$Robustness analysis of fractional order PID for an electrical aerial platform$

Robustness analysis of fractional order PID for an electrical aerial platform

This work was performed to objectively measure and assess the robustness and tracking performance of fractional order of proportional, integral and derivative (FOPID) controller as compared to the conventional PID control. In satellite research and development, the satellite undergoes numerous tes...

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Main Authors:	Norsahperi, Nor Mohd Haziq, Ahmad, Salmiah, Toha @ Tohara, Siti Fauziah, Mahmood, Iskandar Al-Thani, Mohamad Hanif, Noor Hazrin Hany
Format:	Article
Language:	English English English
Published:	Korean Society of Mechanical Engineers 2018
Subjects:	TJ212 Control engineering
Online Access:	http://irep.iium.edu.my/67709/ http://irep.iium.edu.my/67709/ http://irep.iium.edu.my/67709/ http://irep.iium.edu.my/67709/1/40-18-00454fso-%EC%88%98%EC%8B%9D-2003_published.pdf http://irep.iium.edu.my/67709/7/67709_Robustness%20analysis%20of%20fractional%20order%20PID_scopus.pdf http://irep.iium.edu.my/67709/13/67709%20Robustness%20analysis%20of%20fractional%20order%20PID%20WOS.pdf

id	iium-67709
recordtype	eprints
spelling	iium-677092019-07-15T01:56:22Z http://irep.iium.edu.my/67709/ Robustness analysis of fractional order PID for an electrical aerial platform Norsahperi, Nor Mohd Haziq Ahmad, Salmiah Toha @ Tohara, Siti Fauziah Mahmood, Iskandar Al-Thani Mohamad Hanif, Noor Hazrin Hany TJ212 Control engineering This work was performed to objectively measure and assess the robustness and tracking performance of fractional order of proportional, integral and derivative (FOPID) controller as compared to the conventional PID control. In satellite research and development, the satellite undergoes numerous tests such as thermal, acoustic and vibration tests in the cleanroom environment. However, due to space limitation in the cleanroom and the sensitive components of the satellite, it requires vibration-free, smooth and precise motion when handling the satellite. In addition, measurement interference might occur due to cable routing during procedures or tasks performed by an operator. Unlike the previous work, the robustness analysis of FOPID controller was not systematically conducted. In this paper, the analysis took into account the actuator dynamics, and various tests were considered to measure the robustness of FOPID controller. The designed FOPID controller was implemented on the scissor-type lifting mechanism of motorized adjustable vertical platform (MAVeP) model, and its performance was compared with the traditional PID controller. A comprehensive verification using MATLAB and Solidworks was carried out to generate the model and conduct the analysis. Both controllers were initially tuned using Nichol-Ziegler technique, and the additional FOPID controller parameters was tuned using the Astrom-Hagglund method. From the simulation work, it was found that the FOPID controller’s tracking error was reduced between 10 % - 50 % for the disturbance rejection tests and reference to disturbance ratio (RDR) spectrum was higher as compared to PID. The analysis in this paper was predicted to be the main driver to implement FOPID controller in the complex system in the industry, especially for sensitive material handling and transportation such as satellite. Korean Society of Mechanical Engineers 2018-11-01 Article PeerReviewed application/pdf en http://irep.iium.edu.my/67709/1/40-18-00454fso-%EC%88%98%EC%8B%9D-2003_published.pdf application/pdf en http://irep.iium.edu.my/67709/7/67709_Robustness%20analysis%20of%20fractional%20order%20PID_scopus.pdf application/pdf en http://irep.iium.edu.my/67709/13/67709%20Robustness%20analysis%20of%20fractional%20order%20PID%20WOS.pdf Norsahperi, Nor Mohd Haziq and Ahmad, Salmiah and Toha @ Tohara, Siti Fauziah and Mahmood, Iskandar Al-Thani and Mohamad Hanif, Noor Hazrin Hany (2018) Robustness analysis of fractional order PID for an electrical aerial platform. Journal of Mechanical Science and Technology, 32 (11). pp. 5411-5419. ISSN 1738-494X E-ISSN 1976-3824 https://link.springer.com/article/10.1007%2Fs12206-018-1039-2 10.1007/s12206-018-1039-2
