Vibration control for fine motion flexible robot arm using proportional integral derivative (PID) controller / Mohd Hafizi Omar
In this paper, the three term controller also known as Proportional Integral Derivative (PID) controller was proposed to control the most common problem on flexible robot arm which is vibration control problem. The controller description and properties included to support the relation with the vibra...
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my-uitm-ir.985962024-08-22T09:35:02Z Vibration control for fine motion flexible robot arm using proportional integral derivative (PID) controller / Mohd Hafizi Omar 2019 Omar, Mohd Hafizi TK Electrical engineering. Electronics. Nuclear engineering In this paper, the three term controller also known as Proportional Integral Derivative (PID) controller was proposed to control the most common problem on flexible robot arm which is vibration control problem. The controller description and properties included to support the relation with the vibration problem of flexible robot arm. MATLAB is used for system identification to validate estimation by comparing model response and measured response from the independent data. Estimation method is used to estimate the parameters of the selected model structure thus evaluate the estimated model so that it meet the requirement for the robot arm. In this project, transfer function method have been use to calculate model response so that it almost equal with the measured response properties. For tuning of PID controller, the trial and error method have been used where the value of Integral term (Ki), Derivative term (Kd) and Proportional term (Kp) was adjusted so that it adequate to reduce the model response. For model design with controller and simulation of the system, Simulink is used for the purposes. 2019 Thesis https://ir.uitm.edu.my/id/eprint/98596/ https://ir.uitm.edu.my/id/eprint/98596/1/98596.pdf text en public degree Universiti Teknologi MARA (UiTM) Faculty of Electrical Engineering Ab Rahim, A'zraa Afhzan |
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Universiti Teknologi MARA |
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UiTM Institutional Repository |
language |
English |
advisor |
Ab Rahim, A'zraa Afhzan |
topic |
TK Electrical engineering Electronics Nuclear engineering |
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TK Electrical engineering Electronics Nuclear engineering Omar, Mohd Hafizi Vibration control for fine motion flexible robot arm using proportional integral derivative (PID) controller / Mohd Hafizi Omar |
description |
In this paper, the three term controller also known as Proportional Integral Derivative (PID) controller was proposed to control the most common problem on flexible robot arm which is vibration control problem. The controller description and properties included to support the relation with the vibration problem of flexible robot arm. MATLAB is used for system identification to validate estimation by comparing model response and measured response from the independent data. Estimation method is used to estimate the parameters of the selected model structure thus evaluate the estimated model so that it meet the requirement for the robot arm. In this project, transfer function method have been use to calculate model response so that it almost equal with the measured response properties. For tuning of PID controller, the trial and error method have been used where the value of Integral term (Ki), Derivative term (Kd) and Proportional term (Kp) was adjusted so that it adequate to reduce the model response. For model design with controller and simulation of the system, Simulink is used for the purposes. |
format |
Thesis |
qualification_level |
Bachelor degree |
author |
Omar, Mohd Hafizi |
author_facet |
Omar, Mohd Hafizi |
author_sort |
Omar, Mohd Hafizi |
title |
Vibration control for fine motion flexible robot arm using proportional integral derivative (PID) controller / Mohd Hafizi Omar |
title_short |
Vibration control for fine motion flexible robot arm using proportional integral derivative (PID) controller / Mohd Hafizi Omar |
title_full |
Vibration control for fine motion flexible robot arm using proportional integral derivative (PID) controller / Mohd Hafizi Omar |
title_fullStr |
Vibration control for fine motion flexible robot arm using proportional integral derivative (PID) controller / Mohd Hafizi Omar |
title_full_unstemmed |
Vibration control for fine motion flexible robot arm using proportional integral derivative (PID) controller / Mohd Hafizi Omar |
title_sort |
vibration control for fine motion flexible robot arm using proportional integral derivative (pid) controller / mohd hafizi omar |
granting_institution |
Universiti Teknologi MARA (UiTM) |
granting_department |
Faculty of Electrical Engineering |
publishDate |
2019 |
url |
https://ir.uitm.edu.my/id/eprint/98596/1/98596.pdf |
_version_ |
1811768940356960256 |