này, tác giả sẽ đề cập đến phương pháp điều khiển chủ động dao động cho dầm nhịp lớn bằng hình thức điều khiển lực căng cáp, được bố trí ngoài tiết diện dầm, để điều chỉnh dao động của dầm. Tác giả ứng dụng chương trình Simulink-Matlab 2017b để mô phỏng sơ đồ điều khiển dao động của dầm nhịp lớn bằng cách điều chỉnh lực căng trong cáp và so sánh hình thức điều khiển dao động này với hình thức điều khiển dao động dầm bằng thiết bị lò xo, từ đó cho thấy các ưu điểm nổi trội của phương pháp điểu khiển chủ động dao động của kết cấu nhịp lớn bằng hình thức điều khiển lực căng cáp.