Robustness evaluation for point-to-point control of a one mass rotary system

• Main Authors: Mohd Nor, Rozilawati, Chong, Shin Horng
• Format: Conference or Workshop Item
• Language: English
• Published: 2014
• Subjects: TJ Mechanical engineering and machinery; TK Electrical engineering. Electronics Nuclear engineering
• Online Access: http://eprints.utem.edu.my/id/eprint/13794/1/iccas_drchong.pdf; http://eprints.utem.edu.my/id/eprint/13794/; http://2014.iccas.org

In this paper, the Continuous Motion NCTF controller (CM-NCTF) is proposed for a point-to-point (PTP) positioning system of a one mass rotary system. For this system, the CM-NCTF controller is designed based on the conventional structure of NCTF controller and improved. The CM-NCTF controller comprising of Nominal Characteristic Trajectory (NCT) and Proportional Integral (PI) compensator which designed without knowing exact system modeling and parameter evaluation. Since the design procedure of the controller is simple, the NCT is constructing from system open loop response experimentally while the PI compensator is design based on the system itself. The effectiveness of the CM-NCTF controller is evaluating through experiment for positioning and tracking control application. While, to evaluate the controller robustness, an experiment of system sensitivity towards disturbance is applied and discuss. The effect of positioning, tracking and robustness are compared with PID controller. The CM-NCTF controller not only has a good positioning and smoother tracking response but also have less sensitivity towards disturbance. It’s proved that the CM-NCTF controller more accurate and robust than PID controller.