Performance Comparison between PID And Fuzzy Logic Controller in Position Control System of Dc Servomotor

The objective of this paper is to compare the time specification performance between conventional controller and artificial intelligence controller in position control system of a DC motor. This will include design and development of a GUI software using Microsoft Visual Basic 6.0 for position control system experiment. The scope of this research is to apply direct digital control technique in position control system. Two types of controller namely PID and fuzzy logic controller will be used to control the output response. An interactive software will be developed to visualize and analyze the system. This project consists of hardware equipment and software design. The hardware parts involve in interfacing MS150 Modular servo System and Data Acquisition System with a personal computer. The software part includes programming real-time software using Microsoft Visual Basic 6.0. Finally, the software will be integrated with hardware to produce a GUI position control system

Open-loop Characteristics of a Multilayer Electrostatic Actuator for a Fine Motion Stage

This paper outlines the open-loop characteristics of a multilayer electrostatic actuator utilized for a fine motion stage without precise balls. The research was undertaken in order to envisage a practical and simple multilayer electrostatic actuator that produces high precision motion and sufficient force for a fine motion stage. For this purpose, a two-layer electrostatic actuator was developed and examined. Lubrication oils are used as lubricants in order to obtain low friction by maintaining the gaps between the stator and mover layers without precise balls for simplicity and easy maintenance. Each layer of the electrostatic actuator has one electrode, which consists of several beams. This paper examines the effects of the lubrication oil viscosity on the displacement and force characteristics in order to clarify the suitable lubrication oil utilized on the actuator. It was found that when using low viscosity lubrication oil, a shorter response time and greater thrust force was observed. Secondly, high dielectric fillers were added to the lubrication oil, and the displacement and force characteristics were then evaluated. The results show that addition of the fillers assisted in producing a shorter response time and a thrust force which was significantly larger. Lastly, the resultant effects of the driving signals on the motion characteristics were evaluated, which concluded with the discussion in the signal selection on demand

Evaluation of a Multilayer Electrostatic Actuator for a Fine Motion Stage without Precise Balls for Lubrication

This paper outlines the basic characteristics and the control performances of a multilayer electrostatic actuator utilized for a fine motion stage without precise balls. The research was undertaken in order to realize a practical and simple multilayer electrostatic actuator that produces high precision motion and sufficient force for a fine motion stage. For this purpose, a two-layer electrostatic actuator was developed and evaluated. Lubrication oils are used as lubricants in order to obtain low friction by maintaining the gaps between the stator and mover layers without precise balls for simplicity and easy maintenance. Each layer of the electrostatic actuator has one electrode, which consists of several beams. The motion characteristics of the electrostatic actuator without precise balls depend on the input signal to the actuator, which consequently influences the frictional effect. First, this paper examines the resultant effects of the driving signals on the motion characteristics. Next, based on the driving signal, the control system for the actuator is designed. The control system includes the PID compensator and the driving signal unit which generates the suitable signal for full working range motion. The actuator exhibits the positioning accuracy better than 15nm

Control Performances of a Fine Motion Stage using a Multilayer Electrostatic Actuator without Precise Balls for Lubrication

This paper describes the control performances of a multilayer electrostatic actuator, which is designed for a fine motion stage without precise balls for lubrication. The motion characteristics of the electrostatic actuator without precise balls depend on the input signal to the actuator, which consequently influences the frictional effect. First, the relationship between the working range and the input signal is explained. Next, based on the relationship, the actuator’s control system is designed. The control system includes the PID compensator and the driving signal unit which generates the suitable signal for three driving modes in response to the working range; that is (1) fine driving mode for working range smaller than 120nm, (2) wide driving mode for working range wider than 120nm and (3) dual driving mode. The fine driving mode enables the actuator to be driven with a large holding force for limited working range. To ensure the full working range of the actuator, the wide driving mode is useful. Additionally, to permit the actuator to be driven with a large holding force under the full working range, the dual driving mode was introduced. The actuator exhibits high performances under these three driving modes with the positioning accuracy less than 15nm

Driving Mode Control of A Multilayered Thin Electrostatic Actuator Supported By Lubricating Oil For Ultra-Precision Positioning

Fine stages are widely used in microscope systems, optical systems, and manufacturing systems. Electrostatic actuators have some advantages in terms of their low heat production and material availability. They are also able to transmit power without mechanical contact and do not require hinges. In addition, the multilayered structure can increase the produced thrust force

Performance comparison between PID and fuzzy logic controller in position control system of dc servomotor

