Design And Analysis On The Robust Control Of A X-Y Ballscrew Mechanism

This thesis presents the design and analysis on the robust control of a X-Y ballscrew mechanism. In this research, a practical and robust controller for positioning control is discussed. The Continuous Motion Nominal Characteristic Trajectory Following (CM NCTF) controller is investigated in this re...

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Main Author:	Hee, Wai Keat
Format:	Thesis
Language:	English English
Published:	2016
Subjects:	T Technology (General) TJ Mechanical engineering and machinery
Online Access:	http://eprints.utem.edu.my/id/eprint/18371/1/Design%20And%20Analysis%20On%20The%20Robust%20Control%20Of%20A%20X-Y%20Ballscrew%20Mechanism.pdf http://eprints.utem.edu.my/id/eprint/18371/2/Design%20And%20Analysis%20On%20The%20Robust%20Control%20Of%20A%20X-Y%20Ballscrew%20Mechanism.pdf
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id	my-utem-ep.18371
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 Hee, Wai Keat Design And Analysis On The Robust Control Of A X-Y Ballscrew Mechanism
description	This thesis presents the design and analysis on the robust control of a X-Y ballscrew mechanism. In this research, a practical and robust controller for positioning control is discussed. The Continuous Motion Nominal Characteristic Trajectory Following (CM NCTF) controller is investigated in this research for tracking motion of an AC driven X-Y ballscrew mechanism. The CM NCTF controller has a simple control structure and straightforward design procedure that does not require an exact model parameter of a plant. In order to enhance the accuracy of the control system, a suitable input signal is designed to make sure the X-Y ballscrew mechanism attenuate smoothly in the deceleration motion. The CM NCTF controller consists of a Nominal Characteristic Trajectory (NCT) and a Proportional and Integral (PI) compensator. The NCT is constructed using the open-loop experimental responses while the PI compensator is designed based on a practical stability limit obtained experimentally. The CM NCTF controller has been evaluated in tracking motion performance. In order to examine the adaptability of the controller to the change of the input, experiments with various inputs is carried out. Besides that, the robustness of the controller is validated through the change of the load of the system. In order to examine the usefulness of the CM NCTF controller, a PI-D controller that has a similar control structure is designed and compared. The tracking performance of the CM NCTF controller is evaluated in maximum peak error Emax, percentage of error Epercent, and root mean square of error Erms. Emax is the difference between the output peak and the reference input, and Epercent is the percentage of the peak error with respect to the reference input. The experimental results proved that the CM NCTF controller has demonstrated better positioning response than the conventional NCTF controller and the PI-D controller by showing a two times smaller motion error. The robustness of the CM NCTF controller is clarified using X-axis, which has heavier load than the Y-axis. The experimental results have again proved that the CM NCTF controller demonstrates better tracking performance than the conventional NCTF controller and the PI-D controller in X-axis. As a conclusion, the CM NCTF controller has better positioning performance as compared to the conventional NCTF controller and PI-D controller. In future, the contour motion for X-axis and Y-axis will be done to evaluate accuracy of the controller. Besides that, the robustness performance in term of change of disturbance force will be considered.
format	Thesis
qualification_name	Master of Philosophy (M.Phil.)
qualification_level	Master's degree
author	Hee, Wai Keat
author_facet	Hee, Wai Keat
author_sort	Hee, Wai Keat
title	Design And Analysis On The Robust Control Of A X-Y Ballscrew Mechanism
title_short	Design And Analysis On The Robust Control Of A X-Y Ballscrew Mechanism
title_full	Design And Analysis On The Robust Control Of A X-Y Ballscrew Mechanism
title_fullStr	Design And Analysis On The Robust Control Of A X-Y Ballscrew Mechanism
title_full_unstemmed	Design And Analysis On The Robust Control Of A X-Y Ballscrew Mechanism
title_sort	design and analysis on the robust control of a x-y ballscrew mechanism
granting_institution	Universiti Teknikal Malaysia Melaka
granting_department	Faculty of Electrical Engineering
publishDate	2016
url	http://eprints.utem.edu.my/id/eprint/18371/1/Design%20And%20Analysis%20On%20The%20Robust%20Control%20Of%20A%20X-Y%20Ballscrew%20Mechanism.pdf http://eprints.utem.edu.my/id/eprint/18371/2/Design%20And%20Analysis%20On%20The%20Robust%20Control%20Of%20A%20X-Y%20Ballscrew%20Mechanism.pdf
_version_	1747833924873093120
