• Journal of Ocean Engineering and Technology
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• v.23 no.2
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• pp.8-17
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• 2009

This paper presents an adaptive tracking control method for a welding mobile manipulator with several unknown parameters such as the last length of the manipulator, the wheel radius and the distance from the center to the wheel. The mobile manipulator consisted of the manipulator and the mobile-platform. Kinematic modelings for the manipulator and the mobile-platform with several unknown parameters were produced. The tracking error vectors for the manipulator and the mobile-platform were defined. These adaptive controllers were designed based on the Lyapunov function to guarantee the stability of the whole system when the mobile manipulator performs a welding task. Update laws were also designed to estimate the unknown dimensional parameters. To implement the designed controllers, a control system integrated with PIC16F877 microprocessors and a TMS320C32 DSP was developed. Simulation and experimental results are presented to show the effectiveness of the proposed controllers.

• Journal of Electrical Engineering and Technology
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• v.9 no.6
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• pp.1978-1987
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• 2014

Power requirement to the induction heating system varies during the heating process. A closed loop control is required to have a smooth control over the power. In this work, a constant frequency pulse density modulation based power tracking control scheme for domestic induction heating system is developed using the Fuzzy Logic Controller. In the conventional power modulation schemes, the switching losses increase with the change in the load. The proposed pulse density modulation scheme maintains minimum switching losses for the entire load range. This scheme is implemented for the class-D series resonant inverter system. Fuzzy logic controller based power tracking control scheme is developed for domestic induction heating power supply for various power settings. The open loop and closed loop simulation studies are done using the MATLAB/Simulink simulation tool. The control logic is implemented in hardware using the PIC16F877A microcontroller. Fuzzy controller tracks the set power by changing the pulse density of the gate pulses applied to the inverter. The results obtained are used to know the effectiveness of the fuzzy logic controller to achieve the set power.

• The Transactions of the Korean Institute of Electrical Engineers B
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• v.51 no.10
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• pp.587-594
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• 2002

A low frequency square wave electronic ballast for the high intensity discharge(HID) lamps using fuzzy logic controller is developed. This electronic ballast consists a buck converter, a low frequency square wave full bridge inverter, a high voltage pulse generator for the HID lamp ignition, an over current protection circuit and an 8-bit microcontroller. The ballast system is operated on the constant current mode during the HID lamp start-up process and the system is operated on the constant power mode during steady state. Experimental results show that the fuzzy logic control operation is carried out successfully by the 8-bit microcontroller PIC16F877 In this electronic ballast system, in spite of the limited control bandwidth caused by low operating speed of the microcontroller, the good performance in the constant lamp current characteristic is obtained. Acoustic resonance of the HID lamps can be effectively avoided because the instantaneous In lamp power is fully constant due to the low frequency square wave drive.

• Journal of Sensor Science and Technology
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• v.14 no.1
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• pp.33-41
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• 2005

For more convenient electrode-electrolyte interface impedance analysis in biosensor, a stand-alone impedance measurement system is required. In our study, we developed a PC-based portable system to analyze impedance of the electrochemical cell using microprocessor. The devised system consists of signal generator, programmable amplifiers, A/D converter, low pass filter, potentiostat, I/V converter, microprocessor, and PC interface. As a microprocessor, PIC16F877 which has the processing speed of 5 MIPS was used. For data acquisition, the sampling rate at 40 k samples/sec, resolution of 12 bit is used. RS-232 with 115.2 kbps speed is used for the PC communication. The square wave was used as stimuli signal for impedance analysis and voltage-controlled current measurement method of three-electrode-method were adopted. Acquired voltage and current data are calculated to multifrequency impedance signal after Fourier transform. To evaluate the implemented system, we set up the dummy cell as equivalent circuit of which was composed of resistor, parallel circuit of capacitor and resistor connected in parallel and measured the impedance of the dummy cell; the result showed that there exist accuracy within 5 % errors and reproduction within 1 % errors compared to output of Hioki LCR tester and HP impedance analyzer as a standard product. These results imply that it is possible to analyze electrode-electrolyte interface impedance quantitatively in biosensor and to implement the more portable high speed impedance analysis system compared to existing systems.