Control of a pneumatic actuator system using enhanced nonlinear proportional integral derivative controller algorithm

Pneumatic actuators offer several advantages such as low cost, simple to maintain, high power to weight ratio, fast motion, free from overheating and reliable. Due to these advantages, this actuator continues to generate significant research interests and it has been promoted as an alternative to hy...

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Main Author:	Syed Salim, Syed Najib
Format:	Thesis
Language:	English
Published:	2015
Subjects:	TK Electrical engineering Electronics Nuclear engineering
Online Access:	http://eprints.utm.my/id/eprint/54742/1/SyedNajibPFKE2015.pdf
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spelling	my-utm-ep.547422020-11-04T08:47:15Z Control of a pneumatic actuator system using enhanced nonlinear proportional integral derivative controller algorithm 2015-08 Syed Salim, Syed Najib TK Electrical engineering. Electronics Nuclear engineering Pneumatic actuators offer several advantages such as low cost, simple to maintain, high power to weight ratio, fast motion, free from overheating and reliable. Due to these advantages, this actuator continues to generate significant research interests and it has been promoted as an alternative to hydraulics and electric servo motors in many automated tasks. However, it exhibits high nonlinearities due to high friction forces, compressibility of air and dead band of the spool movement in the valve. These nonlinearities make an accurate position difficult to achieve and it requires an appropriate controller for better performance. This thesis presents a new approach to control the pneumatic positioning system. The mathematical modeling is a crucial part to be established before the control algorithm can be designed. Initially, the modeling of the system is presented based on physical derivation. The parameters of the system are identified, and comparison between system identification by means of the MATLAB software is performed. The result obtained from the modeling process is validated with experimental data. Subsequently, two new controller techniques are proposed based on the enhancement of the Nonlinear Proportional Integral Derivative (N-PID) controller. The first technique is called Multi-rate Nonlinear PID (MN-PID), which is performed by utilizing the characteristics of rate variation in nonlinear gain. Fuzzy logic is used to perform this task. Meanwhile, for the second technique, a Self-regulation Nonlinear (SN) function, is introduced to reprocess the error signal to continuously generate the values for rate variation. The proposed controllers are implemented to the system, and their performances are analyzed for both cases, with and without load. Simulation and experimental tests are conducted with different input, namely step, multistep, sinusoidal and S-curve waveforms to evaluate the performance of the proposed techniques. The existing techniques that include PID, N-PID, and Sliding Mode Control (SMC) are also tested to the system as a comparison. The results indicate that the system with MN-PID and SN-PID exhibits improvement of dynamic performance criterion exceeding 34% and 59%, respectively. In addition, both techniques succesfully provide fast response without overshoot where the rise time reduces more than 87%. It proves that the novel initiative is capable of examining and identifying the characteristics of rate variation based on a new controller that was derived from N-PID controller. Moreover, the system performance is successfully accomplished for each position and direction as well as under various loads. 2015-08 Thesis http://eprints.utm.my/id/eprint/54742/ http://eprints.utm.my/id/eprint/54742/1/SyedNajibPFKE2015.pdf application/pdf en public http://dms.library.utm.my:8080/vital/access/manager/Repository/vital:88019 phd doctoral 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 Syed Salim, Syed Najib Control of a pneumatic actuator system using enhanced nonlinear proportional integral derivative controller algorithm
description	Pneumatic actuators offer several advantages such as low cost, simple to maintain, high power to weight ratio, fast motion, free from overheating and reliable. Due to these advantages, this actuator continues to generate significant research interests and it has been promoted as an alternative to hydraulics and electric servo motors in many automated tasks. However, it exhibits high nonlinearities due to high friction forces, compressibility of air and dead band of the spool movement in the valve. These nonlinearities make an accurate position difficult to achieve and it requires an appropriate controller for better performance. This thesis presents a new approach to control the pneumatic positioning system. The mathematical modeling is a crucial part to be established before the control algorithm can be designed. Initially, the modeling of the system is presented based on physical derivation. The parameters of the system are identified, and comparison between system identification by means of the MATLAB software is performed. The result obtained from the modeling process is validated with experimental data. Subsequently, two new controller techniques are proposed based on the enhancement of the Nonlinear Proportional Integral Derivative (N-PID) controller. The first technique is called Multi-rate Nonlinear PID (MN-PID), which is performed by utilizing the characteristics of rate variation in nonlinear gain. Fuzzy logic is used to perform this task. Meanwhile, for the second technique, a Self-regulation Nonlinear (SN) function, is introduced to reprocess the error signal to continuously generate the values for rate variation. The proposed controllers are implemented to the system, and their performances are analyzed for both cases, with and without load. Simulation and experimental tests are conducted with different input, namely step, multistep, sinusoidal and S-curve waveforms to evaluate the performance of the proposed techniques. The existing techniques that include PID, N-PID, and Sliding Mode Control (SMC) are also tested to the system as a comparison. The results indicate that the system with MN-PID and SN-PID exhibits improvement of dynamic performance criterion exceeding 34% and 59%, respectively. In addition, both techniques succesfully provide fast response without overshoot where the rise time reduces more than 87%. It proves that the novel initiative is capable of examining and identifying the characteristics of rate variation based on a new controller that was derived from N-PID controller. Moreover, the system performance is successfully accomplished for each position and direction as well as under various loads.
format	Thesis
qualification_name	Doctor of Philosophy (PhD.)
qualification_level	Doctorate
author	Syed Salim, Syed Najib
author_facet	Syed Salim, Syed Najib
author_sort	Syed Salim, Syed Najib
title	Control of a pneumatic actuator system using enhanced nonlinear proportional integral derivative controller algorithm
title_short	Control of a pneumatic actuator system using enhanced nonlinear proportional integral derivative controller algorithm
title_full	Control of a pneumatic actuator system using enhanced nonlinear proportional integral derivative controller algorithm
title_fullStr	Control of a pneumatic actuator system using enhanced nonlinear proportional integral derivative controller algorithm
title_full_unstemmed	Control of a pneumatic actuator system using enhanced nonlinear proportional integral derivative controller algorithm
title_sort	control of a pneumatic actuator system using enhanced nonlinear proportional integral derivative controller algorithm
granting_institution	Universiti Teknologi Malaysia, Faculty of Electrical Engineering
granting_department	Faculty of Electrical Engineering
publishDate	2015
url	http://eprints.utm.my/id/eprint/54742/1/SyedNajibPFKE2015.pdf
_version_	1747817716133134336

Control of a pneumatic actuator system using enhanced nonlinear proportional integral derivative controller algorithm

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