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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Main Author:	Omar, Mohd Hafizi
Format:	Thesis
Language:	English
Published:	2019
Subjects:	TK Electrical engineering Electronics Nuclear engineering
Online Access:	https://ir.uitm.edu.my/id/eprint/98596/1/98596.pdf
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id	my-uitm-ir.98596
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spelling	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
institution	Universiti Teknologi MARA
collection	UiTM Institutional Repository
language	English
advisor	Ab Rahim, A'zraa Afhzan
topic	TK Electrical engineering Electronics Nuclear engineering
spellingShingle	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

Vibration control for fine motion flexible robot arm using proportional integral derivative (PID) controller / Mohd Hafizi Omar

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