Papers by Tran Thien Phuc
Key Engineering Materials, Jun 28, 2022
Bai bao nay mo tả một loại van servo điện - khi nen kiểu khong đối xứng va phương phap điều khiển... more Bai bao nay mo tả một loại van servo điện - khi nen kiểu khong đối xứng va phương phap điều khiển van tốc độ cao nhằm tăng ( hoặc giảm) thời gian qua trinh nạp khi (hoặc thoat khi) trong hệ thống. Với van servo khi nen kiểu khong đối xứng, khả năng dong chảy qua cac cửa điều khiển khi thoat ra của van servo ( 337NL/min) la gấp khoảng hai lần của van kiểu đối xứng ( 171NL/min) với điều kiện co cung độ dịch chuyển trục van . Kết quả thử nghiệm cho thấy dải đap ứng tần số đạt được 200Hz va thời gian tăng nhỏ hơn 1 ms .
Chủ đề của bai bao nay la điều khiển một tay may di động theo vết một đường cong han khong gian. ... more Chủ đề của bai bao nay la điều khiển một tay may di động theo vết một đường cong han khong gian. Đây la vấn đề thường gặp trong cac nha may gia cong kim loại cỡ lớn như đong tau hay kết cấu thep tiền chế. Tay may di động ở đây bao gồm một tay may nhiều bậc tự do va một xe robot dạng hai banh. Bai bao trinh bay cac vấn đề về mo hinh động học của cả hai phần tử nay. Bộ điều khiển thich nghi cho tay may di động được xây dựng dựa tren mo hinh nay. Tieu chuẩn ổn định Lyapunov được sử dụng để chứng minh sự hội tụ ổn định của sai số hệ thống. Nhằm tăng tinh thực dụng của hệ thống, thong số dự đoan la chiều dai hồ quang han được tinh đến trong bai toan. Cac thi nghiệm mo phỏng va thực nghiệm tren mo hinh cũng được tiến hanh để chứng minh tinh khả thi của bộ điều khiển.
This paper presents the selection of optimal technology parameters of Minimum Quantity Lubricatio... more This paper presents the selection of optimal technology parameters of Minimum Quantity Lubrication (MQL) method (rotation angle of nozzle to feed direction, ratio of soluble lubricant and water, distance from the nozzle spray to cutting zone) on outside end-milling machining for SKD 11 steel. The process of analyzing the effects of technological parameters is based on mathematical models, experimental models. The results obtained in this paper provide the optimal MQL parameters for end-milling machine process on steel SKD11 with reliability and effectiveness.
Science and Technology Development Journal
Electro-hydraulic servo valves (EHSVs) serve as an interface between electrical devices and hydra... more Electro-hydraulic servo valves (EHSVs) serve as an interface between electrical devices and hydraulic systems. They are capable of converting low power electrical input into movement of a spool to control precisely high power, low speed hydraulic actuators. Nowadays, jet pipe electro-hydraulic servo valve and flapper nozzle electro-hydraulic servo valve are typical two-stage control flow servo valve and are the most popular in use. This paper recommends and compares characteristics, working principle and structure for two kinds of servo valve. Besides, the simulation was carried out in a commercially software of Ansys, hence some features of jet pipe servo valve such as outstanding advantages of working feature or reliability are analysed.
Lecture Notes in Electrical Engineering, 2016
Friction stir welding is a new technology which creates good quality welds for materials with poo... more Friction stir welding is a new technology which creates good quality welds for materials with poor weldability such as aluminum alloy, which the traditional welding methods are not good. This study presents the effect of preheating to quality weld, in which the selecting best range temperature value of preheating is very important. The process of analysis of the influence of the preheating process was carried out by construction mathematical models and experimental design models, from which evaluate the influence of preheating process to tensile strength and resistance force generated during welding. The study results will provide the technological parameters for friction stir welding processes on aluminum alloy to achieve the reliability and efficiency.
