Practical positioning control of a one mass rotary system

One mass rotary system, is a mechanism that commonly used in industries. Hence for this research, a robust and practical controller design for a one mass rotary system is discussed. The controller is designed and improved based on the conventional structure of the Nominal Characteristic Trajectory F...

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主要作者:	Mohd Nor, Rozilawati
格式:	Thesis
語言:	English English
出版:	2015
主題:	T Technology (General) TJ Mechanical engineering and machinery
在線閱讀:	http://eprints.utem.edu.my/id/eprint/15288/1/Pratical%20positioning%20control%20of%20a%20one%20mass%20rotary%20system.pdf http://eprints.utem.edu.my/id/eprint/15288/2/Practical%20positioning%20control%20of%20a%20one%20mass%20rotary%20system.pdf
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id	my-utem-ep.15288
record_format	uketd_dc
institution	Universiti Teknikal Malaysia Melaka
collection	UTeM Repository
language	English English
advisor	Chong, Shin Horng
topic	T Technology (General) TJ Mechanical engineering and machinery
spellingShingle	T Technology (General) TJ Mechanical engineering and machinery Mohd Nor, Rozilawati Practical positioning control of a one mass rotary system
description	One mass rotary system, is a mechanism that commonly used in industries. Hence for this research, a robust and practical controller design for a one mass rotary system is discussed. The controller is designed and improved based on the conventional structure of the Nominal Characteristic Trajectory Following (NCTF) controller. The continuous motion NCTF (CM-NCTF) controller is proposed for a point to point (PTP) positioning system. The CM-NCTF controller comprising a nominal characteristic trajectory (NCT) and the proportional integral (PI) compensator element. It is designed without knowing the exact model and parameters of the system. The design procedure is applicable, easy to understand and has a simple controller structure. The NCT is constructed from open loop experiment responses while PI compensator is designed experimentally based on the system stability graph.The effectiveness of the proposed controller in positioning and tracking control performance is evaluated experimentally. The experiment was done using various input to examine the controller performance towards parameter variation. While, the controller robustness is evaluated by applying different load into the system to examine system sensitivity towards the disturbance. Then, the effect of positioning, tracking and robustness are compared to the PID and the conventional NCTF controllers. The CMNCTF controller demonstrates good positioning response by having less steady state error, shorter settling time and also small or zero overshoot in comparison to the PID controller. Besides, the CM-NCTF controller performs better tracking control performance when various input frequencies are applied to the system. The proposed controller is proved to have a good positioning, smoother tracking and less sensitivity towards the disturbance. In conclusion, the CM-NCTF controller is more accurate and robust than the PID controller.
format	Thesis
qualification_name	Master of Philosophy (M.Phil.)
qualification_level	Master's degree
author	Mohd Nor, Rozilawati
author_facet	Mohd Nor, Rozilawati
author_sort	Mohd Nor, Rozilawati
title	Practical positioning control of a one mass rotary system
title_short	Practical positioning control of a one mass rotary system
title_full	Practical positioning control of a one mass rotary system
title_fullStr	Practical positioning control of a one mass rotary system
title_full_unstemmed	Practical positioning control of a one mass rotary system
title_sort	practical positioning control of a one mass rotary system
granting_institution	Universiti Teknikal Malaysia Melaka
granting_department	Faculty of Electrical Engineering
publishDate	2015
url	http://eprints.utem.edu.my/id/eprint/15288/1/Pratical%20positioning%20control%20of%20a%20one%20mass%20rotary%20system.pdf http://eprints.utem.edu.my/id/eprint/15288/2/Practical%20positioning%20control%20of%20a%20one%20mass%20rotary%20system.pdf
_version_	1747833868478578688
spelling	my-utem-ep.152882022-06-08T12:37:37Z Practical positioning control of a one mass rotary system 2015 Mohd Nor, Rozilawati T Technology (General) TJ Mechanical engineering and machinery One mass rotary system, is a mechanism that commonly used in industries. Hence for this research, a robust and practical controller design for a one mass rotary system is discussed. The controller is designed and improved based on the conventional structure of the Nominal Characteristic Trajectory Following (NCTF) controller. The continuous motion NCTF (CM-NCTF) controller is proposed for a point to point (PTP) positioning system. The CM-NCTF controller comprising a nominal characteristic trajectory (NCT) and the proportional integral (PI) compensator element. It is designed without knowing the exact model and parameters of the system. The design procedure is applicable, easy to understand and has a simple controller structure. The NCT is constructed from open loop experiment responses while PI compensator is designed experimentally based on the system stability graph.The effectiveness of the proposed controller in positioning and tracking control performance is evaluated experimentally. The experiment was done using various input to examine the controller performance towards parameter variation. While, the controller robustness is evaluated by applying different load into the system to examine system sensitivity towards the disturbance. Then, the effect of positioning, tracking and robustness are compared to the PID and the conventional NCTF controllers. The CMNCTF controller demonstrates good positioning response by having less steady state error, shorter settling time and also small or zero overshoot in comparison to the PID controller. Besides, the CM-NCTF controller performs better tracking control performance when various input frequencies are applied to the system. The proposed controller is proved to have a good positioning, smoother tracking and less sensitivity towards the disturbance. In conclusion, the CM-NCTF controller is more accurate and robust than the PID controller. 2015 Thesis http://eprints.utem.edu.my/id/eprint/15288/ http://eprints.utem.edu.my/id/eprint/15288/1/Pratical%20positioning%20control%20of%20a%20one%20mass%20rotary%20system.pdf text en public http://eprints.utem.edu.my/id/eprint/15288/2/Practical%20positioning%20control%20of%20a%20one%20mass%20rotary%20system.pdf text en validuser https://plh.utem.edu.my/cgi-bin/koha/opac-detail.pl?biblionumber=94398 mphil masters Universiti Teknikal Malaysia Melaka Faculty of Electrical Engineering Chong, Shin Horng 1. Ahmad, M. A., Raja Ismail, R. M. T. & Ramli, M. S., 2010. Control Strategy For Active Vibration Suppression Of Flexible Robot Manipulator. Information And Automation (ICIA), 2010 IEEE International Conference, 20-23 June 2010, pp. 741-746. 2. Ahmad, M. A., Raja Ismail, R. 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Practical positioning control of a one mass rotary system

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