Design and Simulation of PD and PID Controller for Hybrid Actuator

Transcription

1 3-5 พฤษภาคม 554, โรงแรม Phuet Orch Resort an Sa หาดกะรน จ งหว ดภ เก ต Desgn an Smulaton of PD an PID Controller for Hybr Actuator Boontan Srboonrueng 1 1 Deartment of Inustral Eucaton Faculty of Inustral Eucaton Rajamangala Unversty of Technology Thanyabur E-mal: s_boontan@hotmal.com Abstract The eveloment of new an more effectve methos of hybr actuator s more an more ncreasngly one to rouce otmal effcency an erformance oututs. In ths aer, the system archtecture an control of a new hybr system whch s the combnaton of the moton of DC motor an neumatc motor transmttng ower through a set of gear box to the outut shaft s roose. The classcal controllers of PD an PID controller were ale to the rotatonal see control of the roose system. The MATLAB smulaton s emloye to nvestgate an evaluate the system erformance when alyng PD an PID controllers. Each tye of see controller was teste at no-loa stuaton. Smulaton results have shown that PD an PID controllers have gven the smlarly erformance outut but they are not goo enough snce both the DC motor an neumatc motor runs at the fferent see. Keywor: hybr actuator, PD controller, PID controller, smulaton 1. Introucton Nowaays, alcatons of hybr systems can be foun almost everywhere n the engneerng fel, esecally, n manufacturng an automaton nustres. From the theoretcal concet of hybr system, hybr system s the system that combnes the motons of at least two characterstcally fferent energy sources to rouce the outut. The eveloment of new an more effectve methos of hybr actuator s more an more ncreasngly one to rouce otmal effcency an erformance oututs. Many new actuaton methos have been roose whle each tye of actuator has fferent avantages an rawbacs that challenge the researchers to contnuously evelo new hybr actuators. As the two common wely use actuators n a varety of nustral alcatons are neumatc an electrc motors. The neumatc motors generally offer numerous avantages such as cleanlness, low cost, hgh rato of ower to weght, east to mantan, safe, ant exloson, long worng lfe an har wor loang. However the control accuracy s affecte baly by nonlnear characterstcs as the system rawbac [1], []. On the other han, the avantages of electrc motors are recse control, ortablty, an cleanlness. However, the electrc motors also suffer from the rawbacs of large sze-to-torque rato, lmte range of ower transmsson mechancs an roneness to envronmental hazars such as rt, fre, an mosture [3]. To overcome the savantage of mrecson control of neumatc motor, combnng the hgh ower-to-weght rato an hgh see of neumatc motors wth ease an recse control of DC motor can be erforme. In ths stuy, the system archtecture an control of a new hybr system whch s the combnaton of the moton of DC motor an neumatc motor s roose. The two man uroses of ths stuy are to roose a novel esgn of hybr actuator an to evaluate control erformance of the hybr actuator when alyng the classcal control methos; PD an PID controllers. The followng sectons are organze as follows: the ntroucton to system of the esgne hybr actuator s escrbe n Secton, the system ynamcs s analyze n Secton 3, the see control algorthms are roose an analyze n Secton 4, the smulaton results are also shown an scusse n Secton 4 an the concluson s state n Secton 5.. Hybr Actuator System Archtecture The novel esgn of hybr actuator ams to overcome the savantage of mrecson control of neumatc motor an also taes the avantages of hgh ower-to-weght rato an hgh see of neumatc motors wth ease an recson control of DC motor. The owers of both motors are transmtte smultaneously through a sngle outut shaft rotatng at the same see level of electrc an neumatc motors. Ths system s able to generate hgh torque whle mantan see constantly. See Fgures

