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...

Full description

Saved in:
Bibliographic Details
Main Author: Omar, Mohd Hafizi
Format: Thesis
Language:English
Published: 2019
Subjects:
Online Access:https://ir.uitm.edu.my/id/eprint/98596/1/98596.pdf
Tags: Add Tag
No Tags, Be the first to tag this record!
id my-uitm-ir.98596
record_format uketd_dc
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