Design of modified PID controller for positioning control of pneumatic system

Zainol, Nur Sabrina (2023) Design of modified PID controller for positioning control 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 low cost, excellent dependability and environmental friendliness, are the reason for their widespread use in the automation sector today. Because of these characteristics, pneumatic actuators seem like a good substitute for electric servo motors and hydraulic actuator systems when it comes to industrial automation. Nevertheless, solid nonlinearities of pneumatic actuators due to friction and air's compressibility make it difficult to achieve precise positioning in plants with the variety of disturbances. The objective of this research is to design a PID and modified Nonlinear PID controller to obtain the precise positioning of the pneumatic system. The mathematical model of the system must be obtained before the controllers can be designed. The model was then obtained by using the MATLAB software's System Identification toolbox. When transfer function acquires from the system identification, there are three types of PID-based controllers were designed in this research specifically, Nonlinear PID (NPID) controller, NPID with Particle Swarm Optimization (PSO) and lastly, Cascade controller. The 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. The tuning of the gain parameter of each controller is done by doing the heuristic method. In addition, the performance of the controller in terms of positioning error and the system transient response must be analysed. Subsequently, the analysis from the simulation was validated by comparing it with experimental data. Minimising the maximum overshoot and steady-state error is the outcome of this study. In conclusion, in order to achieve the desired output with precise positioning, the design of an effective controller is essential. Based on the results and discussions, after comparison of all controllers, NPID with PSO provides a better steady state as well as transient response performance of the pneumatic actuator due to the advanced strategy, where the PSO is integrated into the NPID controller. The percentage improvement with respect to PID controller in terms of steady state error for NPID with PSO is 48.86%, NPID is 32.17%, followed by Cascade at only 1.21%. However, further improvements are still needed. It is recommended for future work, the usage of NPID controller should be considered to achieve a better robust tracking.

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