PID-PSO DC motor position controller design for ankle rehabilitation system

In rehabilitation system application, precise output responses are important for position control on the mechanism’s joint to avoid injury that occurs during physiotherapy. Hence, position control of DC motors has attracted considerable research with applied control system algorithms. This research...

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Main Author:	Azizi, Muhammad Azizul Raziq
Format:	Thesis
Language:	English English
Published:	2023
Subjects:	T Technology (General) TJ Mechanical engineering and machinery
Online Access:	http://eprints.utem.edu.my/id/eprint/28277/1/PID-PSO%20DC%20motor%20position%20controller%20design%20for%20ankle%20rehabilitation%20system.pdf http://eprints.utem.edu.my/id/eprint/28277/2/PID-PSO%20DC%20motor%20position%20controller%20design%20for%20ankle%20rehabilitation%20system.pdf
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id	my-utem-ep.28277
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spelling	my-utem-ep.282772024-12-16T07:57:27Z PID-PSO DC motor position controller design for ankle rehabilitation system 2023 Azizi, Muhammad Azizul Raziq T Technology (General) TJ Mechanical engineering and machinery In rehabilitation system application, precise output responses are important for position control on the mechanism’s joint to avoid injury that occurs during physiotherapy. Hence, position control of DC motors has attracted considerable research with applied control system algorithms. This research aims to determine the mathematical modeling gain of the third-order transfer function for the DC motor that represents the features parameter of the Ankle Rehabilitation System. The transfer function is a model in Matlab software to validate the performance of the control system through simulation compared with real-time experiments. Next, the control algorithms are proposed to design and implement the Proportional-Integral-Derivative (PID) with Particle Swarm Optimization (PSO) controller technique for optimal Proportional (Kp), Integral (Ki) and Derivative (Kd) gains. The control algorithms also aim to be analyzed using an incremental rotary encoder sensor device as closed-loop feedback for dorsiflexion and plantarflexion movement. This rotary encoder sensor device converts rotary motion into electrical signals or pulse signals to count per revolution of the gearbox output shaft. The H-Bridge module is used for bi-directional motor control with pulse-width modulation (PWM) from the Arduino microcontroller. The control pulse-width modulation is calculated and realized by tuning the value of Proportional (Kp), Integral (Ki) and Derivative (Kd) with soft computing optimization techniques PSO controller. This proposed approach to develop optimal controller tuning parameters for proper computational performances position control efficiency and stable convergence characteristics. The simulation result of the PID-PSO controller with variables Kp= 6.542, Ki= 0.103 and Kd= 0.255 provide good performance with the rise time (TR) is 0.0659sec, settling time (Ts) is 0.1183sec and maintain the steady-state error with zero overshoot. This gain tuning of Kp, Ki and Kd from the simulation was also implemented in real-time hardware for validation producing effectiveness for the controller to improvise the Ankle Rehabilitation System position control analysis. The statistical trajectory tracking error is evaluated using mean square error (MSE) and root mean square error (RMSE) achieving a small value. The percentage improvement for simultion from PID controller to PID-PSO shows the MSE made is almost 91% while the RMSE is 71%. The real-time experiment performance also have high percentage improvement with MSE is 97% and RMSE is 84%. It concludes that the PID-PSO controller effectiveness control strategies of DC motor can accurately track the sinusoidal setpoint rotational angle movement of the Ankle Rehabilitation System. 2023 Thesis http://eprints.utem.edu.my/id/eprint/28277/ http://eprints.utem.edu.my/id/eprint/28277/1/PID-PSO%20DC%20motor%20position%20controller%20design%20for%20ankle%20rehabilitation%20system.pdf text en public http://eprints.utem.edu.my/id/eprint/28277/2/PID-PSO%20DC%20motor%20position%20controller%20design%20for%20ankle%20rehabilitation%20system.pdf text en validuser https://plh.utem.edu.my/cgi-bin/koha/opac-detail.pl?biblionumber=123909 mphil masters Universiti Teknikal Malaysia Melaka Faculty of Electronic and Computer Engineering Osman, Khairuddin
