Hsing-Hsin Huang

A variable structure control with proportional and integral compensations for electrohydraulic position servo control system

Abstract Electrohydraulic servomechanisms are widely used in manufacturing machinery, in the heavy-duty machine and automobile industry, because the hydraulic control systems can provide large torque and higher speed of response with fast motion to the plant. However, highly nonlinear and parameter uncertainties mean that the control of the hydraulic system is not always optimum.In this paper, we apply the technique of variable structure control with proportional and integral compensations (PIVSC) to an electrohydraulic position servo control system. The numerical simulation result shows that PIVSC has faster output response than the integral variable structure controller (IVSC) and zero steady-state error with external disturbance to the nonlinear plant.

Robust stability and performance via fixed-order dynamic compensation: the discrete-time case

A discrete-time feedback-control-design problem involving parametric uncertainty is considered. A quadratic bound suggested by recent work on discrete-time state-space H/sub infinity / theory is utilized in conjunction with the guaranteed cost approach to guarantee robust stability with a robust performance bound. The principal result involves sufficient conditions for characterizing robust full- and reduced-order controllers with a worst case H/sub 1/ performance bound. >

Fixed-order sampled-data estimation

For the Kalman filter-type sampled-data estimation problem utilizing an averaging A/D device, the equivalent discrete-time problem is shown to be of increased order. The fixed-structure optimal projection approach for reduced-order, discrete-time estimation is applied to the equivalent discrete-time problem in order to characterize reduced-order estimators.

Electronic piano playing robot

In recent years, service robots are widely used for different fields. The fields include house cleaning, entertainment, reception and security. Entertainment has become an important issue for robot applications. In this paper, we design an electronic piano playing robot which can automatically play electronic piano according to a user-defined piano sheet music. The robot has 5 finger hands to play the electronic piano keyboard. There are 2 degrees of freedom in each finger. Stepping motors are employed to rotate finger mechanisms to the desired position. Finger tip are pulled up and down by a steel string with a pneumatic cylinder. A specially-designed controller move the finger tip down to hit the desired key on the electronic piano. If the range of finger movement cannot touch the desired key then the hand will be moved by a linear motor. All fingers and hands can be controlled by the controller independently. Digital I/O PCI card are used to send commands to the controller.

Automatic violin player

The purpose of this research is to build an automatic violin player. The method is to study the violin playing skill, and to develop the automatic mechanism. This research is an extension work of the previous violin robot. The new robot consists of two mechanical systems. The first system is the bowing mechanism, which is able to control the bowing velocity and position. The second system is the violin control mechanism. This system can rotate the violin to a specific angle to coordinate with the string-changing movement of the bow. It also possesses a fingering device, which is able to press on several fixed positions in correspondence with the notes of the music. The automatic violin player utilizes a PC-based controller, and is able to play many famous songs.

Research and development of an automatic violin player

The purpose of this research is to build an automatic violin player. There are two stages of this research. First, we developed the mechanical fingering and bowing skills by studying the structure of a violin. Based on the results, we designed the basic automatic control mechanisms. The second stage of this research is to build the automatic violin player. This automatic player consists of two mechanical systems. The first system is the bowing mechanism, which is able to control the bowing velocity and force. The second system is the violin control mechanism. This system can rotate the violin to a specific angle to coordinate with the string-changing movement of the bow. It also possesses a fingering device, which is able to press on several fixed positions in correspondence with the notes of the music. The automatic violin player utilizes a PC-based controller, and is able to play a song by the sequential commands.

Development of an automatic inspection system for the LAF sensor

Nowadays the amount of automobiles and motorcycles is fast expanding, which results in the increment of emission and fuel consumption. To deal with these problems, it always installs oxygen sensor at the outlet of engine. Oxygen sensor can detect the content of exhaust gas, and transmits the information to ECU to control the fuel injection so that fuel consumption as well as air pollution can be reduced. With the increasing price of gasoline, usage of the Lean Air-Fuel (LAF) engine is greatly increased, which leads to the demand of the LAF sensor. The difference between LAF sensor with traditional oxygen sensor is that LAF sensor can be used to determine higher air-fuel ratio. Therefore, it is applicable for LAF engine. The cooperative company of this research has developed the prototype of LAF sensor. In order to increase production and to ensure quality, they need an automated inspection system to replace their manual inspection operations. The research firstly studied the function of the sensor and the manual inspection process in the company. Next, we improved the process and designed the automatic mechanisms. The main result was the development of an automatic inspection system which can automatically test the sensor and classify its quality.

Development of a vacuum debubbling technology and an automatic catalytic converter coating system

This research developed a vacuum debubbling technology that is able to eliminate the bubbles inside the fluid. The technology is not only suitable for debubbling the protective glue for the compact dick but also be applicable for many different industries. This research further improves the technology by combining the coating method, and develops a technology for the catalytic converter. By cooperating with a local manufacturer, the research builds an automatic coating system, which consists of a vacuum debubbling coating system, an automatic I/O and transporting system, an automatic weight and through-hole inspection system. The annual production of the system can reach to 500k pcs of catalytic converter.

A Research of the Zirconia element surface coating technology: The application of TRIZ method

Oxy-gen senior is an important element of the automobiles fuel injection system. The primary sensing element of the oxygen sensor is a Zirconia ceramic element, which is able to detect the quantity of the oxygen inside the exhaust. Since the surface of the ceramic element is coated by a thin layer of platinum, it is necessary to coat an additional protective layer. As the protective layer must he endurable in the environment of high temperature and high impaction, the related research topics have became to be interested. This research is devoted to study the coating technology of the protective layer, and to build an automatic coating system. The method is to study the manual coating procedures that are used in the manufacturer. By analyzing the procedures, the research used TRIZ (Theory of Innovative Problem Solving) to improve the process and designed an automatic costing method. The main result of this study is the development of the automatic coating system, which is very useful for the manufacturer to carry out their mass production.

Research on the high-speed pick and place device for die bonders

Die bonding is a very important process of IC packaging. The quality of the die bonding depends on the speed, accuracy, and precision of the pick and place movement. In order to design a better P&P device, this research firstly studied the related patents and literatures, and then cooperated with one company to gain more practical experience. Furthermore, the research applied the TRIZ theory to get innovative ideas for conceptual design. This research finally developed a high speed, stable P&P device using the slider-crank mechanism. The idea is to design an additional buffer device on the slider part. Using this device, the bond head can stay on the tops of the pick and place positions for a short period without stopping the motor, the vibration of the mechanism can be greatly reduced, and the positioning precision can be increased. To verify the design, the research has built a prototype of the P&P mechanism. The experiment results show that the mechanism can reach a speed of 8000UPH, and its positioning precision and repeatability are kept inside 0.05mm.