A model reference robust multiple-surfaces design for tracking control of radial pneumatic motion systems

Lu, Chia Hua; Hwang, Yean Ren

doi:10.1007/s11071-011-0171-7

Cited by 7 publications

(2 citation statements)

References 17 publications

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“…Many industrial applications such as those requiring manipulators, riveting machines, automobiles, pick-and-place devices, and others have made extensive use of pneumatic actuators. This is because pneumatic systems have a variety of benefits, including ease of maintenance, lower cost, low heat under steady load and many others [1][2][3]. The pneumatic actuator continues to garner ever more research interest as a result of these benefits.…”

Section: Introductionmentioning

confidence: 99%

Triple Nonlinear Hyperbolic Pid With Static Friction Compensation for Precise Positioning of a Servo Pneumatic Actuator

Kamaludin¹,

Abdullah²,

Salim³

et al. 2023

IIUMEJ

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Accurate and precise positioning control is critical in designing a positioning servo pneumatic system. The internal friction force of the pneumatic is one of the disturbances that make it challenging to achieve accurate and precise positioning. Dynamic friction identification and modelling are usually very complex and computationally exhaustive. In addition, pneumatic actuators are nonlinear systems, and applying linear control to the system is a mismatch. This study proposes an enhanced triple nonlinear hyperbolic PID controller with static friction (T-NPID+FSS) feedback module. T-NPID is integrated with nonlinear hyperbolic functions at each PID gain, hence the name. The reference in designing the T-NPID is the Popov stability criterion. Meanwhile, static friction (comparatively more straightforward than dynamic friction) is identified by measuring the actuator's internal friction at various velocities and applying it to the static friction model. T-NPID+FSS is compared to a classical PID, a PID with static friction (PID+FSS), and T-NPID without the friction module. With the comparisons, the performance gains of each module are clear. While most previous research focuses on the sinusoidal wave tracking performance (measuring the maximum tracking error, MTE, and root mean square error, RMSE), the analysis in this research focuses on obtaining precise positioning; steady-state analysis is the primary measurement. However, transient response and integral of absolute error (IAE) analysis are also observed to ensure no significant drawback in the controller's performance. T-NPID+FSS achieved the best precise positioning control, with 88.46% improvement over PID, 71.15% over PID+FSS, and 59.46% over T-NPID. The final controller is also on par with T-NPID for transient responses compared to the base PID. Although the FSS model caters to friction compensation, optimizing the FSS parameter by applying artificial intelligence, such as Neural Networks (NN) and Genetic Algorithm (GA), will increase the friction modeling‘s accuracy, and improve the compensation. ABSTRAK: Kawalan kedudukan yang tepat dan jitu adalah kitikal dalam mereka bentuk sistem pneumatik servo penentududukan. Daya geseran dalaman pneumatik adalah salah satu gangguan yang menyukarkan untuk mencapai kedudukan yang tepat dan jitu. Penentuan daya geseran dinamik dan pemodelannya selalunya kompleks dan pengiraan menyeluruh yang sukar. Selain itu, pneumatik ialah sistem tak linear, menggunakan kawalan linear pada sistem adalah tidak padan. Kajian ini mencadangkan PID hiperbolik tiga fungsi tak linear yang dipertingkatkan dengan modul suapan-balik geseran statik (T-NPID+FSS). T-NPID diintegrasikan dengan tiga fungsi hiperbolik tidak linear pada setiap pendarab PID, member pada nama. T-NPID direka bentuk dengan kriteria kestabilan Popov. Manakala geseran statik (secara perbandingan lebih mudah daripada geseran dinamik) dikenal pasti dengan mengukur geseran dalaman penggerak pada pelbagai halaju dan menerapkannya pada model geseran statik. T-NPID+FSS dibandingkan dengan PID klasik, PID dengan geseran statik (PID+ FSS) dan T-NPID tanpa modul geseran. Dengan perbandingan, prestasi peningkatan setiap modul adalah jelas. Walaupun kebanyakan penyelidikan terdahulu memfokuskan pada prestasi penjejakan gelombang sinusoidal (mengukur ralat penjejakan maksimum, MTE dan ralat purata kuasa dua akar, RMSE), analisis kajian ini memberi tumpuan kepada mendapatkan kedudukan yang tepat; oleh itu, analisis keadaan akhir ialah ukuran utama. Walau bagaimanapun, tindak balas sementara dan analisis kamiran ralat mutlak (IAE) juga diperhatikan untuk memastikan tiada kelemahan ketara dalam prestasi pengawal. T-NPID+FSS mencapai kawalan penentududukan tepat terbaik, dengan peningkatan 88.46% berbanding PID, 71.15% berbanding PID+FSS dan 59.26% berbanding T-NPID. Pengawal yang dicadangkan juga setanding dengan T-NPID untuk respons sementara berbanding PID asas. Walaupun model FSS telah ditunjukkan untuk memenuhi pampasan geseran, mengoptimumkan parameter FSS dengan menggunakan kecerdasan buatan (artificial intelligence, AI) seperti Neural Networks, NN dan Genetic Algorithms, GA akan meningkatkan ketepatan dan pampasan pemodelan geseran.