In this paper, the control of a mobile manipulator for tracking smooth 3Dcurved welding trajector... more In this paper, the control of a mobile manipulator for tracking smooth 3Dcurved welding trajectory is discussed. This case can be found in any metal processing factories such as ship building factories and prefabricated metal structure factories. The mobile manipulator is made up of a multilink manipulator and a two-wheeled mobile platform. The kinematic modeling and the constraints for both the platform and the manipulator are discussed. Based on these modeling, an adaptive control algorithm for the welding mobile manipulator is proposed. A candidate Lyapunov function is also introduced for proving the stability of system upon the adaptive algorithm. For increasing the flexibility of system, the control of system with unknown parameter such as the arc length of the torch is considered, and an update control law based on the adaptive back-stepping method is proposed. In this paper, the numerical simulation results are shown to illustrate the validity of the proposed algorithm. The experiments are also performed for getting the good values of parameters and proving the feasibility that a mobile manipulator is applied to a 3D smooth curve welding task.
Lecture Notes in Electrical Engineering, 2014
In this study, we focus on planning the gait of quadruped robot on flat terrain. Modeling and sim... more In this study, we focus on planning the gait of quadruped robot on flat terrain. Modeling and simulation of quadruped robot with three joint legs are carried out with MSC ADAMS software. The two phase discontinuous gait represents the sequential motion of the legs and robot body for the locomotion of going straight and turning. The simulation presents the values of the moment on joint of leg and the trajectory of the center of robot body. The experiment analyzes the locus of the center of gravity of the robot body in the gait: go straight; go straight and turn right, go straight and turn left, go forward and backward, and turn the corner. The results of simulation and experiment provides theoretical basis for building algorithm the quadruped robot motion control.
Science & Technology
In this paper, the control of a mobile manipulator for tracking smooth 3Dcurved welding trajector... more In this paper, the control of a mobile manipulator for tracking smooth 3Dcurved welding trajectory is discussed. This case can be found in any metal processing factories such as ship building factories and prefabricated metal structure factories. The mobile manipulator is made up of a multilink manipulator and a two-wheeled mobile platform. The kinematic modeling and the constraints for both the platform and the manipulator are discussed. Based on these modeling, an adaptive control algorithm for the welding mobile manipulator is proposed. A candidate Lyapunov function is also introduced for proving the stability of system upon the adaptive algorithm. For increasing the flexibility of system, the control of system with unknown parameter such as the arc length of the torch is considered, and an update control law based on the adaptive back-stepping method is proposed. In this paper, the numerical simulation results are shown to illustrate the validity of the proposed algorithm. The experiments are also performed for getting the good values of parameters and proving the feasibility that a mobile manipulator is applied to a 3D smooth curve welding task.
ABSTRACT: An interesting alternative to electric actuators for medical purposes, particularly pro... more ABSTRACT: An interesting alternative to electric actuators for medical purposes, particularly promising for rehabilitation, is a pneumatic artificial muscle (PAM) actuator because of its muscle–like properties such as tunable stiffness, high strength to weight ratio, structure flexibility, cleanliness, readily available and cheap power source, inherent safety and mobility assistance to humans performing tasks. However, some limitations still exist, such as the air compressibility and the lack of damping ability of the actuator bring the dynamic delay of the pressure response and cause the oscillatory motion. Then it is not easy to realize the performance of transient response of PAM manipulator due to the changes in the physical condition of patients as well as the various treatment methods. In this study, an intelligent control algorithm using neural network for one degree of freedom manipulator is proposed for knee rehabilitation. The experiments are carried out in practical PAM m...
An interesting alternative to electric actuators for medical purposes, particularly promising for... more An interesting alternative to electric actuators for medical purposes, particularly promising for rehabilitation, is a pneumatic artificial muscle (PAM) actuator because of its muscle-like properties such as tunable stiffness, high strength to weight ratio, structure flexibility, cleanliness, readily available and cheap power source, inherent safety and mobility assistance to humans performing tasks. However, some limitations still exist, such as the air compressibility and the lack of damping ability of the actuator bring the dynamic delay of the pressure response and cause the oscillatory motion. Then it is not easy to realize the performance of transient response of PAM manipulator due to the changes in the physical condition of patients as well as the various treatment methods. In this study, an intelligent control algorithm using neural network for one degree of freedom manipulator is proposed for knee rehabilitation. The experiments are carried out in practical PAM manipulator and the effectiveness of the proposed control algorithm is demonstrated through experiments with two conditions of patient and three kinds of treatment methods.
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Papers by Tran Thien Phuc