NPID Double Hyperbolic Controller For Improving Tracking Performance Of XY Table Ballscrew Drive System

Higher tracking accuracy, robustness and disturbance rejection are the three most important elements that are highly demanded to be applied and achieved in the process of controller design in manufacturing process. In this new era where technology keeps rising, controller design for machine tools ha...

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Main Author:	Che Ku Junoh, Sahida
Format:	Thesis
Language:	English English
Published:	2019
Online Access:	http://eprints.utem.edu.my/id/eprint/24706/1/NPID%20Double%20Hyperbolic%20Controller%20For%20Improving%20Tracking%20Performance%20Of%20XY%20Table%20Ballscrew%20Drive%20System.pdf http://eprints.utem.edu.my/id/eprint/24706/2/NPID%20Double%20Hyperbolic%20Controller%20For%20Improving%20Tracking%20Performance%20Of%20XY%20Table%20Ballscrew%20Drive%20System.pdf
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id	my-utem-ep.24706
record_format	uketd_dc
institution	Universiti Teknikal Malaysia Melaka
collection	UTeM Repository
language	English English
advisor	Abdullah, Lokman
description	Higher tracking accuracy, robustness and disturbance rejection are the three most important elements that are highly demanded to be applied and achieved in the process of controller design in manufacturing process. In this new era where technology keeps rising, controller design for machine tools has caught the attention of most researchers nowadays. However, disturbances such as friction force and cutting force affect the tracking performance of the machine tool. Issues related to cutting force effect on machining have been studied extensively by previous researchers in which different controller techniques are designed to overcome this issue. The conventional controller such as a proportional-integral-derivative (PID) controller is proved to be inadequate in enhancing the tracking performance of the machine tool under the presence of cutting force. Consequently, PID structure is modified by cascading a nonlinear component and PID controller which is named as nonlinear proportional-integral-derivative (NPID) controller. However, an NPID controller also has limitation with respect to the range of stability of the nonlinear gain. Owing to this reason, NPID controller with more than one nonlinear components are proposed to address the issue. Thus, this thesis proposes an NPID Double Hyperbolic controller for improving the tracking performance of the machine tool application. First, the transfer function of the model is obtained via system identification approach which is known as black box approach. Then, the proposed controller is designed. It consists of two embedded hyperbolic nonlinear components known as the nonlinear proportional and the nonlinear integral which are located before the proportional and integral gains, respectively. This controller is validated via simulation and experimental works. The performance of this proposed controller is compared with the two conventional controllers; the PID and the NPID controllers to verify the effectiveness of the proposed controller. This thesis has successfully demonstrated that by adding additional nonlinear hyperbolic components, the tracking performance of a machine tool can increase significantly. The results showed that NPID Double Hyperbolic controller provide an improvement of 94.43% in terms of root mean square error (RMSE) performance and an enhancement of 62.59% in terms of fast fourier transform (FFT) error performance compared to the conventional NPID controller. However, further studies and improvement are needed to study the machine tool performance in view of the quadrant glitches existence produced by the friction force. In addition, further study is required on PID controller with three nonlinear components in order to produce better tracking machine tool performance.
format	Thesis
qualification_name	Master of Philosophy (M.Phil.)
