System identification and pid control of toothbrush simulator system

Toothbrush simulator was invented for industry and dentist researchers to do research related to plaque removal. The toothbrush simulator system repeatedly has a problem in achieving the desired speed control. The brushing movement is inconsistence and stops eventually if there is a force exerted on...

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Main Author:	Mohd Yusoff, Ainul Husna
Format:	Thesis
Language:	English English English
Published:	2019
Subjects:	TJ212-225 Control engineering systems Automatic machinery (General)
Online Access:	http://eprints.uthm.edu.my/446/1/24p%20AINUL%20HUSNA%20MOHD%20YUSOFF.pdf http://eprints.uthm.edu.my/446/2/AINUL%20HUSNA%20MOHD%20YUSOFF%20COPYRIGHT%20DECLARATION.pdf http://eprints.uthm.edu.my/446/3/AINUL%20HUSNA%20MOHD%20YUSOFF%20WATERMARK.pdf
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record_format	uketd_dc
spelling	my-uthm-ep.4462021-07-25T06:29:42Z System identification and pid control of toothbrush simulator system 2019-03 Mohd Yusoff, Ainul Husna TJ212-225 Control engineering systems. Automatic machinery (General) Toothbrush simulator was invented for industry and dentist researchers to do research related to plaque removal. The toothbrush simulator system repeatedly has a problem in achieving the desired speed control. The brushing movement is inconsistence and stops eventually if there is a force exerted on the toothbrush holder. Further research is required to increase the reliability and controllability of the speed response achievable from the toothbrush simulator system. In this study, a PID controller is designed and embedded in the system. A real-time experiment has been conducted on the real system via the Matlab Simulink environment to construct the model. The model parameters are optimized with model order 2, 3 and 4 where each model order has been analyzed for ten (10) times iteration by the genetic algorithm in obtaining the accurate transfer function. The model has been validated through correlation analysis. The PID controller was tuned through the PID tuner and Ziegler-Nichols method. Simulated and real-time system response from both tuning methods was compared. The simulated response with the selected PID controller is then compared with the response from the real-time experiment. The closed-loop system without controller was compared with the response with the PID controller. The PID controller was then deployed into the real system by uploaded into the microcontroller. The brushing simulator remote control was created to control the desired speed through a smartphone. Genetic algorithm model based on model order 4 has been selected as the best model as it able to achieve the minimum MSE value of 0.0176 and past all the validation tests. The selected PID parameters was from PID tuner tuning method with gain values of; Kp= 17.9287, Ki= 40.751 and Kd= -0.52705. Both results of simulation and real-time tests were compared, and they show about similar performances. The controlled system response had achieved all five desired speed of 175, 195, 215, 235 and 255 rpm with the percentage of improvement 67%, 65%, 65%, 65%, and 68%. Throughout this study, a genetic algorithm model based and tuned PID controller parameters has been applied to the real system improvised in better system response. 2019-03 Thesis http://eprints.uthm.edu.my/446/ http://eprints.uthm.edu.my/446/1/24p%20AINUL%20HUSNA%20MOHD%20YUSOFF.pdf text en public http://eprints.uthm.edu.my/446/2/AINUL%20HUSNA%20MOHD%20YUSOFF%20COPYRIGHT%20DECLARATION.pdf text en staffonly http://eprints.uthm.edu.my/446/3/AINUL%20HUSNA%20MOHD%20YUSOFF%20WATERMARK.pdf text en validuser mphil masters Universiti Tun Hussein Onn Malaysia Fakulti Kejuruteraan Mekanikal dan Pembuatan
institution	Universiti Tun Hussein Onn Malaysia
collection	UTHM Institutional Repository
language	English English English
topic	TJ212-225 Control engineering systems Automatic machinery (General)
spellingShingle	TJ212-225 Control engineering systems Automatic machinery (General) Mohd Yusoff, Ainul Husna System identification and pid control of toothbrush simulator system
description	Toothbrush simulator was invented for industry and dentist researchers to do research related to plaque removal. The toothbrush simulator system repeatedly has a problem in achieving the desired speed control. The brushing movement is inconsistence and stops eventually if there is a force exerted on the toothbrush holder. Further research is required to increase the reliability and controllability of the speed response achievable from the toothbrush simulator system. In this study, a PID controller is designed and embedded in the system. A real-time experiment has been conducted on the real system via the Matlab Simulink environment to construct the model. The model parameters are optimized with model order 2, 3 and 4 where each model order has been analyzed for ten (10) times iteration by the genetic algorithm in obtaining the accurate transfer function. The model has been validated through correlation analysis. The PID controller was tuned through the PID tuner and Ziegler-Nichols method. Simulated and real-time system response from both tuning methods was compared. The simulated response with the selected PID controller is then compared with the response from the real-time experiment. The closed-loop system without controller was compared with the response with the PID controller. The PID controller was then deployed into the real system by uploaded into the microcontroller. The brushing simulator remote control was created to control the desired speed through a smartphone. Genetic algorithm model based on model order 4 has been selected as the best model as it able to achieve the minimum MSE value of 0.0176 and past all the validation tests. The selected PID parameters was from PID tuner tuning method with gain values of; Kp= 17.9287, Ki= 40.751 and Kd= -0.52705. Both results of simulation and real-time tests were compared, and they show about similar performances. The controlled system response had achieved all five desired speed of 175, 195, 215, 235 and 255 rpm with the percentage of improvement 67%, 65%, 65%, 65%, and 68%. Throughout this study, a genetic algorithm model based and tuned PID controller parameters has been applied to the real system improvised in better system response.
format	Thesis
qualification_name	Master of Philosophy (M.Phil.)
qualification_level	Master's degree
author	Mohd Yusoff, Ainul Husna
author_facet	Mohd Yusoff, Ainul Husna
author_sort	Mohd Yusoff, Ainul Husna
title	System identification and pid control of toothbrush simulator system
title_short	System identification and pid control of toothbrush simulator system
title_full	System identification and pid control of toothbrush simulator system
title_fullStr	System identification and pid control of toothbrush simulator system
title_full_unstemmed	System identification and pid control of toothbrush simulator system
title_sort	system identification and pid control of toothbrush simulator system
granting_institution	Universiti Tun Hussein Onn Malaysia
granting_department	Fakulti Kejuruteraan Mekanikal dan Pembuatan
publishDate	2019
url	http://eprints.uthm.edu.my/446/1/24p%20AINUL%20HUSNA%20MOHD%20YUSOFF.pdf http://eprints.uthm.edu.my/446/2/AINUL%20HUSNA%20MOHD%20YUSOFF%20COPYRIGHT%20DECLARATION.pdf http://eprints.uthm.edu.my/446/3/AINUL%20HUSNA%20MOHD%20YUSOFF%20WATERMARK.pdf
_version_	1747830612089110528

System identification and pid control of toothbrush simulator system

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