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

Tajudin, Muhammad Nasirudin (2015) PID and cascade 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

As the technology advancing into a new era, the constant need of high accuracy in term of tracking, robustness, low cost, high flexibility, better surface finish and speed in machine tool have trigger the development of advance technologies to compensate the weakness in the traditional machine. The machining problem in terms of high disturbance force and tracking performance quality of work piece materials need to be solved. Therefore this research is focusing on one of the demand of machine tool that is better tracking accuracy. The objective of this research is to propose and design parameters of the control strategy for tracking performance of the system. Then the proposed controller are validated through simulation and experimental work or mathematical model and lastly to the controller are analysed and compared the effectiveness in term of tracking performance. The controller are test at X-axis of XY table for setting of frequency 0.7 Hz with amplitude 1 mm and 15 mm. The maximum tracking error for PID at 1 mm and 15 mm was 0.007104 and 0.1066 respectively. While maximum tracking error for Cascade P/PI at 1 mm and 15 mm was 0.00937 and 0.1406 respectively. Then the percentage error calculated for PID at 1 mm and 15 mm was 0.7104 % and 0.7106 % respectively. Cascade P/PI at 1 mm and 15 percentage errors was 0.937 % and 0.9373 % respectively. The outcome of the RMS error is the largest at 15 mm amplitude by PID controller system and the lowest RMS error at 15 mm amplitude by Cascade P/PI controller system. Even though RMS error gives an accurate picture of tracking performance rather than using maximum tracking error, but still both maximum and tracking error result agree that Cascade P/PI controller performed better from PID controller at high amplitude for machine tool application. This is because of the percentage error reduction between PID and Cascade P/PI controller is 86.07 %.

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