Abstract
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.
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N. M. H. Norsahperi received his B. Eng. and M.Sc. in Mechatronics Engineering from International Islamic University of Malaysia (IIUM) in 2015 and 2017, respectively. In 2017, He started his Ph.D. in Control and Mechatronic Engineering at University of Technology Malaysia. His research area mainly includes nonlinear control, robotics and artificial intelligence.
S. Ahmad started her career as a Project Engineer at Toyo Engineering and Construction (M) Sdn. Bhd, after receiving her B.Eng. in Mechatronics Engineering from International Islamic University Malaysia in 2001. Later she received her M.Eng.Sc. in Electrical Engineering from Curtin University of Technology, Australia in 2004. She was then completed her Ph.D in Automatic Control and Systems Engineering from The University of Sheffield in 2010, and currently is an Associate Professor at the Department of Electrical and Computer Engineering, King Abdulaziz University, Saudi Arabia.
I. A. Mahmood is a Senior Researcher at PETRONAS Research Sdn. Bhd. He received his B.Eng. and M.Sc. from IIUM. His Ph.D. is from University of Newcastle, Australia. His research area mainly includes precision control, robotics and automation.
S. F. Toha is currently an Associate Professor at the Department of Mechatronics Engineering, International Islamic University Malaysia (IIUM). She received B. Eng. (Hons) in Electrical and Electronics Engineering from University Technology Petronas and later received M.Sc. from Universiti Sains Malaysia in electrical engineering. Her Ph.D. in Automatic Control and Systems Engineering is from The University of Sheffield in 2010.
N. H. H. Mohamad Hanif received her B.Eng. (Hons.) from Universiti Teknologi PETRONAS, Malaysia in 2002 and completed her M.Sc. in Control Systems from Imperial College, London, U.K., in 2004. She was awarded the Ph.D. in Electronics & Computer Science from University of Southampton, U.K in 2016. She is currently an Assistant Professor at the Mechatronics Department, International Islamic University Malaysia. Her research interests include rehabilitation robotics, haptic technology, energy harvesting, wearable devices as well as instrumentation and control.
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Norsahperi, N.M.H., Ahmad, S., Toha, S.F. et al. Robustness analysis of fractional order PID for an electrical aerial platform. J Mech Sci Technol 32, 5411–5419 (2018). https://doi.org/10.1007/s12206-018-1039-2
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DOI: https://doi.org/10.1007/s12206-018-1039-2