scholarly journals Point-to-point practical controller performance in an experimental two-axes belt driven mechanism

2018 ◽  
Vol 154 ◽  
pp. 01113
Author(s):  
Purtoj ◽  
Mulfiyandi
Keyword(s):  
Fast Response ◽  
Open Loop ◽  
Performance Point ◽  
Controller Performance ◽  
Position Data ◽  
Simulation And Experiment ◽  
Trajectory Following ◽  
Point Positioning ◽  
Point To Point ◽  
Different Characteristics

High accuracy, fast response with no or small overshoot, and robust to object uncertainties are such performance required in a point-to-point positioning system. In order to achieve those performances, a good controller is required. A nominal characteristic trajectory following controller is one type of practical controllers which already has shown it good point-to-point positioning performance. Its structure consists of a nominal characteristic trajectory and a compensator. The design of the controller is based on a simple open loop experiment to construct a nominal characteristic trajectory. Information from nominal characteristic trajectory was then used to design the compensator. This practical approach was implemented in several different controlled objects, but limited to, system with a high stiffness mechanism. In this work, a nominal characteristic trajectory following controller was implemented on a low stiffness mechanism. An experimental two-axes belt driven mechanism was used as a controlled object. The actuator to drive the mechanism was electric motors with integrated encoders. Both axes with different characteristics identified through a simple open loop experiments and nominal characteristic trajectory constructed using speed and position data. A proportional integral compensator is selected in this work and was designed according to information from a nominal characteristic trajectory. In order to evaluate controller performance, point to point operation was conducted through simulation and experiment.

scholarly journals Anti-Windup Scheme for Practical Control of Positioning Systems

1970 ◽  
Vol 5 (2) ◽  
Author(s):  
Wahyudi Tarig Faisal and Abdulgani Albagul
Keyword(s):  
Controller Design ◽  
Actuator Saturation ◽  
Fast Response ◽  
High Accuracy ◽  
Positioning System ◽  
Practical Application ◽  
Positioning Control ◽  
Positioning Systems ◽  
Trajectory Following ◽  
Point To Point

Positioning systems generally need a good controller to achieve high accuracy, fast response and robustness. In addition, ease of controller design and simplicity of controller structure are very important for practical application.  For satisfying these requirements, nominal characteristic trajectory following controller (NCTF) has been proposed as a practical point-to-point (PTP) positioning control. However, the effect of actuator saturation can not be completely compensated for due to the integrator windup as the plant parameters vary. This paper presents a method to improve the NCTF controller for overcoming the problem of integrator windup using simple and classical tracking anti-windup scheme. The improved NCTF controller is evaluated through simulation using a rotary positioning system. The results show that the improved NCTF controller is adequate to compensate for the effect of integrator windup. Keywords: Positioning, point-to-point, integrator windup, compensation, controller, robustness.

scholarly journals Positioning Control and Operational Evaluation of A One Mass Rotary System using NCTF Controller

2018 ◽  
Vol 7 (3.28) ◽  
pp. 111
Author(s):  
Rozilawati Mohd Nor ◽  
Sahazati Md Rozali ◽  
Chong Shin Horng
Keyword(s):  
Tracking Control ◽  
Open Loop ◽  
Object Motion ◽  
Motion Error ◽  
Positioning Control ◽  
Proportional Integral ◽  
Control Scheme ◽  
Controller Performance ◽  
Motion Performance ◽  
Trajectory Following

A practical control scheme is proposed for a one mass rotary system. It was written to demonstrate the controller performance towards positioning and tracking control. For this system, the Nominal Characteristic Trajectory Following (NCTF) controller is proposed and improved. The objective of NCTF controller is to make the object motion to follow the NCT and ends at it origin. Generally, the NCTF controller consists of a Nominal Characteristic Trajectory (NCT) obtained from open loop response and Proportional Integral (PI) compensator. The CM-NCTF controller is proposed for evaluating the motion performance and compare with the conventional NCTF controller. For positioning control, both NCTF controllers demonstrate almost identical positioning performance. However, for tracking control, CM-NCTF controller demonstrates better tracking performance than the conventional NCTF controller with the smallest motion error presented. Besides, the robustness of the CM-NCTF controller to the variation load is examined. 

