An optimized controller provides consistent performance with high accuracy and precision even in ... more An optimized controller provides consistent performance with high accuracy and precision even in the presence of disturbance forces. Disturbance forces can be a cutting force or friction force or both. Tracking performance of a drive system is critically influenced by the mechanical structure, disturbance forces and work piece mass. Sliding mode controller is designed to compensate disturbance forces especially friction. This paper presents parameter tuning strategies in designing a sliding mode controller in compensating a nonlinear friction behaviour occurred in machine tools application. The main parameter properties of a sliding mode controller are identified and analyzed. The proposed methods are analytically designed and numerically validated by variability index performance. The result analysis is presented by comparison of tracking position errors of linear motion using proposed methods with lower variability index. The result shows that method a with approach b has lower tracking position error and lower variability index, hence a better chattering effect and tracking position error performance.
Accurate roundness or circularity measurement is essential to obtain correct functioning of assem... more Accurate roundness or circularity measurement is essential to obtain correct functioning of assemblies, making roundness an important quality control parameter in manufacturing industry. Since circular motion while milling a circular work piece leads to quadrant glitches, a phenomenon familiar with existence of highly nonlinear friction behavior, roundness measurement was conducted to investigate this surface location error due to feed rate of the moving work table. This paper presents friction behavior on a milling process circular work piece in line resulted from identified surface error location (SLE).
This paper presents the design and analysis of cascade NP/PI position controller for machine tool... more This paper presents the design and analysis of cascade NP/PI position controller for machine tools application. The proposed control structure is an enhancement over the classical cascade P/PI position controller whereby a nonlinear function was designed and embedded onto cascade P/PI controller scheme to add element of robustness to the controller characteristics. The controller design consisted of three steps, namely; design of speed loop, design of position loop, and design of the nonlinear function. Both the speed loop and the position loop were designed based on loop shaping method in frequency domain using gain margin and phase margin as design considerations. The controller gains were confirmed based on results of stability. Three parameters identified for the nonlinear function were rate of variation of nonlinear gain (KO), maximum value of error, (e max ) and sampling frequency, (δ). The controller tracking performances were numerically analysed and validated on an XY feed ...
International Journal of Engineering Science Technologies, 2019
The right leg drive (RLD) is a circuit associated with electrocardiography acquisition circuits. ... more The right leg drive (RLD) is a circuit associated with electrocardiography acquisition circuits. For electromyography (EMG), the RLD circuit is used to a lesser degree. In general, the RLD circuit provides better noise reduction. This study compares the output of the EMG with and without the RLD circuit. The results indicate that with a good filter design, the direct grounding method can match the RLD in terms of noise reduction. As a result, EMG application, the RLD drive can be omitted.
This paper presents the development of the system identification (SI) for the highly nonlinear pi... more This paper presents the development of the system identification (SI) for the highly nonlinear piezoelectric patch actuator. The transfer function is determined by using the nonlinear least square (NLS) method after the direct measurements of input-output data are taken from the actuator that is installed on a well-equipped platform. The results were validated to ensure that the transfer function derived fits well with the experimental output.
Accurate and precise positioning control is critical in designing a positioning servo pneumatic s... more Accurate and precise positioning control is critical in designing a positioning servo pneumatic system. The internal friction force of the pneumatic is one of the disturbances that make it challenging to achieve accurate and precise positioning. Dynamic friction identification and modelling are usually very complex and computationally exhaustive. In addition, pneumatic actuators are nonlinear systems, and applying linear control to the system is a mismatch. This study proposes an enhanced triple nonlinear hyperbolic PID controller with static friction (T-NPID+FSS) feedback module. T-NPID is integrated with nonlinear hyperbolic functions at each PID gain, hence the name. The reference in designing the T-NPID is the Popov stability criterion. Meanwhile, static friction (comparatively more straightforward than dynamic friction) is identified by measuring the actuator's internal friction at various velocities and applying it to the static friction model. T-NPID+FSS is compared to a ...
A novel CAD/CAM-control system (CADCAMConSys) interpreter functions to communicate data seamlessl... more A novel CAD/CAM-control system (CADCAMConSys) interpreter functions to communicate data seamlessly between CAD/CAM and control system of a machine tool. It was developed using MATLAB graphical user interface that serves as an alternative graphical input interface for position controller. The developed interpreter is capable to interpret CAD/CAM data to be utilized as an alternative reference input for position control scheme designed in MATLAB/Simulink environment. The interpreter aims to further enhance the flexibility and capability of a prototype XYZ milling machine that integrates CAD/CAM data with position control schemes and algorithms designed in MATLAB/Simulink platform. This paper focuses on the analysis of the compatibility of the interpreted CAD/CAM data as the input reference for the controller. This research is expected to produce a control system with versatility in input signal forms.
Communications in computer and information science, 2017
This paper presenting an improvement made on material handling system in automotive assembly line... more This paper presenting an improvement made on material handling system in automotive assembly line in order to investigate the changes or influences that affect the assembly line. Some issues from a case study arose where the current transportation took a long time to supply material at assembly line and a risk of damaging the parts is high. Thus, an improvement is done by changing the current transport equipment into AGV and the storage equipment is changed into semi-automatic pick-to-light system. A method of discrete-event simulation using Delmia Quest software is applied. Based on the simulation result, the total production output increase almost 3 folds from the current output factory can produce. It’s concluded that a combined changes give large influences to the manufacturing system. A part of that, Delmia Quest is a useful software to enable decision-making process and improve system effectively without possibility destroying the elements.