repository_type	Digital Repository
institution_category	Local University
institution	International Islamic University Malaysia
building	IIUM Repository
collection	Online Access
language	English English English
topic	TJ212 Control engineering
spellingShingle	TJ212 Control engineering Norsahperi, Nor Mohd Haziq Ahmad, Salmiah Toha @ Tohara, Siti Fauziah Mahmood, Iskandar Al-Thani Mohamad Hanif, Noor Hazrin Hany Robustness analysis of fractional order PID for an electrical aerial platform
description	This work was performed to objectively measure and assess the robustness and tracking performance of fractional order of proportional, integral and derivative (FOPID) controller as compared to the conventional PID control. In satellite research and development, the satellite undergoes numerous tests such as thermal, acoustic and vibration tests in the cleanroom environment. However, due to space limitation in the cleanroom and the sensitive components of the satellite, it requires vibration-free, smooth and precise motion when handling the satellite. In addition, measurement interference might occur due to cable routing during procedures or tasks performed by an operator. Unlike the previous work, the robustness analysis of FOPID controller was not systematically conducted. In this paper, the analysis took into account the actuator dynamics, and various tests were considered to measure the robustness of FOPID controller. The designed FOPID controller was implemented on the scissor-type lifting mechanism of motorized adjustable vertical platform (MAVeP) model, and its performance was compared with the traditional PID controller. A comprehensive verification using MATLAB and Solidworks was carried out to generate the model and conduct the analysis. Both controllers were initially tuned using Nichol-Ziegler technique, and the additional FOPID controller parameters was tuned using the Astrom-Hagglund method. From the simulation work, it was found that the FOPID controller’s tracking error was reduced between 10 % - 50 % for the disturbance rejection tests and reference to disturbance ratio (RDR) spectrum was higher as compared to PID. The analysis in this paper was predicted to be the main driver to implement FOPID controller in the complex system in the industry, especially for sensitive material handling and transportation such as satellite.
format	Article
author	Norsahperi, Nor Mohd Haziq Ahmad, Salmiah Toha @ Tohara, Siti Fauziah Mahmood, Iskandar Al-Thani Mohamad Hanif, Noor Hazrin Hany
author_facet	Norsahperi, Nor Mohd Haziq Ahmad, Salmiah Toha @ Tohara, Siti Fauziah Mahmood, Iskandar Al-Thani Mohamad Hanif, Noor Hazrin Hany
author_sort	Norsahperi, Nor Mohd Haziq
title	Robustness analysis of fractional order PID for an electrical aerial platform
title_short	Robustness analysis of fractional order PID for an electrical aerial platform
title_full	Robustness analysis of fractional order PID for an electrical aerial platform
title_fullStr	Robustness analysis of fractional order PID for an electrical aerial platform
title_full_unstemmed	Robustness analysis of fractional order PID for an electrical aerial platform
title_sort	robustness analysis of fractional order pid for an electrical aerial platform
publisher	Korean Society of Mechanical Engineers
publishDate	2018
url	http://irep.iium.edu.my/67709/ http://irep.iium.edu.my/67709/ http://irep.iium.edu.my/67709/ http://irep.iium.edu.my/67709/1/40-18-00454fso-%EC%88%98%EC%8B%9D-2003_published.pdf http://irep.iium.edu.my/67709/7/67709_Robustness%20analysis%20of%20fractional%20order%20PID_scopus.pdf http://irep.iium.edu.my/67709/13/67709%20Robustness%20analysis%20of%20fractional%20order%20PID%20WOS.pdf
first_indexed	2023-09-18T21:36:07Z
last_indexed	2023-09-18T21:36:07Z
_version_	1777412831594938368

Robustness analysis of fractional order PID for an electrical aerial platform

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