MODELLING AND POSITION CONTROL OF MS150 DC SERVOMOTOR USING FUZZY-PID HYBRID CONTROLLER

Servomotors are used in a variety of industrial applications, which required reliable and precise control of the servo motors on the mechanism’s joints. The conventional feedback (FB) controller, which the Proportional-Integral-Derivative (PID) controller has good performances, while is not robust enough for non-linear system such as a motor. A feedforward (FF) compensator is added to the PID controller for the purpose of load disturbance rejection, and it had successfully increased the control performance by decreased the overshoot (O.S.) value when a load distribution is added. However, in order to obtain better control result, Proportional (P), Integral (I), and Derivative (D) parameters need to re-tune by every attempt of load changes. Thus, intelligent control algorithms (IA) are indeed to compensate the lacking of an ordinary controller. The servomotor is mathematically modelled into MATLAB/SIMULINK to obtain a virtual model of a servomotor for simulation use. The model is used for the servomotor’s position control simulation, and the control performances are compared among of the relevant conventional, fuzzy, and hybrid controllers. The PD controller gives the best result when no load is applied on MS150. Meanwhile, when a load disturbance is applied on MS150, PID controller performs the best, with the Integral (I) element brings the control performance to zero steady-state error (SSE). The Mamdani FLC with 7x7 MFs results in a better control performance compared to 5x5 and 9x9 MFs’ FLC that it is able to produce smallest SSE. Yet, FLC has its drawbacks too. The SSE for FLC is hardly to eliminate and gives a slower response compare to PID controller. There still a 0.001 rad of SSE for the 7x7 MFs FLC, when a load is applied on the servomotor. Consequently, the idea of the hybrid of Fuzzy-PID was present to use each other’s strengths to make up for each other’s weaken points, and this control architecture was robust enough to the load changes and performed better with zero O.S. and SSE compare to the conventional controller and the ordinary FLC

controller. The result shows that the proposed controller reduced the overshoot and steady state error of the pneumatic actuator system to no overshoot and 0.025mm respectively. Index terms: System identification, recursive least square, ARX, dead zone compensator, pneumatic actuator

In this paper, a nonlinear mathematical modeling based on fundamental physical derivation is presented. The mass flow rate, pressure dynamic and equation of motion are derived referring to the previous research. Simulation work is done to confirm the model based on this derivation. Cascade control based on PID and P controller is designed through simulation in SIMULINK where the parameters of the controller are obtained through PID with optimization toolbox. The results reveal that both step and sinusoidal response test, the cascade controller consistently indicates outperform performance compared to classical PID method. In future, it is recommended to apply this technique to the real-time implementation

Closed-Loop Identification Applied to a DC Servomechanism: Controller Gains Analysis

Usually, when parameter identification is applied, there are some gains related to the identification algorithm whose value must be carefully adjusted in order to obtain a good performance of the algorithm. However, when performing closed loop identification, there are some other constants that in general are not taken into account for the identification algorithm: the controller gains, which may appear inside the identification algorithm, specifically in the regressor vector, which is very important for the parameter convergence according to the persistence of excitation condition. Therefore, the effect of these gains on the estimated parameters should be analyzed so that better estimates can be obtained. This paper addresses the behavior of the parameter estimates for a closed-loop identification methodology applied to a DC servomechanism with a bounded perturbation signal and a PD controller. It is shown that, with this perturbation, the parameter estimates converge to a region whose size can be modified not only by varying the identification algorithm gains but also by modifying the P and D controller gains in a suitable way

THE USAGE OF LAMBERT W FUNCTION FOR IDENTIFICATION AND SPEED CONTROL OF A DC MOTOR

The paper proposes a new method of identifying the linear model of a DC motor. The parameter estimation is based on the closed-loop step response of the DC motor under a proportional controller. For the application of the method, a deliberate delay of the measured speed was introduced. The paper considers the speed regulation of the direct current motor with negligible inductance by applying 1-DOF and 2-DOF, proportional integral retarded controllers. The proportional and integral gain of the PI retarded controllers was received by using a pole placement method on the identified model. The Lambert W function was applied for the identification and in designing the controller with the purpose of finding the rightmost poles of the closed-loop as well as the boundary conditions for selecting the gain of the PI controller. The robustness of the calculated controllers was considered under the effect of an disturbance, uncertainty in each of the DC motor parameters as well as perturbations in time delay

Development of an Electro-Hydraulic Floating Double-Disc Valve.

