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NPID Double Hyperbolic Controller For Improving Tracking Performance Of XY Table Ballscrew Drive System

Higher tracking accuracy, robustness and disturbance rejection are the three most important elements that are highly demanded to be applied and achieved in the process of controller design in manufacturing process. In this new era where technology keeps rising, controller design for machine tools ha...

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Main Author: Che Ku Junoh, Sahida
Format: Thesis
Language:English
English
Published: 2019
Online Access:http://eprints.utem.edu.my/id/eprint/24706/1/NPID%20Double%20Hyperbolic%20Controller%20For%20Improving%20Tracking%20Performance%20Of%20XY%20Table%20Ballscrew%20Drive%20System.pdf
http://eprints.utem.edu.my/id/eprint/24706/2/NPID%20Double%20Hyperbolic%20Controller%20For%20Improving%20Tracking%20Performance%20Of%20XY%20Table%20Ballscrew%20Drive%20System.pdf
http://eprints.utem.edu.my/id/eprint/24706/
https://plh.utem.edu.my/cgi-bin/koha/opac-detail.pl?biblionumber=116947
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spelling my.utem.eprints.247062021-10-05T12:12:20Z http://eprints.utem.edu.my/id/eprint/24706/ NPID Double Hyperbolic Controller For Improving Tracking Performance Of XY Table Ballscrew Drive System Che Ku Junoh, Sahida Higher tracking accuracy, robustness and disturbance rejection are the three most important elements that are highly demanded to be applied and achieved in the process of controller design in manufacturing process. In this new era where technology keeps rising, controller design for machine tools has caught the attention of most researchers nowadays. However, disturbances such as friction force and cutting force affect the tracking performance of the machine tool. Issues related to cutting force effect on machining have been studied extensively by previous researchers in which different controller techniques are designed to overcome this issue. The conventional controller such as a proportional-integral-derivative (PID) controller is proved to be inadequate in enhancing the tracking performance of the machine tool under the presence of cutting force. Consequently, PID structure is modified by cascading a nonlinear component and PID controller which is named as nonlinear proportional-integral-derivative (NPID) controller. However, an NPID controller also has limitation with respect to the range of stability of the nonlinear gain. Owing to this reason, NPID controller with more than one nonlinear components are proposed to address the issue. Thus, this thesis proposes an NPID Double Hyperbolic controller for improving the tracking performance of the machine tool application. First, the transfer function of the model is obtained via system identification approach which is known as black box approach. Then, the proposed controller is designed. It consists of two embedded hyperbolic nonlinear components known as the nonlinear proportional and the nonlinear integral which are located before the proportional and integral gains, respectively. This controller is validated via simulation and experimental works. The performance of this proposed controller is compared with the two conventional controllers; the PID and the NPID controllers to verify the effectiveness of the proposed controller. This thesis has successfully demonstrated that by adding additional nonlinear hyperbolic components, the tracking performance of a machine tool can increase significantly. The results showed that NPID Double Hyperbolic controller provide an improvement of 94.43% in terms of root mean square error (RMSE) performance and an enhancement of 62.59% in terms of fast fourier transform (FFT) error performance compared to the conventional NPID controller. However, further studies and improvement are needed to study the machine tool performance in view of the quadrant glitches existence produced by the friction force. In addition, further study is required on PID controller with three nonlinear components in order to produce better tracking machine tool performance. 2019 Thesis NonPeerReviewed text en http://eprints.utem.edu.my/id/eprint/24706/1/NPID%20Double%20Hyperbolic%20Controller%20For%20Improving%20Tracking%20Performance%20Of%20XY%20Table%20Ballscrew%20Drive%20System.pdf text en http://eprints.utem.edu.my/id/eprint/24706/2/NPID%20Double%20Hyperbolic%20Controller%20For%20Improving%20Tracking%20Performance%20Of%20XY%20Table%20Ballscrew%20Drive%20System.pdf Che Ku Junoh, Sahida (2019) NPID Double Hyperbolic Controller For Improving Tracking Performance Of XY Table Ballscrew Drive System. Masters thesis, Universiti Teknikal Malaysia Melaka. https://plh.utem.edu.my/cgi-bin/koha/opac-detail.pl?biblionumber=116947
