Design of nonlinear PID with integration of tracking differentiator (TD) module for tracking performance of machine tools

Raja Izam, Raja Izzi Azrul (2017) Design of nonlinear PID with integration of tracking differentiator (TD) module for tracking performance of machine tools. Project Report. Universiti Teknikal Malaysia Melaka, Melaka, Malaysia. (Submitted)

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Abstract

In current manufacturing industry, the demand for better machine tools performance is high in order to reduce lead time and increase productivity. All the automated machine tools are provided with their own control system. There are three criteria in controller design that are in demand and important which are high tracking accuracy, high tracking precision and robustness. The aim of this research project are to design nonlinear PID (NPID) controller with the integration of tracking differentiator (TD) and without tracking differentiator. Then, to compare NPID and NPID with TD controllers in terms of tracking performance and validate the controller through simulation and experimentally. Data collection for both controllers are observed and analysed thoroughly. This research project proposes an approach to compensate multiple frequency components at x-axis of the XY table. The results show that NPID controller has better tracking performance without the integration of tracking differentiator (TD) module. The maximum tracking error achieved by NPID is 0.005881 mm at frequency of 0.5 Hz during simulation, while 0.9044 mm for NPID with TD under the same condition. In terms of Root Mean Square Error (RMSE), NPID controller also outperformed NPID with TD controller. At frequency of 0.3 Hz, the result of RMSE for NPID is 0.0029 mm compared to 0.707 mm for NPID with TD. As for experimental validation, the NPID with TD controller could not be done as the XY table does not respond. The performance of the controller needs to be further exploited and enhanced for it to adapt and compensate to different conditions of machine tools.

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