Adaptive PID Controller Based on Single Neuron

2012 ◽  
Vol 466-467 ◽  
pp. 981-985 ◽  
Author(s):  
Xin Yun Qiu ◽  
Yuan Gao
Keyword(s):  
Pid Controller ◽  
Control Algorithm ◽  
Single Neuron ◽  
Variable Parameter ◽  
Fast Response ◽  
Control Law ◽  
Parameters Tuning ◽  
Application Condition ◽  
Simulation And Experiment ◽  
New Type

An adaptive PID controller based on single neuron is proposed. The properties, control algorithm, parameters tuning, the control law and the application condition of the controller are studied in the paper. To satisfy the properties of the requirements of the control system in an electromotor group, such as a broad dynamic changing range, a fast response, a little overshoot and time-variable parameter, a new-type self-optimizing PID controller based on artificial neural networks is proposed and studied. It is verified that the controller has few adjustable parameters and excellent robust performance. The results of simulation and experiment prove that the controller is superior to the traditional PID controller.

Design of a Velocity Control System Using an Inlet Metered Pump

2017 ◽  
Author(s):  
Hasan H. Ali ◽  
Roger C. Fales ◽  
Noah D. Manring
Keyword(s):  
Fluid Flow ◽  
Control System ◽  
High Efficiency ◽  
Flow Direction ◽  
Low Cost ◽  
Hydraulic Cylinder ◽  
Fast Response ◽  
Open Loop ◽  
Velocity Control ◽  
Pump System

This work introduces a new way to control hydraulic cylinder velocity using an inlet metering pump system to control the hydraulic flow entering the cylinder. The inlet metering system consists of a fixed displacement pump and an inlet metering valve that adjusts the hydraulic fluid flow entering the pump as required. The energy losses associated with flow metering in the system are reduced because the pressure drop across the inlet metering valve can be arbitrarily small. The fluid is supplied to the inlet metering valve at a fixed pressure using a charge pump. A velocity control system is designed using the inlet metering system as means to control the fluid flow to a hydraulic cylinder. In addition to the inlet metering system, the velocity control system designed in this work includes a four-way directional valve to set the fluid flow direction according to the desired direction of the hydraulic cylinder velocity. Open-loop and closed-loop proportional and proportional derivative (P and PD) controllers are designed. Designs with the goals of stability and performance of the system are studied so that a precise and smooth velocity control system for the hydraulic cylinder is achieved. In addition to potentially high efficiency of this system, there is potential for other benefits including low cost, fast response, and less complicated dynamics compared to other systems. The results presented in this work show that the inlet metering velocity control system can be designed so that the system is stable, there is zero overshoot and no oscillation.

scholarly journals IDENTIFIKASI PERMASALAHAN DALAM MENYIMAK BAHASA JEPANG TERKAIT DENGAN BENTUK PILIHAN JAWABAN SOAL YANG DIALAMI MAHASISWA DI BALI

IZUMI ◽  
2015 ◽  
Vol 4 (1) ◽  
pp. 10
Author(s):  
Desak Made Sri Mardani
Keyword(s):  
Fast Response ◽  
The Other ◽  
Main Question ◽  
Listening Test ◽  
Written Form ◽  
The Subject ◽  
Answer Choice ◽  
Different Characteristics

This study aims at investigating the problems in listening test encountered by students of Japanese department in Bali associated with the answer choice of the test. This study was design descriptively in which the subject were 133 Japanese department student of 3rd semester from 3 different universities. The object of this study is the problems encountered by students of Japanese department in Bali associated with the answer choice of the listening test. The result of study showed that the students were easier to answer the test correctly with written form of answer choice. In each main question, it could be seen that the student were easier to find out the answer of ‘fast response’ question than the other main questions. From the analysis of items difficulty it was found that the problems encountered by students in listening were more on items with written answer choice, with different characteristics of the questions.

scholarly journals Rest-to-Rest Motion of an Experimental Flexible Structure Subject to Friction: Linear Programming Approach

2010 ◽  
Vol 132 (1) ◽  
Author(s):  
Rajaey Kased ◽  
Tarunraj Singh
Keyword(s):  
Linear Programming ◽  
Controller Design ◽  
Open Loop ◽  
Programming Approach ◽  
Pulse Control ◽  
Test Bed ◽  
Residual Vibration ◽  
Linear Programming Approach ◽  
Point To Point ◽  
Harmonic System

A linear programming approach designed to eliminate the residual vibration of the two-mass harmonic system subject to friction and undergoing a point-to-point maneuver is proposed and implemented on an experimental test bed. Techniques for design of positive pulse control profiles for nonrobust and robust open loop controller design are explored, where the positive pulses initiate motion and the friction force brings the system to rest. It is shown that consistent results can be obtained from experiments and the robustness against frequency uncertainty results in the reduction in residual vibration as well as steady-state error.

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