2 3-5 พฤษภาคม 554, โรงแรม Phuet Orch Resort an Sa หาดกะรน จ งหว ดภ เก ต Controller Hybr Actuator Comutor Fgure 1: The Archtecture of Hybr Actuator System. In the eveloe system, the secfcaton of DC motor use s 60w, 3000 rm, 4 volt, 3.9 A. an 4000 rm maxmum see. On the other han, the vane-tye neumatc motor s use wth a roortonal valve (Festo, MPYE-5-1/8) n orer to control the rotatonal see of a neumatc motor..1 Mathematcal moel of DC motor The transfer functon of a DC motor from nut voltage, v (s) to the outut angular velocty, (s) s etermne. G( s) ( s) m (1) v ( s) s Where G (s) = Transfer functon from nut voltage an outut angular velocty. (s) = Outut angular velocty (rm.). v (s) = Inut voltage (v.). m = Senstvty of the DC motor. = Tme constant of the DC motor (s). One of the frequently use controllers n control systems s the roortonal ervatve (PD) controller. The man avantage of the PD controller s that t can easly be mlemente. On the other han, the erformance obtane from PD controllers s not satsfyng for the alcatons wth hgh orer [4]. The general bloc agram s shown n Fgure. Set - ont e () ont Fgure : The general bloc agram of PD-Controller. The mathematcal moel of the PD-Controller can be exresse as: e( ) u( ) e( ) (3) t Where u () = actuatng sgnal. e () = error sgnal. = gan of the roortonal controller PD- Controller u () ont Plant Outut = gan of the ervatve controller The bloc agram of the PD-controller of the roose system s shown as Fgure 3. The terms 1 an are the relatve gans Desgn of gans,, an 1 of the PDcontroller The system s mlemente on MATLAB smulaton as shown n the bloc agram llustrate n Fgure 3.. Mathematcal moel of Pneumatc motor The neumatc motor s moele wth the system tme constant ( ), the senstvty ( n ) an elay tme (T ) as followng: - e /t 1 u ω S S G( s) n e s Ts () Fgure 3: Bloc agram of the PD-controller use n MATLAB smulaton Where n = Senstvty of the neumatc motor. = Tme constant the neumatc motor (s). T = Tme elay (s). The values of gan,, an 1 use n the smulaton by MATLAB at four fferent sees; 500 rm,1000 rm, 1500 rm an 000 rm, are gven n Table See control of hybr actuator In ths stuy, both the classcal control; PD-control an PIDcontrol are ale to test an evaluate the erformance of see control of the roose hybr actuator. 3.1 PD-Controller -356-

3 3-5 พฤษภาคม 554, โรงแรม Phuet Orch Resort an Sa หาดกะรน จ งหว ดภ เก ต Table 1: The otmal gan of the PD-controller Gans 500 rm 1000 rm 1500 rm 000 rm Smulaton Result of PD-Controller The grahs showng the relatonsh between see n rm an tme of PD controller at 500, 1000, 1500, an 000 rm are shown n Fgures 4 (a), 4 (b), 4 (c), an 4 (), resectvely. From the Fgure 4(a), the grah llustrates that at the ntal startng ero, the DC motor has hgher see ( e 70 rm ) than the neumatc motor ( 30 rm). After 1.5 secons, on the other han, the see of the neumatc motor ( 70 rm) s hgher than the DC motor ( e 40 rm ) However, whatever the see of each motor s, the see at shaft axs ( outut ) remans stll aroxmately 500 rm. Smlarly for the other three exerments at 1000 rm, 1500 rm an 000 rm, the grah of each exerment shows a smlarty of the characterstc between DC motor an neumatc motor n whch at the ntal ero, the DC motor has a hgher see than the neumatc motor, but after 1.5 secons, the see of neumatc motor becomes hgher than the see of DC motor. However, at the en, the see at the shaft axs s entcal wth the see at the set ont of each exerment. See the Fgures 4(b), 4(c) an 4(). Fgure 4(a): Smulaton result at 500 rm. Fgure 4(b): Smulaton result at 1000 rm. 3. PID-Controller Tycally, the PID controller nclues a roortonal term, ntegral term an ervatve term. The roortonal term s use to ajust the outut of controller accorng to the magntue of error. The ntegral term s use to remove the steay state error of the controlle system an mrove the steay state resonse. The ervatve term s use to rect the tren of error an mrove the transent resonse of the controlle system. The PID controller s enough to control u to secon orer rocesses. Because the structure of PID controller s smle, t s the most extensve control metho esgn use n nustry. The PID controller s manly nvolve wth selecton of arorate roortonal gan (KP), ntegral gan (KI), an fferental gan (KD) to acheve the esgne control erformance. The general PID controller system bloc agram s shown n Fgure 5. Set - ont e () ont PID-Controller u () ont Plant Outut Fgure 4 (c): Smulaton result at 1500 rm. Fgure 5: General bloc agram of PID-controller. The screte-tme PID-controller can be exresse as [5] u( ) u( ) u( ) (4) u( ) [ e( ) e( 1)] Te( ) [ e( 1) e( )] (5) Fgure 4(): Smulaton result at 000 rm

