Generalized predictive control approach for a modified single acting pneumatic cylinder

Pneumatic actuator is a device that converts air pressure to possible motions such as linear and rotary motion. Although the pneumatic actuator offers many advantages it is difficult to control. This is due to the nonlinearities involved such as friction and air compressibility. The equipment used i...

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主要作者:	Mustafa, Nu’Man Din
格式:	Thesis
语言:	English
出版:	2014
主题:	TK Electrical engineering Electronics Nuclear engineering
在线阅读:	http://eprints.utm.my/id/eprint/47998/25/Nu%E2%80%99Man%20DinMustafaMFKE2014.pdf
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spelling	my-utm-ep.479982017-07-20T07:51:21Z Generalized predictive control approach for a modified single acting pneumatic cylinder 2014-09 Mustafa, Nu’Man Din TK Electrical engineering. Electronics Nuclear engineering Pneumatic actuator is a device that converts air pressure to possible motions such as linear and rotary motion. Although the pneumatic actuator offers many advantages it is difficult to control. This is due to the nonlinearities involved such as friction and air compressibility. The equipment used in this research is the Intelligent Pneumatic Actuator (IPA). Previously, Proportional-Integral (PI) has been used as the controller for the IPA. Based on the previous result, a controller called generalized predictive controller (GPC) is proposed. Compared to PI, this controller has the capability to take into account the nonlinearity factor which is very important in this research. There are two types of GPC proposed in this research which are GPC with First Order Time Delay (GPC-FOTD) and GPC with Higher Order (GPC-HO). This research starts with the implementation of PI, GPC-FOTD and GPC-HO controllers for position and force control in simulations. Then, the simulation result is validated with the real-time experiments. There are two experiments for position control, which are position control with and without loads and one experiment for force control. Then, a Haptic Pneumatic Device (HPD) is developed in order to emulate a spring by combining the position and force control. By implementing the spring characteristic to the pneumatic device, a human machine interaction concept is applied to the device. In summary, GPC-FOTD shows better performance compared to GPC-HO and PI in terms of stability and better response for position control. For force control the GPC-HO shows better performance compared to other controllers in terms of tracking and accuracy. Then for the spring characteristic implementation, response of force versus displacement is presented where the results show stiffness coefficient (Ks ) is directly proportional to the output force generated. This device together with GPC controller are capable of giving better results in terms of spring characteristic emulation control compared to the previous research on IPA. These results and application hopefully can be used to help people such as in rehabilitation sector, as exercise equipment and entertainment tools as well as comparison data for other controller development. 2014-09 Thesis http://eprints.utm.my/id/eprint/47998/ http://eprints.utm.my/id/eprint/47998/25/Nu%E2%80%99Man%20DinMustafaMFKE2014.pdf application/pdf en public masters Universiti Teknologi Malaysia, Faculty of Electrical Engineering Faculty of Electrical Engineering
institution	Universiti Teknologi Malaysia
collection	UTM Institutional Repository
language	English
topic	TK Electrical engineering Electronics Nuclear engineering
spellingShingle	TK Electrical engineering Electronics Nuclear engineering Mustafa, Nu’Man Din Generalized predictive control approach for a modified single acting pneumatic cylinder
description	Pneumatic actuator is a device that converts air pressure to possible motions such as linear and rotary motion. Although the pneumatic actuator offers many advantages it is difficult to control. This is due to the nonlinearities involved such as friction and air compressibility. The equipment used in this research is the Intelligent Pneumatic Actuator (IPA). Previously, Proportional-Integral (PI) has been used as the controller for the IPA. Based on the previous result, a controller called generalized predictive controller (GPC) is proposed. Compared to PI, this controller has the capability to take into account the nonlinearity factor which is very important in this research. There are two types of GPC proposed in this research which are GPC with First Order Time Delay (GPC-FOTD) and GPC with Higher Order (GPC-HO). This research starts with the implementation of PI, GPC-FOTD and GPC-HO controllers for position and force control in simulations. Then, the simulation result is validated with the real-time experiments. There are two experiments for position control, which are position control with and without loads and one experiment for force control. Then, a Haptic Pneumatic Device (HPD) is developed in order to emulate a spring by combining the position and force control. By implementing the spring characteristic to the pneumatic device, a human machine interaction concept is applied to the device. In summary, GPC-FOTD shows better performance compared to GPC-HO and PI in terms of stability and better response for position control. For force control the GPC-HO shows better performance compared to other controllers in terms of tracking and accuracy. Then for the spring characteristic implementation, response of force versus displacement is presented where the results show stiffness coefficient (Ks ) is directly proportional to the output force generated. This device together with GPC controller are capable of giving better results in terms of spring characteristic emulation control compared to the previous research on IPA. These results and application hopefully can be used to help people such as in rehabilitation sector, as exercise equipment and entertainment tools as well as comparison data for other controller development.
format	Thesis
qualification_level	Master's degree
author	Mustafa, Nu’Man Din
author_facet	Mustafa, Nu’Man Din
author_sort	Mustafa, Nu’Man Din
title	Generalized predictive control approach for a modified single acting pneumatic cylinder
title_short	Generalized predictive control approach for a modified single acting pneumatic cylinder
title_full	Generalized predictive control approach for a modified single acting pneumatic cylinder
title_fullStr	Generalized predictive control approach for a modified single acting pneumatic cylinder
title_full_unstemmed	Generalized predictive control approach for a modified single acting pneumatic cylinder
title_sort	generalized predictive control approach for a modified single acting pneumatic cylinder
granting_institution	Universiti Teknologi Malaysia, Faculty of Electrical Engineering
granting_department	Faculty of Electrical Engineering
publishDate	2014
url	http://eprints.utm.my/id/eprint/47998/25/Nu%E2%80%99Man%20DinMustafaMFKE2014.pdf
_version_	1747817282903474176

Generalized predictive control approach for a modified single acting pneumatic cylinder

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