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Title: | NCTF control method of two mass system for PTP Positioning |
Authors: | Mohd Fitri Mohd Yakub Wahyudi, Wali Ahmad Rini Akmeliawati Andika, Aji Wijaya wahyudi@iiu.edu.my |
Keywords: | Point-to-Point (PTP) Motion control systems Automatic control PID controllers |
Issue Date: | 11-Oct-2009 |
Publisher: | Universiti Malaysia Perlis |
Citation: | p.4A4 1 - 4A4 6 |
Series/Report no.: | Proceedings of the International Conference on Man-Machine Systems (ICoMMS 2009) |
Abstract: | In this study, a nominal characteristic trajectory following (NCTF) controller for point-to-point (PTP) positioning system is introduced for two mass systems and its performance is evaluated. The NCTF controller consists of a nominal characteristic trajectory (NCT) and a compensator. The objective of the NCTF controller is to make the object motion follow the NCT and end at its origin. Therefore, the NCT is used as an intended object motion and the compensator is used to make the motion of the controlled object follow the NCT. The NCTF controller is designed based on a simple open-loop experiment of the object and no information except the NCT is necessary for controller design. The effectiveness of the NCTF controller is evaluated and discussed through simulations. The effect of the design parameters on the robustness of the NCTF controller to inertia and friction variations is evaluated. The effect on the positioning performance and robustness are compared with conventional PID controller. |
Description: | Organized by School of Mechatronic Engineering (UniMAP) & co-organized by The Institution of Engineering Malaysia (IEM), 11th - 13th October 2009 at Batu Feringhi, Penang, Malaysia. |
URI: | http://dspace.unimap.edu.my/123456789/7320 |
Appears in Collections: | Conference Papers |
Files in This Item:
File | Description | Size | Format | |
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NCTF Control Method.pdf | 291.55 kB | Adobe PDF | View/Open | |
Copyright transfer agreement.pdf | 1.61 MB | Adobe PDF | View/Open |
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