Issue |
MATEC Web Conf.
Volume 154, 2018
The 2nd International Conference on Engineering and Technology for Sustainable Development (ICET4SD 2017)
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|
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Article Number | 01113 | |
Number of page(s) | 4 | |
Section | Engineering and Technology | |
DOI | https://doi.org/10.1051/matecconf/201815401113 | |
Published online | 28 February 2018 |
Point-to-point practical controller performance in an experimental two-axes belt driven mechanism
Mechanical Engineering Dept., Faculty of Industrial Engineering, Islamic University of Indonesia, Jl. Kaliurang km 14.5 Sleman, Yogyakarta, Indonesia
* Corresponding author: purtojo@uii.ac.id
High accuracy, fast response with no or small overshoot, and robust to object uncertainties are such performance required in a point-to-point positioning system. In order to achieve those performances, a good controller is required. A nominal characteristic trajectory following controller is one type of practical controllers which already has shown it good point-to-point positioning performance. Its structure consists of a nominal characteristic trajectory and a compensator. The design of the controller is based on a simple open loop experiment to construct a nominal characteristic trajectory. Information from nominal characteristic trajectory was then used to design the compensator. This practical approach was implemented in several different controlled objects, but limited to, system with a high stiffness mechanism. In this work, a nominal characteristic trajectory following controller was implemented on a low stiffness mechanism. An experimental two-axes belt driven mechanism was used as a controlled object. The actuator to drive the mechanism was electric motors with integrated encoders. Both axes with different characteristics identified through a simple open loop experiments and nominal characteristic trajectory constructed using speed and position data. A proportional integral compensator is selected in this work and was designed according to information from a nominal characteristic trajectory. In order to evaluate controller performance, point to point operation was conducted through simulation and experiment.
© The Authors, published by EDP Sciences, 2018
This is an Open Access article distributed under the terms of the Creative Commons Attribution License 4.0, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. (http://creativecommons.org/licenses/by/4.0/).
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