System identification and position control of pneumatic actuator using embedded system

This project report presents the ability of using embedded system to control non-linear systems like pneumatic actuators. The pneumatic actuators are commonly used in industrial applications because they have many practical advantages such as high power to weight ratio and cheap compared to other ac...

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Main Author:	Ahmed Sadeq, Taha Mohammed
Format:	Thesis
Language:	English
Published:	2015
Subjects:	TK Electrical engineering Electronics Nuclear engineering
Online Access:	http://eprints.utm.my/id/eprint/48774/25/TahaMohammedAhmedMFKE2015.pdf
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spelling	my-utm-ep.487742020-06-23T08:59:55Z System identification and position control of pneumatic actuator using embedded system 2015-01 Ahmed Sadeq, Taha Mohammed TK Electrical engineering. Electronics Nuclear engineering This project report presents the ability of using embedded system to control non-linear systems like pneumatic actuators. The pneumatic actuators are commonly used in industrial applications because they have many practical advantages such as high power to weight ratio and cheap compared to other actuators. Embedded system STM32F4DISCOVERY was used in this project to interface the pneumatic actuator with MATLAB® Simulink instead of using the conventional Data Acquisition card (DAQ) to reduce the cost and size. The embedded system was also used as a controller to execute the control algorithms. The model of the pneumatic actuator was identified by using system identification technique. Based on this model, the Proportional-Integral-Derivative (PID) and the Proportional-Derivative Fuzzy Logic (PD-Fuzzy) controllers were designed to control the position of the pneumatic actuator. Waijung Blockset in MATLAB® Simulink was used to estimate the model of the pneumatic actuator and implement these controllers inside the embedded system STM32F4DISCOVERY. A Pneumatic Actuated Ball and Beam System (PABBS) is an application of controlling the position of the pneumatic actuator. The developed model of PABBS was used to design three controllers for this plant based on the controllers of the pneumatic actuator. The Cascade PID, the PD-Fuzzy with Gain Feedback and the PD-Fuzzy with PID controllers were designed to control the ball at the desired position. For the position control of the pneumatic actuators, the simulation and experimental results of the PID and PD-Fuzzy controllers were presented. The PD-Fuzzy offers better control compared to other controllers in terms of stability and robustness for the pneumatic actuator. On the other hand, PD-Fuzzy with PID controllers gave the best control response in the simulation compared to the others controllers for the PABBS application. 2015-01 Thesis http://eprints.utm.my/id/eprint/48774/ http://eprints.utm.my/id/eprint/48774/25/TahaMohammedAhmedMFKE2015.pdf application/pdf en public http://dms.library.utm.my:8080/vital/access/manager/Repository/vital:86092 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 Ahmed Sadeq, Taha Mohammed System identification and position control of pneumatic actuator using embedded system
description	This project report presents the ability of using embedded system to control non-linear systems like pneumatic actuators. The pneumatic actuators are commonly used in industrial applications because they have many practical advantages such as high power to weight ratio and cheap compared to other actuators. Embedded system STM32F4DISCOVERY was used in this project to interface the pneumatic actuator with MATLAB® Simulink instead of using the conventional Data Acquisition card (DAQ) to reduce the cost and size. The embedded system was also used as a controller to execute the control algorithms. The model of the pneumatic actuator was identified by using system identification technique. Based on this model, the Proportional-Integral-Derivative (PID) and the Proportional-Derivative Fuzzy Logic (PD-Fuzzy) controllers were designed to control the position of the pneumatic actuator. Waijung Blockset in MATLAB® Simulink was used to estimate the model of the pneumatic actuator and implement these controllers inside the embedded system STM32F4DISCOVERY. A Pneumatic Actuated Ball and Beam System (PABBS) is an application of controlling the position of the pneumatic actuator. The developed model of PABBS was used to design three controllers for this plant based on the controllers of the pneumatic actuator. The Cascade PID, the PD-Fuzzy with Gain Feedback and the PD-Fuzzy with PID controllers were designed to control the ball at the desired position. For the position control of the pneumatic actuators, the simulation and experimental results of the PID and PD-Fuzzy controllers were presented. The PD-Fuzzy offers better control compared to other controllers in terms of stability and robustness for the pneumatic actuator. On the other hand, PD-Fuzzy with PID controllers gave the best control response in the simulation compared to the others controllers for the PABBS application.
format	Thesis
qualification_level	Master's degree
author	Ahmed Sadeq, Taha Mohammed
author_facet	Ahmed Sadeq, Taha Mohammed
author_sort	Ahmed Sadeq, Taha Mohammed
title	System identification and position control of pneumatic actuator using embedded system
title_short	System identification and position control of pneumatic actuator using embedded system
title_full	System identification and position control of pneumatic actuator using embedded system
title_fullStr	System identification and position control of pneumatic actuator using embedded system
title_full_unstemmed	System identification and position control of pneumatic actuator using embedded system
title_sort	system identification and position control of pneumatic actuator using embedded system
granting_institution	Universiti Teknologi Malaysia, Faculty of Electrical Engineering
granting_department	Faculty of Electrical Engineering
publishDate	2015
url	http://eprints.utm.my/id/eprint/48774/25/TahaMohammedAhmedMFKE2015.pdf
_version_	1747817471066243072

System identification and position control of pneumatic actuator using embedded system

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