Position control for linear motion servo system via nominal characteristic trajectory following controller
Motion control system is a challenging problem in the area of control systems. It is very useful to demonstrate concepts in linear control such as the stabilization of unstable systems. Motion control system plays important roles in industrial equipment such as machine tools, semiconductor man...
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| Main Author: | |
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| Format: | Thesis |
| Language: | English English English |
| Published: |
2008
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| Subjects: | |
| Online Access: | http://eprints.uthm.edu.my/7377/1/24p%20NOOR%20HISHAM%20JALANI.pdf http://eprints.uthm.edu.my/7377/2/NOOR%20HISHAM%20JALANI%20COPYRIGHT%20DECLARATION.pdf http://eprints.uthm.edu.my/7377/3/NOOR%20HISHAM%20JALANI%20WATERMARK.pdf |
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| Summary: | Motion control system is a challenging problem in the area of control
systems. It is very useful to demonstrate concepts in linear control such as the
stabilization of unstable systems. Motion control system plays important roles in
industrial equipment such as machine tools, semiconductor manufacturing systems
and robot systems. One type of motion control systems is point-to-point (PTP)
positioning system, which is used to move an object from one point to another point.
Linear motion servo system is a machine that move cart from one point to another
point. This system consists of a cart driven by a DC motor, via a rack and pinion
mechanism to ensure consistent and continuous traction.
Up to now many types of controllers have been proposed and evaluated for
positioning systems. Two type of controller that discussed in this thesis are
Proportional-Velocity (PV) and Nominal Characteristic Trajectory Following
(NCTF). The experimental results showed that the PV was successfully implemented
which controlled the settling time, rise time and steady-state error of the desired
position. However, the overshoot performances show its disadvantages.
Additionally, the PV controller design is time consuming process, since model and
parameters of the linear motion servo system are needed. Therefore, the needs for
higher performance controller become important for the simplicity of the controller
design. Hence, the investigation proceed with the non-model based NCTF controller
was to control the cart position of the linear motion servo system. The NCTF
controller consists of a Nominal Characteristic Trajectory (NCT) and PI
compensator. The NCTF controller was designed based on a simple open-loop
experiment of the object. The experimental results showed that the NCTF controller
is more effective for controlling position oflinear motion servo system than the PV
controller. |
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