qualification_level	Master's degree
author	Che Ku Junoh, Sahida
spellingShingle	Che Ku Junoh, Sahida NPID Double Hyperbolic Controller For Improving Tracking Performance Of XY Table Ballscrew Drive System
author_facet	Che Ku Junoh, Sahida
author_sort	Che Ku Junoh, Sahida
title	NPID Double Hyperbolic Controller For Improving Tracking Performance Of XY Table Ballscrew Drive System
title_short	NPID Double Hyperbolic Controller For Improving Tracking Performance Of XY Table Ballscrew Drive System
title_full	NPID Double Hyperbolic Controller For Improving Tracking Performance Of XY Table Ballscrew Drive System
title_fullStr	NPID Double Hyperbolic Controller For Improving Tracking Performance Of XY Table Ballscrew Drive System
title_full_unstemmed	NPID Double Hyperbolic Controller For Improving Tracking Performance Of XY Table Ballscrew Drive System
title_sort	npid double hyperbolic controller for improving tracking performance of xy table ballscrew drive system
granting_institution	Universiti Teknikal Malaysia Melaka
granting_department	Faculty of Manufacturing Engineering
publishDate	2019
url	http://eprints.utem.edu.my/id/eprint/24706/1/NPID%20Double%20Hyperbolic%20Controller%20For%20Improving%20Tracking%20Performance%20Of%20XY%20Table%20Ballscrew%20Drive%20System.pdf http://eprints.utem.edu.my/id/eprint/24706/2/NPID%20Double%20Hyperbolic%20Controller%20For%20Improving%20Tracking%20Performance%20Of%20XY%20Table%20Ballscrew%20Drive%20System.pdf
_version_	1747834093457899520
spelling	my-utem-ep.247062021-10-05T12:12:20Z NPID Double Hyperbolic Controller For Improving Tracking Performance Of XY Table Ballscrew Drive System 2019 Che Ku Junoh, Sahida Higher tracking accuracy, robustness and disturbance rejection are the three most important elements that are highly demanded to be applied and achieved in the process of controller design in manufacturing process. In this new era where technology keeps rising, controller design for machine tools has caught the attention of most researchers nowadays. However, disturbances such as friction force and cutting force affect the tracking performance of the machine tool. Issues related to cutting force effect on machining have been studied extensively by previous researchers in which different controller techniques are designed to overcome this issue. The conventional controller such as a proportional-integral-derivative (PID) controller is proved to be inadequate in enhancing the tracking performance of the machine tool under the presence of cutting force. Consequently, PID structure is modified by cascading a nonlinear component and PID controller which is named as nonlinear proportional-integral-derivative (NPID) controller. However, an NPID controller also has limitation with respect to the range of stability of the nonlinear gain. Owing to this reason, NPID controller with more than one nonlinear components are proposed to address the issue. Thus, this thesis proposes an NPID Double Hyperbolic controller for improving the tracking performance of the machine tool application. First, the transfer function of the model is obtained via system identification approach which is known as black box approach. Then, the proposed controller is designed. It consists of two embedded hyperbolic nonlinear components known as the nonlinear proportional and the nonlinear integral which are located before the proportional and integral gains, respectively. This controller is validated via simulation and experimental works. The performance of this proposed controller is compared with the two conventional controllers; the PID and the NPID controllers to verify the effectiveness of the proposed controller. This thesis has successfully demonstrated that by adding additional nonlinear hyperbolic components, the tracking performance of a machine tool can increase significantly. The results showed that NPID Double Hyperbolic controller provide an improvement of 94.43% in terms of root mean square error (RMSE) performance and an enhancement of 62.59% in terms of fast fourier transform (FFT) error performance compared to the conventional NPID controller. However, further studies and improvement are needed to study the machine tool performance in view of the quadrant glitches existence produced by the friction force. In addition, further study is required on PID controller with three nonlinear components in order to produce better tracking machine tool performance. 2019 Thesis http://eprints.utem.edu.my/id/eprint/24706/ http://eprints.utem.edu.my/id/eprint/24706/1/NPID%20Double%20Hyperbolic%20Controller%20For%20Improving%20Tracking%20Performance%20Of%20XY%20Table%20Ballscrew%20Drive%20System.pdf text en public http://eprints.utem.edu.my/id/eprint/24706/2/NPID%20Double%20Hyperbolic%20Controller%20For%20Improving%20Tracking%20Performance%20Of%20XY%20Table%20Ballscrew%20Drive%20System.pdf text en validuser https://plh.utem.edu.my/cgi-bin/koha/opac-detail.pl?biblionumber=116947 mphil masters Universiti Teknikal Malaysia Melaka Faculty of Manufacturing Engineering Abdullah, Lokman 1. Abdullah, L., 2014a. 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