spelling	my-utem-ep.183712021-10-10T16:10:51Z Design And Analysis On The Robust Control Of A X-Y Ballscrew Mechanism 2016 Hee, Wai Keat T Technology (General) TJ Mechanical engineering and machinery This thesis presents the design and analysis on the robust control of a X-Y ballscrew mechanism. In this research, a practical and robust controller for positioning control is discussed. The Continuous Motion Nominal Characteristic Trajectory Following (CM NCTF) controller is investigated in this research for tracking motion of an AC driven X-Y ballscrew mechanism. The CM NCTF controller has a simple control structure and straightforward design procedure that does not require an exact model parameter of a plant. In order to enhance the accuracy of the control system, a suitable input signal is designed to make sure the X-Y ballscrew mechanism attenuate smoothly in the deceleration motion. The CM NCTF controller consists of a Nominal Characteristic Trajectory (NCT) and a Proportional and Integral (PI) compensator. The NCT is constructed using the open-loop experimental responses while the PI compensator is designed based on a practical stability limit obtained experimentally. The CM NCTF controller has been evaluated in tracking motion performance. In order to examine the adaptability of the controller to the change of the input, experiments with various inputs is carried out. Besides that, the robustness of the controller is validated through the change of the load of the system. In order to examine the usefulness of the CM NCTF controller, a PI-D controller that has a similar control structure is designed and compared. The tracking performance of the CM NCTF controller is evaluated in maximum peak error Emax, percentage of error Epercent, and root mean square of error Erms. Emax is the difference between the output peak and the reference input, and Epercent is the percentage of the peak error with respect to the reference input. The experimental results proved that the CM NCTF controller has demonstrated better positioning response than the conventional NCTF controller and the PI-D controller by showing a two times smaller motion error. The robustness of the CM NCTF controller is clarified using X-axis, which has heavier load than the Y-axis. The experimental results have again proved that the CM NCTF controller demonstrates better tracking performance than the conventional NCTF controller and the PI-D controller in X-axis. As a conclusion, the CM NCTF controller has better positioning performance as compared to the conventional NCTF controller and PI-D controller. In future, the contour motion for X-axis and Y-axis will be done to evaluate accuracy of the controller. Besides that, the robustness performance in term of change of disturbance force will be considered. 2016 Thesis http://eprints.utem.edu.my/id/eprint/18371/ http://eprints.utem.edu.my/id/eprint/18371/1/Design%20And%20Analysis%20On%20The%20Robust%20Control%20Of%20A%20X-Y%20Ballscrew%20Mechanism.pdf text en public http://eprints.utem.edu.my/id/eprint/18371/2/Design%20And%20Analysis%20On%20The%20Robust%20Control%20Of%20A%20X-Y%20Ballscrew%20Mechanism.pdf text en validuser https://plh.utem.edu.my/cgi-bin/koha/opac-detail.pl?biblionumber=100161 mphil masters Universiti Teknikal Malaysia Melaka Faculty of Electrical Engineering Chong, Shin Horng 1. Abdullah, L., Jamaludin, Z., Maslan, M.N., Jamaludin, J., Halim, I., Rafan, N. a., and Chiew, T.H., 2015. Assessment on Tracking Performance of Cascade P/PI, NPID and NCasFF Controller for Precise Positioning of XY Table Ballscrew Drive System. Procedia CIRP, 26, pp.212–216. 2. Araki, M. and Taguchi, H., 2003. Two-degree-of-freedom PID controllers. International Journal of Control Automation and Systems, 1 (4), pp.401–411. 3. Astrom, K.J. and Hangglund, T., 1995. PID controllers: theory, design and tuning. Instrument Society of America. 4. Cai, L. and Song, G., 1993. A smooth robust nonlinear controller for robot manipulators with joint stick-slip friction. Proceedings IEEE International Conference on Robotics and Automation. 5. Chen, C.L., Jang, M.J., and Lin, K.C., 2004. Modeling and high-precision control of a ball-screw-driven stage. Precision Engineering, 28 (4), pp.483–495. 6. Chiew, T.H., Jamaludin, Z., Bani Hashim, a. Y., Rafan, N. a., and Abdullah, L., 2013. Identification of friction models for precise positioning system in machine tools. Procedia Engineering, 53, pp.569–578. 7. Chong, S.-H., Hashimoto, H., and Sato, K., 2011. Practical motion control with acceleration reference for precision motion - New NCTF control and its application to non-contact mechanism. 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Design And Analysis On The Robust Control Of A X-Y Ballscrew Mechanism

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