4 3-5 พฤษภาคม 554, โรงแรม Phuet Orch Resort an Sa หาดกะรน จ งหว ดภ เก ต Where u () = actuatng sgnal. u() = actuatng sgnal change e () = error sgnal. = gan of the roortonal controller = gan of the ntegral controller = gan of the ervatve controller T = Samlng tme 3..1 Desgn of gans,,, 1 an of the PIDcontroller The system s mlemente on the MATLAB smulaton as shown n the bloc agram llustrate n Fgure 6. Fgure 7(b): Smulaton result at 1000 rm S e() 1 u() - S I ω /t S Fgure 6: Bloc agram of the PID-controller use n MATLAB smulaton The values of gan,,, 1 an use n the smulaton by MATLAB at three fferent sees, are gven n Table. Table : The gans of the PID-controller Gans 500 rm 1000 rm 1500 rm 000 rm Smulaton Result of PID-Controller The grahs showng the relatonsh between see n rm an tme of PID controller at 500, 1000, 1500, an 000 rm are shown n Fgures 7 (a), 7 (b), 7 (c), an 7 (), resectvely. Fgure 7(a): Smulaton result at 500 rm. Fgure 7(c): Smulaton result at 1500 rm. Fgure 7(): Smulaton result at 000 rm. Fgures 7 (a), 7 (b), 7 (c), an 7 () show the smulaton results at fferent sees by usng PID controller. The results are smlar to the results obtane by usng PD controller. Fnally, t can be conclue that by usng PD an PID controller, the see of DC motor s hgher than the see of neumatc motor at the ntal stage, then after 1.5 secons, the see level of neumatc motor becomes hgher than the see of DC motor. However, at the en, the see at shaft axs s equal to the see at the set ont. 4. Concluson In ths aer, the successful eveloment of hybr actuator was resente. The actuator s the combnaton of the moton of DC motor an neumatc motor transmttng ower through a set of gear box to the outut shaft. The classcal controllers of PD an PID controller were ale to the rotatonal see control of the roose system. Each tye of see controller was teste at no-loa stuaton to nvestgate an evaluate the system erformance. Smulaton results have shown that PD an PID -358-

5 3-5 พฤษภาคม 554, โรงแรม Phuet Orch Resort an Sa หาดกะรน จ งหว ดภ เก ต controllers have gven the smlarly erformance outut but they are not goo enough snce both the DC motor an neumatc motor runs at the fferent see. In the further wor, the see control erformance woul be examne wth other controller tyes an the erformance outut wth loa crcumstance woul be also nvestgate. References [1] Hazem I. Al, Samsul Bahar B Moh Noor, S. M. Bash, an M. H. Marhaban. (009). A Revew of Pneumatc Actuators (Moelng an Control), Australan Journal of Basc an Ale Scences, Vol. 3 Issue., [] I.G. French an C.S. Cox. (1990). Moellng, esgn an control of a moern electroneumatc actuator, IEE PROCEEDINGS, Vol. 137, Pt. D, No. 3, [3] F. Taemura, S.R. Panan, Y. Nagase, H. Mzutan, Y. Hayaawa, an S. Kawamura. (000), Control of a Hybr Pneumatc/Electrc Motor, Proceeng of the 000 IEEE/RS/Internatonal Conference on Intellgent Robots an Systems., Vol. 1, [4] H. Cao; Y. Yn; D. Du; Y. He; H. Yu an W. Gu (006) Testng an Moelng of Motor Drver System Base on PD Control Proceengs of the 6th Worl Congress on Intellgent Control an Automaton., Vol. 1, [5] J.-C. Renn an C.-M. Lao. A stuy on the see control erformance of a servo-neumatc motor an the alcaton to neumatc tools, Internatonal Journal of Avance Manufacturng Technology, Vol.3, No.7-8,