Robust Motion Controller Design And Accurate Positioning System For A Sliding Table

Zamberi, Jamaludin and Shariman, Abdullah and Nur Aidawaty, Rafan (2013) Robust Motion Controller Design And Accurate Positioning System For A Sliding Table. Project Report. UTeM, Melaka, Malaysia. (Submitted)

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Abstract

This project presents the design of a controller for sliding table positioning system on a single axis sliding unit. The main objective is to first design and constructs a slider positioning system before a control system is adapted to the unit for control system design and analysis. The controller performance is validated based on the principle of balancing an inverted pendulum on a linear axis. An inverted pendulum system has the property of being unstable and is considered as a nonlinear system. A PTD control algorithm is designed in order to overcome this unstable state.For simulation and control design analysis purposes, an actual model of the single axis inverted pendulum was first constructed using SimMechanics thus eliminating the application of the more complex mathematical models. The design of the control system is carried out using MATLAB and simulated in Simulink. It is realized that the inverted pendulum was able to be controlled using the PID controller which achieved satisfies the control effect with three different reference inputs, namely discrete impulse, step and pulse. The pulse reference input generates fastest response in 0.9s to balance the inverted pendulum system. For further study, the simulation results based on mathematical model is recommended to be compared to the SimMechanics. Implementation of the designed PID controller into real-time to compare the performances with implementation of Sliding Mode control approach is suggested as future work.

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