Design of gain scheduling PID controller for precise positioning of pneumatic system

Srikanthan, Thanaaji (2022) Design of gain scheduling PID controller for precise positioning of pneumatic system. Project Report. Universiti Teknikal Malaysia Melaka, Melaka, Malaysia. (Submitted)

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Abstract

The advantages of pneumatic actuator systems, such as cheap cost, environmental friendliness, high reliability, and high power-to-weight ratio, are the reason for their widespread use in the automation industry today. These characteristics make pneumatic actuators appear to be a viable option for hydraulic actuator systems and electric servo motors for automating tasks. However, obtaining precise positioning in the plant is challenging for pneumatic systems with the variance of disturbances which were loads from 0kg to 9kg for this research due to the solid nonlinearities of pneumatic actuators caused by friction and the compressibility of air. As a result, a controller must be used to control the system in order to solve the difficulties. The mathematical model of the system must be obtained before the controllers can be designed. Then System Identification toolbox in MATLAB software was used to obtain the model. Then the model was validated by comparing it with experimental data. After the model validation, the PID controller will be designed followed by the gain scheduling PID controller. The gain scheduling PID controller that would be designed by using MATLAB should regulate the pneumatic actuator to obtain precision in the positioning of the system with the generated step input signal. Moreover, the gain scheduling PID controller of the system could be capable of minimizing the errors of the system. Thus, three types of controllers were designed in this research namely, (i) PID controller, (ii) manual-switching gain scheduling PID controller, and (iii) auto-switching gain scheduling PID controller in order to analyze and compare the performance of the system. Furthermore, all the three designed controllers analyzed and discussed the results of the controllers’ performances in the terms of precise positioning analysis, transient response analysis, and integral of absolute error (IAE) analysis. From the results and discussions made, it can conclude that the auto-switching gain scheduling produced better results in precise positioning performance for the pneumatic system. The PID controller was simply non-comparative to the other two controllers as the responses of the controller were unstable and not able to record the system response with loads of more than 1kg. By comparing the two types of gain scheduling PID controllers, the auto-switching gain scheduling PID controller produced an average significant improvement of 42.79% than the manualswitching gain scheduling PID controller

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