Cover Image

Control of a pneumatic actuator system using enhanced nonlinear proportional integral derivative controller algorithm

Pneumatic actuators offer several advantages such as low cost, simple to maintain, high power to weight ratio, fast motion, free from overheating and reliable. Due to these advantages, this actuator continues to generate significant research interests and it has been promoted as an alternative to hy...

Full description

Saved in:
Bibliographic Details
Main Author: Syed Salim, Syed Najib
Format: Thesis
Language:English
Published: 2015
Subjects:
TK Electrical engineering. Electronics Nuclear engineering
Online Access:http://eprints.utm.my/id/eprint/54742/1/SyedNajibPFKE2015.pdf
http://eprints.utm.my/id/eprint/54742/
http://dms.library.utm.my:8080/vital/access/manager/Repository/vital:88019
Tags: Add Tag
No Tags, Be the first to tag this record!
id my.utm.54742
record_format eprints
spelling my.utm.547422020-11-04T08:47:15Z http://eprints.utm.my/id/eprint/54742/ Control of a pneumatic actuator system using enhanced nonlinear proportional integral derivative controller algorithm Syed Salim, Syed Najib TK Electrical engineering. Electronics Nuclear engineering Pneumatic actuators offer several advantages such as low cost, simple to maintain, high power to weight ratio, fast motion, free from overheating and reliable. Due to these advantages, this actuator continues to generate significant research interests and it has been promoted as an alternative to hydraulics and electric servo motors in many automated tasks. However, it exhibits high nonlinearities due to high friction forces, compressibility of air and dead band of the spool movement in the valve. These nonlinearities make an accurate position difficult to achieve and it requires an appropriate controller for better performance. This thesis presents a new approach to control the pneumatic positioning system. The mathematical modeling is a crucial part to be established before the control algorithm can be designed. Initially, the modeling of the system is presented based on physical derivation. The parameters of the system are identified, and comparison between system identification by means of the MATLAB software is performed. The result obtained from the modeling process is validated with experimental data. Subsequently, two new controller techniques are proposed based on the enhancement of the Nonlinear Proportional Integral Derivative (N-PID) controller. The first technique is called Multi-rate Nonlinear PID (MN-PID), which is performed by utilizing the characteristics of rate variation in nonlinear gain. Fuzzy logic is used to perform this task. Meanwhile, for the second technique, a Self-regulation Nonlinear (SN) function, is introduced to reprocess the error signal to continuously generate the values for rate variation. The proposed controllers are implemented to the system, and their performances are analyzed for both cases, with and without load. Simulation and experimental tests are conducted with different input, namely step, multistep, sinusoidal and S-curve waveforms to evaluate the performance of the proposed techniques. The existing techniques that include PID, N-PID, and Sliding Mode Control (SMC) are also tested to the system as a comparison. The results indicate that the system with MN-PID and SN-PID exhibits improvement of dynamic performance criterion exceeding 34% and 59%, respectively. In addition, both techniques succesfully provide fast response without overshoot where the rise time reduces more than 87%. It proves that the novel initiative is capable of examining and identifying the characteristics of rate variation based on a new controller that was derived from N-PID controller. Moreover, the system performance is successfully accomplished for each position and direction as well as under various loads. 2015-08 Thesis NonPeerReviewed application/pdf en http://eprints.utm.my/id/eprint/54742/1/SyedNajibPFKE2015.pdf Syed Salim, Syed Najib (2015) Control of a pneumatic actuator system using enhanced nonlinear proportional integral derivative controller algorithm. PhD thesis, Universiti Teknologi Malaysia, Faculty of Electrical Engineering. http://dms.library.utm.my:8080/vital/access/manager/Repository/vital:88019
institution Universiti Teknologi Malaysia
building UTM Library
collection Institutional Repository
continent Asia
country Malaysia
content_provider Universiti Teknologi Malaysia
content_source UTM Institutional Repository
url_provider http://eprints.utm.my/
language English
topic TK Electrical engineering. Electronics Nuclear engineering
spellingShingle TK Electrical engineering. Electronics Nuclear engineering
Syed Salim, Syed Najib
Control of a pneumatic actuator system using enhanced nonlinear proportional integral derivative controller algorithm
description Pneumatic actuators offer several advantages such as low cost, simple to maintain, high power to weight ratio, fast motion, free from overheating and reliable. Due to these advantages, this actuator continues to generate significant research interests and it has been promoted as an alternative to hydraulics and electric servo motors in many automated tasks. However, it exhibits high nonlinearities due to high friction forces, compressibility of air and dead band of the spool movement in the valve. These nonlinearities make an accurate position difficult to achieve and it requires an appropriate controller for better performance. This thesis presents a new approach to control the pneumatic positioning system. The mathematical modeling is a crucial part to be established before the control algorithm can be designed. Initially, the modeling of the system is presented based on physical derivation. The parameters of the system are identified, and comparison between system identification by means of the MATLAB software is performed. The result obtained from the modeling process is validated with experimental data. Subsequently, two new controller techniques are proposed based on the enhancement of the Nonlinear Proportional Integral Derivative (N-PID) controller. The first technique is called Multi-rate Nonlinear PID (MN-PID), which is performed by utilizing the characteristics of rate variation in nonlinear gain. Fuzzy logic is used to perform this task. Meanwhile, for the second technique, a Self-regulation Nonlinear (SN) function, is introduced to reprocess the error signal to continuously generate the values for rate variation. The proposed controllers are implemented to the system, and their performances are analyzed for both cases, with and without load. Simulation and experimental tests are conducted with different input, namely step, multistep, sinusoidal and S-curve waveforms to evaluate the performance of the proposed techniques. The existing techniques that include PID, N-PID, and Sliding Mode Control (SMC) are also tested to the system as a comparison. The results indicate that the system with MN-PID and SN-PID exhibits improvement of dynamic performance criterion exceeding 34% and 59%, respectively. In addition, both techniques succesfully provide fast response without overshoot where the rise time reduces more than 87%. It proves that the novel initiative is capable of examining and identifying the characteristics of rate variation based on a new controller that was derived from N-PID controller. Moreover, the system performance is successfully accomplished for each position and direction as well as under various loads.
format Thesis
author Syed Salim, Syed Najib
author_facet Syed Salim, Syed Najib
author_sort Syed Salim, Syed Najib
title Control of a pneumatic actuator system using enhanced nonlinear proportional integral derivative controller algorithm
title_short Control of a pneumatic actuator system using enhanced nonlinear proportional integral derivative controller algorithm
title_full Control of a pneumatic actuator system using enhanced nonlinear proportional integral derivative controller algorithm
title_fullStr Control of a pneumatic actuator system using enhanced nonlinear proportional integral derivative controller algorithm
title_full_unstemmed Control of a pneumatic actuator system using enhanced nonlinear proportional integral derivative controller algorithm
title_sort control of a pneumatic actuator system using enhanced nonlinear proportional integral derivative controller algorithm
publishDate 2015
url http://eprints.utm.my/id/eprint/54742/1/SyedNajibPFKE2015.pdf
http://eprints.utm.my/id/eprint/54742/
http://dms.library.utm.my:8080/vital/access/manager/Repository/vital:88019
_version_ 1683230736450060288
score 13.211869

Similar Items