Design of PID and nonlinear PID controller for tracking performance of XY table ball screw drive system

Zulkifli, Nurul Hidayah (2015) Design of PID and nonlinear PID controller for tracking performance of XY table ball screw drive system. Project Report. Universiti Teknikal Malaysia Melaka, Melaka, Malaysia. (Submitted)

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Abstract

This project report presents the work done on design of PID and Nonlinear PID (NPID) controller for XY table ball screw driven system in the CIM Laboratory, Faculty of Manufacturing Engineering, UTeM. High tracking accuracy, precision and robustness are three vital components demanded in controller design for machining processes in many manufacturing related activities. This recent requirements has led to a new and challenging era in the area of machining tools and control. The objective of this project is to design and validate a PID and NPID for tracking performance of the XY table ball screw driven system by Googoltech Inc and to validate the controller through simulation using MATLAB/Simulink software and experimental work using XY table ball screw driven system. This project proposes an approach to compensate multiple frequency components, named PID controller and NPID controller at the x-axis of the XY table ball screw driven system. The performance of the proposed controller was validated numerically and experimentally where actual machining process was performed on the test setup. The results indicated that the Nonlinear PID controller is able to compensate tracking errors better than PID controller. Results showed that the Nonlinear PID controller manages to have better performance in terms of maximum tracking error than PID controller. It is also 0.28% (f = 0.3 Hz) and 1.16% (f = 0.5 Hz ) better performance in terms of Root Mean Square Error (RMSE) than PID controller. However, further studies and improvement are desired. The performance of the controller needs to be further enhanced so that it can adapt to different conditions of cutting force disturbance.

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