Performance analysis of pre-sliding motion using sliding mode controller

Friction is typically defined as motion resistance as two surfaces move against each other. In nature and a wide variety of engineering applications, frictional interactions occur between solids. In manufacturing engineering, the friction force is necessary for the machine to prevent sliding. Still,...

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Main Author:	Kunyahamu, Siti Nur Syazwani
Format:	Thesis
Language:	English English
Published:	2021
Subjects:	T Technology (General) TJ Mechanical engineering and machinery
Online Access:	http://eprints.utem.edu.my/id/eprint/26717/1/Performance%20analysis%20of%20pre-sliding%20motion%20using%20sliding%20mode%20controller.pdf http://eprints.utem.edu.my/id/eprint/26717/2/Performance%20analysis%20of%20pre-sliding%20motion%20using%20sliding%20mode%20controller.pdf
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spelling	my-utem-ep.267172023-03-24T13:14:35Z Performance analysis of pre-sliding motion using sliding mode controller 2021 Kunyahamu, Siti Nur Syazwani T Technology (General) TJ Mechanical engineering and machinery Friction is typically defined as motion resistance as two surfaces move against each other. In nature and a wide variety of engineering applications, frictional interactions occur between solids. In manufacturing engineering, the friction force is necessary for the machine to prevent sliding. Still, when too much friction is applied to the device, it will affect the device and decrease the positioning and tracking accuracy in mechanical systems. This study identifies friction activity in pre-sliding motion, which is the compensation of friction force at motion reversal. Compensation methods either compensate for the controller (adaptive) or interference forces to achieve improved output in terms of monitoring and contour errors. Sliding Mode Control (SMC) is a design by using MATLAB software to compensate for friction. The Generalized Maxwell-Slip (GMS) friction model is used for numerical analysis. The controller's performance is measured based on reducing the error in the pre-sliding regime after designing the Sliding Mode Controller using Matlab Simulink software. The SMC parameters Lambda (λ), Gain (K) and Delta (ⱷ) were tuned and the best parameters were selected in accordance with the specifications of the configurations suggested, Configuration 1, Configuration 2 and Configuration 3. The lower variability index value, is Configuration 3 which are 0.3456% and the RMSE values is -0.1628, has been found to have the best tuning parameters for the Sliding Mode Control (SMC) controller. Using the best configuration performance that have been chosen, will be used in the PID Controller simulation to view the different output results of two different controllers using the same configuration performance value. The value of variability index and RMSE of PID is 1.9863% and 0.2710. Based on this analyses it shown that the Sliding Mode Controller (SMC) performed well during the simulations as opposed to the PID controller in this study. 2021 Thesis http://eprints.utem.edu.my/id/eprint/26717/ http://eprints.utem.edu.my/id/eprint/26717/1/Performance%20analysis%20of%20pre-sliding%20motion%20using%20sliding%20mode%20controller.pdf text en public http://eprints.utem.edu.my/id/eprint/26717/2/Performance%20analysis%20of%20pre-sliding%20motion%20using%20sliding%20mode%20controller.pdf text en validuser https://plh.utem.edu.my/cgi-bin/koha/opac-detail.pl?biblionumber=121765 mphil masters Universiti Teknikal Malaysia Melaka Faculty of Manufacturing Engineering Rafan, Nur Aidawaty
institution	Universiti Teknikal Malaysia Melaka
collection	UTeM Repository
language	English English
advisor	Rafan, Nur Aidawaty
topic	T Technology (General) TJ Mechanical engineering and machinery
spellingShingle	T Technology (General) TJ Mechanical engineering and machinery Kunyahamu, Siti Nur Syazwani Performance analysis of pre-sliding motion using sliding mode controller
description	Friction is typically defined as motion resistance as two surfaces move against each other. In nature and a wide variety of engineering applications, frictional interactions occur between solids. In manufacturing engineering, the friction force is necessary for the machine to prevent sliding. Still, when too much friction is applied to the device, it will affect the device and decrease the positioning and tracking accuracy in mechanical systems. This study identifies friction activity in pre-sliding motion, which is the compensation of friction force at motion reversal. Compensation methods either compensate for the controller (adaptive) or interference forces to achieve improved output in terms of monitoring and contour errors. Sliding Mode Control (SMC) is a design by using MATLAB software to compensate for friction. The Generalized Maxwell-Slip (GMS) friction model is used for numerical analysis. The controller's performance is measured based on reducing the error in the pre-sliding regime after designing the Sliding Mode Controller using Matlab Simulink software. The SMC parameters Lambda (λ), Gain (K) and Delta (ⱷ) were tuned and the best parameters were selected in accordance with the specifications of the configurations suggested, Configuration 1, Configuration 2 and Configuration 3. The lower variability index value, is Configuration 3 which are 0.3456% and the RMSE values is -0.1628, has been found to have the best tuning parameters for the Sliding Mode Control (SMC) controller. Using the best configuration performance that have been chosen, will be used in the PID Controller simulation to view the different output results of two different controllers using the same configuration performance value. The value of variability index and RMSE of PID is 1.9863% and 0.2710. Based on this analyses it shown that the Sliding Mode Controller (SMC) performed well during the simulations as opposed to the PID controller in this study.
format	Thesis
qualification_name	Master of Philosophy (M.Phil.)
qualification_level	Master's degree
author	Kunyahamu, Siti Nur Syazwani
author_facet	Kunyahamu, Siti Nur Syazwani
author_sort	Kunyahamu, Siti Nur Syazwani
title	Performance analysis of pre-sliding motion using sliding mode controller
title_short	Performance analysis of pre-sliding motion using sliding mode controller
title_full	Performance analysis of pre-sliding motion using sliding mode controller
title_fullStr	Performance analysis of pre-sliding motion using sliding mode controller
title_full_unstemmed	Performance analysis of pre-sliding motion using sliding mode controller
title_sort	performance analysis of pre-sliding motion using sliding mode controller
granting_institution	Universiti Teknikal Malaysia Melaka
granting_department	Faculty of Manufacturing Engineering
publishDate	2021
url	http://eprints.utem.edu.my/id/eprint/26717/1/Performance%20analysis%20of%20pre-sliding%20motion%20using%20sliding%20mode%20controller.pdf http://eprints.utem.edu.my/id/eprint/26717/2/Performance%20analysis%20of%20pre-sliding%20motion%20using%20sliding%20mode%20controller.pdf
_version_	1776103145091366912

Performance analysis of pre-sliding motion using sliding mode controller

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