institution Universiti Teknikal Malaysia Melaka
building UTEM Library
collection Institutional Repository
continent Asia
country Malaysia
content_provider Universiti Teknikal Malaysia Melaka
content_source UTEM Institutional Repository
url_provider http://eprints.utem.edu.my/
language English
English
description Higher tracking accuracy, robustness and disturbance rejection are the three most important elements that are highly demanded to be applied and achieved in the process of controller design in manufacturing process. In this new era where technology keeps rising, controller design for machine tools has caught the attention of most researchers nowadays. However, disturbances such as friction force and cutting force affect the tracking performance of the machine tool. Issues related to cutting force effect on machining have been studied extensively by previous researchers in which different controller techniques are designed to overcome this issue. The conventional controller such as a proportional-integral-derivative (PID) controller is proved to be inadequate in enhancing the tracking performance of the machine tool under the presence of cutting force. Consequently, PID structure is modified by cascading a nonlinear component and PID controller which is named as nonlinear proportional-integral-derivative (NPID) controller. However, an NPID controller also has limitation with respect to the range of stability of the nonlinear gain. Owing to this reason, NPID controller with more than one nonlinear components are proposed to address the issue. Thus, this thesis proposes an NPID Double Hyperbolic controller for improving the tracking performance of the machine tool application. First, the transfer function of the model is obtained via system identification approach which is known as black box approach. Then, the proposed controller is designed. It consists of two embedded hyperbolic nonlinear components known as the nonlinear proportional and the nonlinear integral which are located before the proportional and integral gains, respectively. This controller is validated via simulation and experimental works. The performance of this proposed controller is compared with the two conventional controllers; the PID and the NPID controllers to verify the effectiveness of the proposed controller. This thesis has successfully demonstrated that by adding additional nonlinear hyperbolic components, the tracking performance of a machine tool can increase significantly. The results showed that NPID Double Hyperbolic controller provide an improvement of 94.43% in terms of root mean square error (RMSE) performance and an enhancement of 62.59% in terms of fast fourier transform (FFT) error performance compared to the conventional NPID controller. However, further studies and improvement are needed to study the machine tool performance in view of the quadrant glitches existence produced by the friction force. In addition, further study is required on PID controller with three nonlinear components in order to produce better tracking machine tool performance.
format Thesis
author Che Ku Junoh, Sahida
spellingShingle Che Ku Junoh, Sahida
NPID Double Hyperbolic Controller For Improving Tracking Performance Of XY Table Ballscrew Drive System
author_facet Che Ku Junoh, Sahida
author_sort Che Ku Junoh, Sahida
title NPID Double Hyperbolic Controller For Improving Tracking Performance Of XY Table Ballscrew Drive System
title_short NPID Double Hyperbolic Controller For Improving Tracking Performance Of XY Table Ballscrew Drive System
title_full NPID Double Hyperbolic Controller For Improving Tracking Performance Of XY Table Ballscrew Drive System
title_fullStr NPID Double Hyperbolic Controller For Improving Tracking Performance Of XY Table Ballscrew Drive System
title_full_unstemmed NPID Double Hyperbolic Controller For Improving Tracking Performance Of XY Table Ballscrew Drive System
title_sort npid double hyperbolic controller for improving tracking performance of xy table ballscrew drive system
publishDate 2019
url http://eprints.utem.edu.my/id/eprint/24706/1/NPID%20Double%20Hyperbolic%20Controller%20For%20Improving%20Tracking%20Performance%20Of%20XY%20Table%20Ballscrew%20Drive%20System.pdf
http://eprints.utem.edu.my/id/eprint/24706/2/NPID%20Double%20Hyperbolic%20Controller%20For%20Improving%20Tracking%20Performance%20Of%20XY%20Table%20Ballscrew%20Drive%20System.pdf
http://eprints.utem.edu.my/id/eprint/24706/
https://plh.utem.edu.my/cgi-bin/koha/opac-detail.pl?biblionumber=116947
_version_ 1713203455811649536
score 13.211869

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