The objective of this paper is to compare the time specification performance between conventional controller and artificial intelligence controller in position control system of a DC motor. This will include design and development of a GUI software using Microsoft Visual Basic 6.0 for position control system experiment. The scope of this research is to apply direct digital control technique in position control system. Two types of controller namely PID and fuzzy logic controller will be used to control the output response. An interactive software will be developed to visualize and analyze the system. This project consists of hardware equipment and software design. The hardware parts involve in interfacing MS150 Modular servo System and Data Acquisition System with a personal computer. The software part includes programming real-time software using Microsoft Visual Basic 6.0. Finally, the software will be integrated with hardware to produce a GUI position control system

Generative Design of A 6-Axis Quadcopter Drone for Weight Optimization

A drone is an Unmanned Aerial Vehicle (UAV) that can be remotely controlled through software-controlled flight plans using embedded systems. The major challenge in UAV is to obtain the unique structure design of the 6-Axis quadcopter drone through different applied parameters. Hence, this research aims to design the best structure of a UAV drone, which optimizes the shape of materials and manufacturing methods while saving the cost of materials, parts, and design time during the manufacturing and assembly process. In this research, a mechanical structure of a UAV drone is sketched in Autodesk Inventor and Autodesk Fusion 360. Generative design is a process of defining the constraints and forces of the imaginary design; then, the software will calculate all the shape possibilities that satisfy the initial design parameters. Exploration tools such as detailed thumbnails, filters, and customizable scatter plots will assist in achieving the best match UAV drone design and its manufacturing requirements. The UAV using the generative design was set to a total weight less than 1kg, whereby the optimized maximum stress analysis is achieved at 5.028MPa with 83.00%, maximum displacement analysis at 0.666mm with 45.44%, and production time is at 15.5hours with 61.25% which improve the UAV weight optimization

Generative Design of A 6-Axis Quadcopter Drone for Weight Optimization

A drone is an Unmanned Aerial Vehicle (UAV) that can be remotely controlled through software-controlled flight plans using embedded systems. The major challenge in UAV is to obtain the unique structure design of the 6-Axis quadcopter drone through different applied parameters. Hence, this research aims to design the best structure of a UAV drone, which optimizes the shape of materials and manufacturing methods while saving the cost of materials, parts, and design time during the manufacturing and assembly process. In this research, a mechanical structure of a UAV drone is sketched in Autodesk Inventor and Autodesk Fusion 360. Generative design is a process of defining the constraints and forces of the imaginary design; then, the software will calculate all the shape possibilities that satisfy the initial design parameters. Exploration tools such as detailed thumbnails, filters, and customizable scatter plots will assist in achieving the best match UAV drone design and its manufacturing requirements. The UAV using the generative design was set to a total weight less than 1kg, whereby the optimized maximum stress analysis is achieved at 5.028MPa with 83.00%, maximum displacement analysis at 0.666mm with 45.44%, and production time is at 15.5hours with 61.25% which improve the UAV weight optimization

Microcontroller Based Fire Alarm System Using Sensory and Monitoring System

Fire alarm system plays an important role in maintaining and monitoring the safe of all kind environments and situations. However the usability of many existing fire alarm system is well known but could he produce with high cost. Subsequently, it is not affordable for the low income users. This paper will discuss the design and implementation of a fire alarm system using the microcontroller which is been produced with low cost and with effective outcome. The outcome of this fire alarm system is almost the same compared to the existing fire alarm system in the market which is been produced with higher cost

Design Optimization & Analysis of a Soft Crawling Robot

Robots are generally built by connecting rigid links and they have inadequate degree-of-freedom. The design of conventional rigid robots that are inadequate for the degree-of-freedom renders them unsafe for human dealings. Unlike the conventional robot, SCR (Soft Crawling Robots) having unique adaptive characteristics makes the robots fit in a confined space and make delicate movements. The design of such soft robots is usually inspired by living beings which results in the similarities of movements with the movements seen in living organisms. By focusing on the design as well as the actuation systems of such robots, they can be employed in real life purposes such as transportation and medical purposes. The robot’s primary structure is composed of material called the elastic elastomers. The SCR proposed design was created using the SolidWorks software. The SCR design has 2 variants which are Quadrupedal SCR and Inchworm SCR. The parameters of both kinds of robots are assessed by manipulating the base thickness, chamber gap distance, number of chamber and the air chamber width. Both designs are optimized using the FEM (finite element method). Assessment and optimization are carried out by using Abaqus to assess the robot’s performance with regards to the pressurized air