institution	Universiti Teknikal Malaysia Melaka
collection	UTeM Repository
language	English English
advisor	Osman, Khairuddin
topic	T Technology (General) TJ Mechanical engineering and machinery
spellingShingle	T Technology (General) TJ Mechanical engineering and machinery Azizi, Muhammad Azizul Raziq PID-PSO DC motor position controller design for ankle rehabilitation system
description	In rehabilitation system application, precise output responses are important for position control on the mechanism’s joint to avoid injury that occurs during physiotherapy. Hence, position control of DC motors has attracted considerable research with applied control system algorithms. This research aims to determine the mathematical modeling gain of the third-order transfer function for the DC motor that represents the features parameter of the Ankle Rehabilitation System. The transfer function is a model in Matlab software to validate the performance of the control system through simulation compared with real-time experiments. Next, the control algorithms are proposed to design and implement the Proportional-Integral-Derivative (PID) with Particle Swarm Optimization (PSO) controller technique for optimal Proportional (Kp), Integral (Ki) and Derivative (Kd) gains. The control algorithms also aim to be analyzed using an incremental rotary encoder sensor device as closed-loop feedback for dorsiflexion and plantarflexion movement. This rotary encoder sensor device converts rotary motion into electrical signals or pulse signals to count per revolution of the gearbox output shaft. The H-Bridge module is used for bi-directional motor control with pulse-width modulation (PWM) from the Arduino microcontroller. The control pulse-width modulation is calculated and realized by tuning the value of Proportional (Kp), Integral (Ki) and Derivative (Kd) with soft computing optimization techniques PSO controller. This proposed approach to develop optimal controller tuning parameters for proper computational performances position control efficiency and stable convergence characteristics. The simulation result of the PID-PSO controller with variables Kp= 6.542, Ki= 0.103 and Kd= 0.255 provide good performance with the rise time (TR) is 0.0659sec, settling time (Ts) is 0.1183sec and maintain the steady-state error with zero overshoot. This gain tuning of Kp, Ki and Kd from the simulation was also implemented in real-time hardware for validation producing effectiveness for the controller to improvise the Ankle Rehabilitation System position control analysis. The statistical trajectory tracking error is evaluated using mean square error (MSE) and root mean square error (RMSE) achieving a small value. The percentage improvement for simultion from PID controller to PID-PSO shows the MSE made is almost 91% while the RMSE is 71%. The real-time experiment performance also have high percentage improvement with MSE is 97% and RMSE is 84%. It concludes that the PID-PSO controller effectiveness control strategies of DC motor can accurately track the sinusoidal setpoint rotational angle movement of the Ankle Rehabilitation System.
format	Thesis
qualification_name	Master of Philosophy (M.Phil.)
qualification_level	Master's degree
author	Azizi, Muhammad Azizul Raziq
author_facet	Azizi, Muhammad Azizul Raziq
author_sort	Azizi, Muhammad Azizul Raziq
title	PID-PSO DC motor position controller design for ankle rehabilitation system
title_short	PID-PSO DC motor position controller design for ankle rehabilitation system
title_full	PID-PSO DC motor position controller design for ankle rehabilitation system
title_fullStr	PID-PSO DC motor position controller design for ankle rehabilitation system
title_full_unstemmed	PID-PSO DC motor position controller design for ankle rehabilitation system
title_sort	pid-pso dc motor position controller design for ankle rehabilitation system
granting_institution	Universiti Teknikal Malaysia Melaka
granting_department	Faculty of Electronic and Computer Engineering
publishDate	2023
url	http://eprints.utem.edu.my/id/eprint/28277/1/PID-PSO%20DC%20motor%20position%20controller%20design%20for%20ankle%20rehabilitation%20system.pdf http://eprints.utem.edu.my/id/eprint/28277/2/PID-PSO%20DC%20motor%20position%20controller%20design%20for%20ankle%20rehabilitation%20system.pdf
_version_	1818612063087362048

PID-PSO DC motor position controller design for ankle rehabilitation system

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