An optimized controller provides consistent performance with high accuracy and precision even in ... more An optimized controller provides consistent performance with high accuracy and precision even in the presence of disturbance forces. Disturbance forces can be a cutting force or friction force or both. Tracking performance of a drive system is critically influenced by the mechanical structure, disturbance forces and work piece mass. Sliding mode controller is designed to compensate disturbance forces especially friction. This paper presents parameter tuning strategies in designing a sliding mode controller in compensating a nonlinear friction behaviour occurred in machine tools application. The main parameter properties of a sliding mode controller are identified and analyzed. The proposed methods are analytically designed and numerically validated by variability index performance. The result analysis is presented by comparison of tracking position errors of linear motion using proposed methods with lower variability index. The result shows that method a with approach b has lower tracking position error and lower variability index, hence a better chattering effect and tracking position error performance.
Accurate roundness or circularity measurement is essential to obtain correct functioning of assem... more Accurate roundness or circularity measurement is essential to obtain correct functioning of assemblies, making roundness an important quality control parameter in manufacturing industry. Since circular motion while milling a circular work piece leads to quadrant glitches, a phenomenon familiar with existence of highly nonlinear friction behavior, roundness measurement was conducted to investigate this surface location error due to feed rate of the moving work table. This paper presents friction behavior on a milling process circular work piece in line resulted from identified surface error location (SLE).
This paper presents the design and analysis of cascade NP/PI position controller for machine tool... more This paper presents the design and analysis of cascade NP/PI position controller for machine tools application. The proposed control structure is an enhancement over the classical cascade P/PI position controller whereby a nonlinear function was designed and embedded onto cascade P/PI controller scheme to add element of robustness to the controller characteristics. The controller design consisted of three steps, namely; design of speed loop, design of position loop, and design of the nonlinear function. Both the speed loop and the position loop were designed based on loop shaping method in frequency domain using gain margin and phase margin as design considerations. The controller gains were confirmed based on results of stability. Three parameters identified for the nonlinear function were rate of variation of nonlinear gain (KO), maximum value of error, (e max ) and sampling frequency, (δ). The controller tracking performances were numerically analysed and validated on an XY feed ...
International Journal of Engineering Science Technologies, 2019
The right leg drive (RLD) is a circuit associated with electrocardiography acquisition circuits. ... more The right leg drive (RLD) is a circuit associated with electrocardiography acquisition circuits. For electromyography (EMG), the RLD circuit is used to a lesser degree. In general, the RLD circuit provides better noise reduction. This study compares the output of the EMG with and without the RLD circuit. The results indicate that with a good filter design, the direct grounding method can match the RLD in terms of noise reduction. As a result, EMG application, the RLD drive can be omitted.
This paper presents the development of the system identification (SI) for the highly nonlinear pi... more This paper presents the development of the system identification (SI) for the highly nonlinear piezoelectric patch actuator. The transfer function is determined by using the nonlinear least square (NLS) method after the direct measurements of input-output data are taken from the actuator that is installed on a well-equipped platform. The results were validated to ensure that the transfer function derived fits well with the experimental output.
Accurate and precise positioning control is critical in designing a positioning servo pneumatic s... more Accurate and precise positioning control is critical in designing a positioning servo pneumatic system. The internal friction force of the pneumatic is one of the disturbances that make it challenging to achieve accurate and precise positioning. Dynamic friction identification and modelling are usually very complex and computationally exhaustive. In addition, pneumatic actuators are nonlinear systems, and applying linear control to the system is a mismatch. This study proposes an enhanced triple nonlinear hyperbolic PID controller with static friction (T-NPID+FSS) feedback module. T-NPID is integrated with nonlinear hyperbolic functions at each PID gain, hence the name. The reference in designing the T-NPID is the Popov stability criterion. Meanwhile, static friction (comparatively more straightforward than dynamic friction) is identified by measuring the actuator's internal friction at various velocities and applying it to the static friction model. T-NPID+FSS is compared to a ...
A novel CAD/CAM-control system (CADCAMConSys) interpreter functions to communicate data seamlessl... more A novel CAD/CAM-control system (CADCAMConSys) interpreter functions to communicate data seamlessly between CAD/CAM and control system of a machine tool. It was developed using MATLAB graphical user interface that serves as an alternative graphical input interface for position controller. The developed interpreter is capable to interpret CAD/CAM data to be utilized as an alternative reference input for position control scheme designed in MATLAB/Simulink environment. The interpreter aims to further enhance the flexibility and capability of a prototype XYZ milling machine that integrates CAD/CAM data with position control schemes and algorithms designed in MATLAB/Simulink platform. This paper focuses on the analysis of the compatibility of the interpreted CAD/CAM data as the input reference for the controller. This research is expected to produce a control system with versatility in input signal forms.
Communications in computer and information science, 2017
This paper presenting an improvement made on material handling system in automotive assembly line... more This paper presenting an improvement made on material handling system in automotive assembly line in order to investigate the changes or influences that affect the assembly line. Some issues from a case study arose where the current transportation took a long time to supply material at assembly line and a risk of damaging the parts is high. Thus, an improvement is done by changing the current transport equipment into AGV and the storage equipment is changed into semi-automatic pick-to-light system. A method of discrete-event simulation using Delmia Quest software is applied. Based on the simulation result, the total production output increase almost 3 folds from the current output factory can produce. It’s concluded that a combined changes give large influences to the manufacturing system. A part of that, Delmia Quest is a useful software to enable decision-making process and improve system effectively without possibility destroying the elements.
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