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This paper describes an improvement of the existing nominal characteristic trajectory following NCTF as a practical control method for a two-mass rotary point-to-point PTP positioning systems. Generally, the NCTF controller consists of a nominal characteristic trajectory NCT and a PI compensator. A notch filter is added as a part of the compensator to eliminate the vibration due to the mechanical resonance of the plant. The objective of the NCTF controller is to make the object motion follow the NCT and end at its origin. The NCTF controller is designed based on a simple open-loop experiment of the object. The parameters identification and an exact model of the plant are not necessary for controller design. The performance response of improved NCTF controller is evaluated and discussed based on results of simulation. The effect of the design parameters on the robustness of the NCTF controller to inertia and friction variations is evaluated and compared with conventional PID controller. The results show that the improved NCTF controller has a better positioning performance and is much more robust than the PID controller.


Improved NCTF, Two-Mass System, Notch Filter, Vibration, Simulation

Cite this paper

M. Yakub and B. Aminudin -Improved NCTF Control Method for a Two-Mass Rotary Positioning Systems,- Intelligent Control and Automation, Vol. 2 No. 4, 2011, pp. 351-363. doi: 10.4236-ica.2011.24040.

Autor: Mohd Fitri Mohd Yakub, B. A. Aminudin



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