Design of model reference adaptive control (MRAC) for machine tool applications

Che Ku Junoh, Sahida (2016) Design of model reference adaptive control (MRAC) for machine tool applications. Project Report. Universiti Teknikal Malaysia Melaka, Melaka, Malaysia. (Submitted)

	Text (24 Pages) Design Of Model Reference Adaptive Control (MRAC) For Machine Tool Applications 24 Pages.pdf - Submitted Version Download (262kB)
	Text (Full Text) Design of model reference adaptive control (MRAC) for machine tool applications.pdf - Submitted Version Restricted to Repository staff only Download (3MB)

Abstract

High accuracy and speed are the attributes demanded in controller design for machine tool in manufacturing industries. The presence of some factors such as physical vibration produced from mechanical structure of machine tools and friction force can reduce the machine tool performance. The main objective of this project is to design a Model Reference Adaptive Controller (MRAC) for machine tool applications. The next objectives are to improve tracking accuracy and transient response of the system and to validate the controller through simulation and experimental work. MRAC controller consist of a model reference and a feedback loop control system by using an algorithm namely Lyapunov approach. Software used for tracking performance of the machine tools is MATLAB/Simulink and dSPACE software. The tracking performances of the proposed controller were evaluated based on maximum tracking error, root mean square of error (RMSE). The transient responses were evaluated based on steady state error, peak time, rise time, settling time and percent overshoot. Results showed that percentage error reduction between MRAC and PI controller during simulation was 96.21% while during experimental was 99.79%. Finally, results also showed that MRAC has percent overshoot of 2.65% compared to PI controller which produced percent overshoot of 3.85% during experimental. However, further recommendations are desired. These include the implementation of MIT rule and calculation of Augmented error method in MRAC.

Actions (login required)

View Item