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Triple nonlinear hyperbolic PID with static friction compensation for precise positioning of a servo pneumatic actuator

Accurate and precise positioning control is critical in designing a positioning servo pneumatic system. The internal friction force of the pneumatic is one of the disturbances that make it challenging to achieve accurate and precise positioning. Dynamic friction identification and modelling are u...

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Main Authors: Abdullah, Lokman, Kamaludin, Khairun Najmi, Syed Salim, Syed Najib, Rafan, Nur Aidawaty, Jamaludin, Zamberi, Rahmat, Mohd Fua'ad, Ramanathan, Rprakash
Format: Article
Language:English
Published: International Islamic University Malaysia 2023
Online Access:http://eprints.utem.edu.my/id/eprint/27646/2/912
http://eprints.utem.edu.my/id/eprint/27646/
https://journals.iium.edu.my/ejournal/index.php/iiumej/article/view/2766
https://doi.org/10.31436/iiumej.v24i2.2766
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spelling my.utem.eprints.276462024-10-04T16:07:58Z http://eprints.utem.edu.my/id/eprint/27646/ Triple nonlinear hyperbolic PID with static friction compensation for precise positioning of a servo pneumatic actuator Abdullah, Lokman Kamaludin, Khairun Najmi Syed Salim, Syed Najib Rafan, Nur Aidawaty Jamaludin, Zamberi Rahmat, Mohd Fua'ad Ramanathan, Rprakash Accurate and precise positioning control is critical in designing a positioning servo pneumatic system. The internal friction force of the pneumatic is one of the disturbances that make it challenging to achieve accurate and precise positioning. Dynamic friction identification and modelling are usually very complex and computationally exhaustive. In addition, pneumatic actuators are nonlinear systems, and applying linear control to the system is a mis match. This study proposes an enhanced triple nonlinear hyperbolic PID controller with static friction (T-NPID+FSS) feedback module. T-NPID is integrated with nonlinear hyperbolic functions at each PID gain, hence the name. The reference in designing the T-NPID is the Popov stability criterion. Mean while, static friction (comparatively more straight forward than dynamic friction) is identified by measuring the actuator's internal friction at various velocities and applying it to the static friction model. T-NPID+FSS is compared to a classical PID, a PID with static friction (PID+FSS), and T-NPID without the friction module. With the comparisons, the performance gains of each module are clear. While most previous research focuses on the sinusoidal wave tracking performance (measuring the maximum tracking error, MTE, and root mean square error, RMSE), the analysis in this research focuses on obtaining precise positioning; steady-state analysis is the primary measurement. However, transient response and integral of absolute error (IAE) analysis are also observed to ensure no significant drawback in the controller's performance. T-NPID+FSS achieved the best precise positioning control, with 88.46% improvement over PID, 71.15% over PID+FSS, and 59.46% over T-NPID. The final controller is also on par with T-NPID for transient responses compared to the base PID. Although the FSS model caters to friction compensation, optimizing the FSS parameter by applying artificial intelligence, such as Neural Networks (NN) and Genetic Algorithm (GA), will increase the friction modeling‘s accuracy, and improve the compensation International Islamic University Malaysia 2023-07 Article PeerReviewed text en http://eprints.utem.edu.my/id/eprint/27646/2/912 Abdullah, Lokman and Kamaludin, Khairun Najmi and Syed Salim, Syed Najib and Rafan, Nur Aidawaty and Jamaludin, Zamberi and Rahmat, Mohd Fua'ad and Ramanathan, Rprakash (2023) Triple nonlinear hyperbolic PID with static friction compensation for precise positioning of a servo pneumatic actuator. IIUM Engineering Journal, Special Issue in Mechanical Engineering, 24 (2). pp. 315-336. ISSN 1511-788X https://journals.iium.edu.my/ejournal/index.php/iiumej/article/view/2766 https://doi.org/10.31436/iiumej.v24i2.2766
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
description Accurate and precise positioning control is critical in designing a positioning servo pneumatic system. The internal friction force of the pneumatic is one of the disturbances that make it challenging to achieve accurate and precise positioning. Dynamic friction identification and modelling are usually very complex and computationally exhaustive. In addition, pneumatic actuators are nonlinear systems, and applying linear control to the system is a mis match. This study proposes an enhanced triple nonlinear hyperbolic PID controller with static friction (T-NPID+FSS) feedback module. T-NPID is integrated with nonlinear hyperbolic functions at each PID gain, hence the name. The reference in designing the T-NPID is the Popov stability criterion. Mean while, static friction (comparatively more straight forward than dynamic friction) is identified by measuring the actuator's internal friction at various velocities and applying it to the static friction model. T-NPID+FSS is compared to a classical PID, a PID with static friction (PID+FSS), and T-NPID without the friction module. With the comparisons, the performance gains of each module are clear. While most previous research focuses on the sinusoidal wave tracking performance (measuring the maximum tracking error, MTE, and root mean square error, RMSE), the analysis in this research focuses on obtaining precise positioning; steady-state analysis is the primary measurement. However, transient response and integral of absolute error (IAE) analysis are also observed to ensure no significant drawback in the controller's performance. T-NPID+FSS achieved the best precise positioning control, with 88.46% improvement over PID, 71.15% over PID+FSS, and 59.46% over T-NPID. The final controller is also on par with T-NPID for transient responses compared to the base PID. Although the FSS model caters to friction compensation, optimizing the FSS parameter by applying artificial intelligence, such as Neural Networks (NN) and Genetic Algorithm (GA), will increase the friction modeling‘s accuracy, and improve the compensation
format Article
author Abdullah, Lokman
Kamaludin, Khairun Najmi
Syed Salim, Syed Najib
Rafan, Nur Aidawaty
Jamaludin, Zamberi
Rahmat, Mohd Fua'ad
Ramanathan, Rprakash
spellingShingle Abdullah, Lokman
Kamaludin, Khairun Najmi
Syed Salim, Syed Najib
Rafan, Nur Aidawaty
Jamaludin, Zamberi
Rahmat, Mohd Fua'ad
Ramanathan, Rprakash
Triple nonlinear hyperbolic PID with static friction compensation for precise positioning of a servo pneumatic actuator
author_facet Abdullah, Lokman
Kamaludin, Khairun Najmi
Syed Salim, Syed Najib
Rafan, Nur Aidawaty
Jamaludin, Zamberi
Rahmat, Mohd Fua'ad
Ramanathan, Rprakash
author_sort Abdullah, Lokman
title Triple nonlinear hyperbolic PID with static friction compensation for precise positioning of a servo pneumatic actuator
title_short Triple nonlinear hyperbolic PID with static friction compensation for precise positioning of a servo pneumatic actuator
title_full Triple nonlinear hyperbolic PID with static friction compensation for precise positioning of a servo pneumatic actuator
title_fullStr Triple nonlinear hyperbolic PID with static friction compensation for precise positioning of a servo pneumatic actuator
title_full_unstemmed Triple nonlinear hyperbolic PID with static friction compensation for precise positioning of a servo pneumatic actuator
title_sort triple nonlinear hyperbolic pid with static friction compensation for precise positioning of a servo pneumatic actuator
publisher International Islamic University Malaysia
publishDate 2023
url http://eprints.utem.edu.my/id/eprint/27646/2/912
http://eprints.utem.edu.my/id/eprint/27646/
https://journals.iium.edu.my/ejournal/index.php/iiumej/article/view/2766
https://doi.org/10.31436/iiumej.v24i2.2766
_version_ 1812129256978776064
score 13.211869

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