Improved NCTF Control Method for a Two-Mass Rotary Positioning Systems

• 作者: B. A. Aminudin Mohd Fitri Mohd Yakub
• 来源期刊: 智能控制与自动化(英文)
• 学科: 医学
• 关键词: IMPROVED NCTF Two-Mass System NOTCH Filter VIBRATION Simulation
• 年，卷（期）: 2011,（4）
• 页码范围: 351-363
• 页数: 13页
• 分类号: R73

摘要

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.