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 ...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.展开更多
The goal of this paper is to enhance a practical nominal characteristic trajectory following(NCTF) controller that is specifically designed for two-mass point-to-point positioning systems. A nominal characteristics tr...The goal of this paper is to enhance a practical nominal characteristic trajectory following(NCTF) controller that is specifically designed for two-mass point-to-point positioning systems. A nominal characteristics trajectory contained in the NCTF controller acts as movement/motion reference and a compensator is utilized to force the object to detect and follow the reference/desired trajectory. The object must follow and track closely and should be as fast as possible. The NCTF controller is designed with two different intelligent based compensator approaches which are fuzzy logic and extended minimal resource allocation network. The proposed controller which is NCTF are compared with the conventional proportional integral compensator. Then the results of simulation are discussed for the positioning performances. The inertia variations due to the effect of the design parameters are also assessed to see the robustness of controllers. The results show that the NCTF control method designed from an intelligent based compensator has a better positioning performance in terms of percentage of overshoot, settling time, and steady state error than the classical based compensator.展开更多
文摘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.
文摘The goal of this paper is to enhance a practical nominal characteristic trajectory following(NCTF) controller that is specifically designed for two-mass point-to-point positioning systems. A nominal characteristics trajectory contained in the NCTF controller acts as movement/motion reference and a compensator is utilized to force the object to detect and follow the reference/desired trajectory. The object must follow and track closely and should be as fast as possible. The NCTF controller is designed with two different intelligent based compensator approaches which are fuzzy logic and extended minimal resource allocation network. The proposed controller which is NCTF are compared with the conventional proportional integral compensator. Then the results of simulation are discussed for the positioning performances. The inertia variations due to the effect of the design parameters are also assessed to see the robustness of controllers. The results show that the NCTF control method designed from an intelligent based compensator has a better positioning performance in terms of percentage of overshoot, settling time, and steady state error than the classical based compensator.
