Positioning Control of a One Mass Rotary System with CM-NCTF Controller

Authors

  • J. E. Foo Faculty of Electrical Engineering, Universiti Teknikal Malaysia Melaka, Hang Tuah Jaya, 76100 Durian Tunggal, Melaka, Malaysia.
  • S. H. Chong Faculty of Electrical Engineering, Universiti Teknikal Malaysia Melaka, Hang Tuah Jaya, 76100 Durian Tunggal, Melaka, Malaysia.
  • R. M. Nor Faculty of Engineering Technology, Universiti Teknikal Malaysia Melaka, Hang Tuah Jaya, 76100 Durian Tunggal, Melaka, Malaysia.
  • S. L. Loh Faculty of Electrical Engineering, Universiti Teknikal Malaysia Melaka, Hang Tuah Jaya, 76100 Durian Tunggal, Melaka, Malaysia.

Keywords:

Practical Control, Positioning Control, One Mass Rotary System

Abstract

In this paper, a Continuous Motion Nominal Characteristic Trajectory Following (CM-NCTF) controller is proposed as a practical control approach on a DC driven one mass rotary system. A CM-NCTF controller has simple controller structure and easy design procedures, and it does not require the exact plant model parameters. The CM-NCTF controller is made up of two major parts: a Nominal Characteristic Trajectory (NCT) and a Proportional-Integral (PI) compensator. The NCT is constructed on a phase plane with open loop information of the mechanism, while PI compensator is designed to ensure the mechanism follows the NCT and stops at the origin of the phase plane. The positioning performance of the CM-NCTF controller are evaluated and compared with a PID controller in point-to-point and tracking motion experimentally. The proposed controller achieved at least 36.8 % smaller steady state error than the PID controller, with no presence of overshoot in point-to-point motion. In tracking motion, the maximum tracking error produced by the CM-NCTF controller is 3 times lower than the PID controller in 1 rad amplitude. Overall, the experimental results demonstrated that the CM-NCTF controller has greater positioning and tracking performances than the PID controller.

References

P. Dorato, “Quantified multivariable polynomial inequalities: the mathematics of practical control design problems,” IEEE Control Magazines, vol. 20,no. 5, pp.48-58, 2000.

K. Kim, K. Rew, and S. Kim, “Disturbance observer for estimating higher order disturbances in time series expansion,” IEEE Trans. on Automat. Control, vol. 50, no. 8, pp. 1905-1911, 2010.

Y. X. Su, C. H. Zheng, and B. Y. Duan, “Automatic disturbances rejection controller for precise motion control of permanent-magnet synchronous motors,” IEEE Trans. of Ind. Electron., vol.52, no. 3, pp. 814-823, 2005.

Q. W. Jia, “Disturbance rejection through disturbance observer with adaptive frequency estimation,” IEEE Trans. of Magnetics, vol. 45, no. 6, pp. 2675-2678, 2005.

Y.F. Li and J. Wikander, “Model reference discrete-time sliding mode control of linear motor precision servo systems,” Mechatronics, vol. 14, no. 7, pp. 835-851, 2009.

H. M. Chen, Z. Y. Chen, and M. C. Chung, “Implementation of an integral sliding mode controller for a pneumatic cylinder position servo control system,” in Int. Conf. Innovative Computing, Information and Control, Kaohsiung, Taiwan, 2009, pp. 552-555.

R. Shieh and Y. Lu, “Jerk-constrained time-optimal control of a positioning servo,” in Int. Conf. Control Automation and Systems, Gyeonggi-do, Korea, 2010, pp. 1473-1476. 2010.

Wahyudi, K. Sato, and A. Shimokohbe, “Characteristics of practical control for point-to-point (PTP) positioning systems effect of design parameters and actuator saturation on positioning performance,” Precision Engineering, vol. 27, no. 2, pp. 157-169, 2003.

G. J. Maeda and K. Sato, “Practical control method for ultra-precision positioning using a ballscrew mechanism,” Precision Engineering, vol. 32, no. 4, pp. 309-318, 2008.

K. Sato and G. J. Maeda, “A practical control method for precision motion-Improvement of NCTF control method for continuous motion control,” Precision Engineering, vol. 33, no. 2, pp. 175-186, 2008.

S. H. Chong and K. Sato, “Practical controller design for precision positioning, independent of friction characteristic,” Precision Engineering, vol. 34, no. 2, pp. 286-300, 2010.

R. Mohd Nor, Practical positioning control of a one mass rotary system, M. S. Thesis, Dept. Elect. Eng., Universiti Teknikal Malaysia Melaka, Malacca, 2014.

Downloads

Published

2016-12-01

How to Cite

Foo, J. E., Chong, S. H., Nor, R. M., & Loh, S. L. (2016). Positioning Control of a One Mass Rotary System with CM-NCTF Controller. Journal of Telecommunication, Electronic and Computer Engineering (JTEC), 8(11), 125–129. Retrieved from https://jtec.utem.edu.my/jtec/article/view/1421

Issue

Vol. 8 No. 11: Artificial Intelligence and Robotics

Section

Articles

License

TRANSFER OF COPYRIGHT AGREEMENT

The manuscript is herewith submitted for publication in the Journal of Telecommunication, Electronic and Computer Engineering (JTEC). It has not been published before, and it is not under consideration for publication in any other journals. It contains no material that is scandalous, obscene, libelous or otherwise contrary to law. When the manuscript is accepted for publication, I, as the author, hereby agree to transfer to JTEC, all rights including those pertaining to electronic forms and transmissions, under existing copyright laws, except for the following, which the author(s) specifically retain(s):

  1. All proprietary right other than copyright, such as patent rights
  2. The right to make further copies of all or part of the published article for my use in classroom teaching
  3. The right to reuse all or part of this manuscript in a compilation of my own works or in a textbook of which I am the author; and
  4. The right to make copies of the published work for internal distribution within the institution that employs me

I agree that copies made under these circumstances will continue to carry the copyright notice that appears in the original published work. I agree to inform my co-authors, if any, of the above terms. I certify that I have obtained written permission for the use of text, tables, and/or illustrations from any copyrighted source(s), and I agree to supply such written permission(s) to JTEC upon request.