Author/Authors :
Azman, Muhammad Asyraf Universiti Teknologi Malaysia - Faculty of Electrical Engineering - Department of Control and Mechatronics Engineering, Malaysia , Faudzi, Ahmad ‘Athif Mohd Universiti Teknologi Malaysia - Faculty of Electrical Engineering, Centre for Artificial Intelligence and Robotics (CAIRO) - Department of Control and Mechatronics Engineering, Malaysia , Mustafa, Nu’man Din Universiti Teknologi Malaysia - Faculty of Electrical Engineering - Department of Control and Mechatronics Engineering, Malaysia , Osman, Khairuddin Universiti Teknologi Malaysia - Faculty of Electrical Engineering - Department of Control and Mechatronics Engineering, Malaysia , Osman, Khairuddin Universiti Teknikal Malaysia Melaka - Faculty of Electronic and Computer Engineering - Department of Industrial Electronics, Malaysia , Natarajan, Elango Kolej Universiti Linton - School of Mechanical Engineering, Malaysia
Abstract :
The purpose of this paper is to design a controller that can control the position of the cylinder pneumatic stroke. This work proposes two control approaches, Proportional-Integral-Derivative Fuzzy Logic (Fuzzy-PID) controller and Proportional-Derivative Fuzzy Logic (PD-Fuzzy) controller for a Servo-Pneumatic Actuator. The design steps of each controller implemented on MATLAB/Simulink are presented. A model based on position system identification is used for the controller design. Then, the simulation results are analyzed and compared to illustrate the performance of the proposed controllers. Finally, the controllers are tested with the real plant in real-time experiment to validate the results obtained by simulation. Results show that PD-Fuzzy controller offer better control compared to Fuzzy-PID. A Pneumatic Actuated Ball Beam System (PABBS) is proposed as the application of the position controller. The mathematical model of the system is developed and tested simulation using Feedback controller (outer loop)-PD-Fuzzy controller (inner loop). Simulation result is presented to see the effectiveness of the obtained model and controller. Results show that the servo-pneumatic actuator can control the position of the Ball Beam system using PD-Fuzzy controller.
