Improved NCTF Control Method for a Two-Mass Rotary Positioning Systems
ABSTRACT
This paper describes an improvement of the existing nominal characteristic trajectory following (NCTF) as a practical control method for a two-mass rotary point-to-point (PTP) positioning systems. Generally, the NCTF controller consists of a nominal characteristic trajectory (NCT) and a PI compensator. A notch filter is added as a part of the compensator to eliminate the vibration due to the mechanical resonance of the plant. The objective of the NCTF controller is to make the object motion follow the NCT and end at its origin. The NCTF controller is designed based on a simple open-loop experiment of the object. The parameters identification and an exact model of the plant are not necessary for controller design. The performance response of improved NCTF controller is evaluated and discussed based on results of simulation. The effect of the design parameters on the robustness of the NCTF controller to inertia and friction variations is evaluated and compared with conventional PID controller. The results show that the improved NCTF controller has a better positioning performance and is much more robust than the PID controller.
This paper describes an improvement of the existing nominal characteristic trajectory following (NCTF) as a practical control method for a two-mass rotary point-to-point (PTP) positioning systems. Generally, the NCTF controller consists of a nominal characteristic trajectory (NCT) and a PI compensator. A notch filter is added as a part of the compensator to eliminate the vibration due to the mechanical resonance of the plant. The objective of the NCTF controller is to make the object motion follow the NCT and end at its origin. The NCTF controller is designed based on a simple open-loop experiment of the object. The parameters identification and an exact model of the plant are not necessary for controller design. The performance response of improved NCTF controller is evaluated and discussed based on results of simulation. The effect of the design parameters on the robustness of the NCTF controller to inertia and friction variations is evaluated and compared with conventional PID controller. The results show that the improved NCTF controller has a better positioning performance and is much more robust than the PID controller.
Cite this paper
nullM. Yakub and B. Aminudin, "Improved NCTF Control Method for a Two-Mass Rotary Positioning Systems," Intelligent Control and Automation, Vol. 2 No. 4, 2011, pp. 351-363. doi: 10.4236/ica.2011.24040.
nullM. Yakub and B. Aminudin, "Improved NCTF Control Method for a Two-Mass Rotary Positioning Systems," Intelligent Control and Automation, Vol. 2 No. 4, 2011, pp. 351-363. doi: 10.4236/ica.2011.24040.
References
[1] B. Amstrong-Helouvry, P. Dupont and C. De Witt, “A Survey of Models, Analysis Tools and Compensation Method for the Control of Machines with Friction,” Automatica, Vol. 30, No. 7, 1994, pp. 1083-1138. doi:10.1016/0005-1098(94)90209-7 [2] Wahyudi, “New Practical Control of PTP Positioning Systems,” Ph.D Dissertation, Tokyo Institute of Technology Japan, Tokyo, 2002. [3] G. E. Kollmorgen “How to work with Mechanical Resonance in Motion Control Systems,” Control Engineering, Vol. 47, No. 4, 2000, p. 5. [4] R. L. Woods and K. L. Lawrence, “Modelling and Simulation of Dynamic Systems,” Prentice Hall Inc., Upper Saddle River, 1997. [5] Wahyudi, K. Sato and A. Shimokohbe, “Robustness Evaluation of New Practical Control Method for PTP Positioning Systems,” Proceeding of 2001 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Como, 8-12 July, pp. 843-848. [6] Wahyudi and A. Albagul, “Performance Improvement of Practical Control Method for Positioning System in the Presence of Actuator Saturation,” Proceedings of 2004 IEEE International Conference on Control Applications, Taipei, 2-4 September 2004, pp. 296-302. [7] A. V. Oppenheim and R. W. Schafer, “Discrete Time Signal Processing,” Prentice Hall, Upper Saddle River, 1999. [8] W. East and B. Lantz, “Notch Filter Design,” California Institute of Technology, Technical Report LIGO-T0 50162-00R, 29 August 2005. [9] G. J. Maeda and K. Sato, “Practical Control Method for Ultra-Precision Positioning Using a Ballscrew Mechanism,” Precision Engineering Journal, Vol. 32, No. 4, 2008, pp. 309-318. doi:10.1016/j.precisioneng.2007.10.002 [10] K. Astrom and T. Hagglund, “PID Controllers: Theory, Design and Tuning,” Instrument Society of America, Durham, 1995. [11] C. De Wit, H. Olsson, K. J. Astrom and Lischinssky, “Dynamic Friction Models and Control Design,” Proceedings of American Control Conference, San Francisco, 2-4 June 1993, pp. 1920-1926. [12] M. Y. Fitri, Wahyudi and R. Akmeliawati, “Improved NCTF Control Method for a Two Mass Point to Point Positioning System,” Proceedings of the 2010 IEEE 3rd International Conference on Intelligent and Advanced systems, Kuala Lumpur, 15-17 June 2010, pp. 1-6.
[1] B. Amstrong-Helouvry, P. Dupont and C. De Witt, “A Survey of Models, Analysis Tools and Compensation Method for the Control of Machines with Friction,” Automatica, Vol. 30, No. 7, 1994, pp. 1083-1138. doi:10.1016/0005-1098(94)90209-7 [2] Wahyudi, “New Practical Control of PTP Positioning Systems,” Ph.D Dissertation, Tokyo Institute of Technology Japan, Tokyo, 2002. [3] G. E. Kollmorgen “How to work with Mechanical Resonance in Motion Control Systems,” Control Engineering, Vol. 47, No. 4, 2000, p. 5. [4] R. L. Woods and K. L. Lawrence, “Modelling and Simulation of Dynamic Systems,” Prentice Hall Inc., Upper Saddle River, 1997. [5] Wahyudi, K. Sato and A. Shimokohbe, “Robustness Evaluation of New Practical Control Method for PTP Positioning Systems,” Proceeding of 2001 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Como, 8-12 July, pp. 843-848. [6] Wahyudi and A. Albagul, “Performance Improvement of Practical Control Method for Positioning System in the Presence of Actuator Saturation,” Proceedings of 2004 IEEE International Conference on Control Applications, Taipei, 2-4 September 2004, pp. 296-302. [7] A. V. Oppenheim and R. W. Schafer, “Discrete Time Signal Processing,” Prentice Hall, Upper Saddle River, 1999. [8] W. East and B. Lantz, “Notch Filter Design,” California Institute of Technology, Technical Report LIGO-T0 50162-00R, 29 August 2005. [9] G. J. Maeda and K. Sato, “Practical Control Method for Ultra-Precision Positioning Using a Ballscrew Mechanism,” Precision Engineering Journal, Vol. 32, No. 4, 2008, pp. 309-318. doi:10.1016/j.precisioneng.2007.10.002 [10] K. Astrom and T. Hagglund, “PID Controllers: Theory, Design and Tuning,” Instrument Society of America, Durham, 1995. [11] C. De Wit, H. Olsson, K. J. Astrom and Lischinssky, “Dynamic Friction Models and Control Design,” Proceedings of American Control Conference, San Francisco, 2-4 June 1993, pp. 1920-1926. [12] M. Y. Fitri, Wahyudi and R. Akmeliawati, “Improved NCTF Control Method for a Two Mass Point to Point Positioning System,” Proceedings of the 2010 IEEE 3rd International Conference on Intelligent and Advanced systems, Kuala Lumpur, 15-17 June 2010, pp. 1-6.