There is a need for low-cost switching and proportional electro-hydraulic valves with low contamination sensitivity and good reliability. In an attempt to meet this need, a novel electro-hydraulic floating double-disc valve has been developed to the stage where it can be used to control hydraulic cylinders or motors directly. As the valve is significantly underlapped, problems still remain in achieving adequate hydraulic stiffness in the proportional mode of operation. The valve operation, which relies on the complex interaction between fluid and electro-magnetic forces acting on the valve discs, is described and a theoretical model of the fluid and electro-magnetic characteristics of the valve is presented. The theory shows satisfactory agreement with experimental data. A pre-production version of the double-disc valve has been designed and manufactured and it incorporates ideas for manufacturing cost reduction while at the same time conforming to CETOP 3 international valve port standards. This valve has been successfully tested as a switching or proportional device when controlling two different cylinders. Proportional control of the valve is achieved using Pulse-Width-Modulation technique. British Technology Group and University of Surrey have applied for a patent on the valve. The patented floating-disc valve has the following features: (a) 3 way or 4 way 2-position or proportional action with minor changes to produce the two types of action, (b) cartridge construction with interchangeable components, (c) low contamination sensitivity, (d) few critical dimensions, (e) no sliding surfaces, (f) CETOP valve port configuration and (g) potentially capable of operating with corrosive or non-lubricating fluids

Modelling of servo-controlled pneumatic drives: a generalised approach to pneumatic modelling and applications in servo-drive design

The primary objective of this research is to develop a general modelling facility for modular pneumatic servo-drives. The component-oriented approach has been adopted as the modelling technique to provide the flexibility of modelling a wide variety of components and the segmentation of the non-linear system to less complex uncoupled component modules. A significant part of the research work has been devoted to identify a series of component modules of the single axis linear pneumatic servomechanism with standardised linking variables. The mathematical models have been implemented in a simulation software which produces time domain responses for design evaluation purposes. Alternative components for different servomechanism design were modelled as mutually exclusive modules which could be selected for assembly as if they were real physical entities. The philosophy of the approach was validated by tests on prototype servo-drives with matching components. Design analysis could be performed by simulating and comparing the performance of alternative system structures. [Continues.

Fuzzy antiwindup schemes for NCTF control of Point-Topoint (PTP) positioning systems

The positioning systems generally need a 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, NCTF (nominal characteristic trajectory following) controller has been proposed as a practical PTP positioning control. However, the effect of actuator saturation can not be completely compensated due to integrator windup because of plant parameter variations. This study presents a method to improve the NCTF controller for overcoming the problem of integrator windup by adopting fuzzy anti-windup schemes. Two fuzzy antiwindup schemes based on Mamdani and Takagi-Sugeno fuzzy system are developed and evaluated their effectiveness. The improved NCTF controller with the proposed fuzzy anti-windup schemes is evaluated through simulation using dynamic model of a rotary positioning system. The results show that the improved NCTF controller with Takagi-Sugeno-based fuzzy windup is the best scheme to compensate for the effect of integrator windup

An Active Learning Didactic Proposal with Human-Computer Interaction in Engineering Education: A Direct Current Motor Case Study

Engineering education requires learning strategies to engage students and improve the development of disciplinary and transversal competencies. Additionally, as economic resources are generally limited, it is sought to avoid investing large sums of money in software and hardware, as well as in fitting out laboratories. This work presents a didactic proposal within the framework of active and collaborative learning that includes the flipped classroom technique to be applied in the curriculum of undergraduate engineering programs and inside a massive flexible digital master class. The activity is the mathematical modeling, simulation, and control system of a direct current motor where simulation work is carried out in open license computational packages. Students understand the physical phenomena involved in the motor’s modeling and the input–output variables’ relations. Moreover, an analogy between an electromechanical and a pure electrical model is carried out, where the relevant variables respond in an agile and reliable manner. To validate the modeling, the differential equations are solved by applying numerical methods, and tested for control purposes. The activity has been validated with a rule-based system applied to a Likert scale survey data. This type of human–computer interaction, in the context of active learning, could engage students and motivate them to develop competencies that are highly appreciated by industry practitioners. View Full-Tex