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Section: Introductionmentioning

confidence: 99%

Triple Nonlinear Hyperbolic Pid With Static Friction Compensation for Precise Positioning of a Servo Pneumatic Actuator

Kamaludin¹,

Abdullah²,

Salim³

et al. 2023

IIUMEJ

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“…To achieve expected control performance, a primary prerequisite for using this technique typically involves the knowledge or estimation of changes and bounds of system uncertain parameters. Recent studies regarding robust control of pneumatic actuating systems can be found in three primary groups: adaptive robust control, 1,2 sliding mode control, 3–6 and H ∞ control-related techniques. 7–14 To perform state feedback control based on a limited output measurement, deriving an accurate mathematical model or adding extra sensors is necessary for the first two methods.…”

Section: Introductionmentioning

confidence: 99%

Robust µ control and repetitive control for precision motion control of a pneumatic actuating table

Lin

Hsu

2015

Proceedings of the Institution of Mechanical Engineers, Part I:

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Because of uncertain and time-varying parameters influenced by air pressure and thermal parameters, applying H N robust control techniques to a pneumatic servo design has proven to be an efficient control strategy over the past few decades. However, because this method is a worst-case design that must yield robustness under given uncertainties, the inevitable trade-off may be too conservative and thus deteriorates its motion control performance. This study presents a robust m control and repetitive control method for attaining precise dynamic tracking control of a pneumatic actuating table. The applied hybrid control structure consists of two feedback controllers. The first is a repetitive controller used to improve periodic tracking performance, and the second is a m controller used to manage the dominant nonlinearities and uncertainties in pneumatic servo systems. This study presents an independent design of two controllers and takes advantage of the synergetic effect that results in an enhanced robust repetitive control design. In this study, a weighted average method is applied to determine optimal performance weights between these two control actions without violating robust stability. The experimental results on tracking dynamic motion profiles at perturbed operating regions for a heavy-duty pneumatic actuating table demonstrate the effectiveness of the proposed control method.

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Position control of pneumatic actuator using an enhancement of NPID controller based on the characteristic of rate variation nonlinear gain

Salim

Rahmat

Faudzi

et al. 2014

Int J Adv Manuf Technol

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A model reference robust multiple-surfaces design for tracking control of radial pneumatic motion systems

Cited by 7 publications

References 17 publications

Triple Nonlinear Hyperbolic Pid With Static Friction Compensation for Precise Positioning of a Servo Pneumatic Actuator

Triple Nonlinear Hyperbolic Pid With Static Friction Compensation for Precise Positioning of a Servo Pneumatic Actuator

Robust µ control and repetitive control for precision motion control of a pneumatic actuating table

Position control of pneumatic actuator using an enhancement of NPID controller based on the characteristic of rate variation nonlinear gain

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