Professional Documents
Culture Documents
Integrated Speed - Position Tracking With Trajectory Generation and Synchronization For 2 - Axis DC Motion Control
Integrated Speed - Position Tracking With Trajectory Generation and Synchronization For 2 - Axis DC Motion Control
(6)
The figure 4 shows designed, modelled and implemented PID controller in SIMULINK.
Fig. 4. Modelling of PID in SIMULINK
Integrated Speed Position Tracking with Trajectory Generation and Synchronization
64
A. Speed Control
The PID control algorithm is used to control the speed of DC motor. The speed control is achieved in
MATLAB & SIMULINK. A random noise generator block is used to add error in PID controller output. Indirectly it tells
about loading effect and plant disturbances. The robustness is checked in presence of load. Also, the source power supply
voltage is varied between 12V to 24V. The tuning of PID controller is done by Ziegler-Nichols method [11].
B. Position Control
The PD algorithm is used to control the position of DC motor. The position control of DC motor is achieved in
SIMULINK. The robustness of position controller is checked similar to the speed controller. The position of motor is
controlled in terms of degrees and number of rotation of shaft. The position controller is used to achieve linear position of
object by converting circular motion of DC motor into linear motion.
C. Integrated Speed Position Control
The integrated speed position control is achieved by combining PD and PID algorithm. The trajectory generator
generates position profile as input to PD controller. The output of this acts as set-point for PID algorithm i.e. speed
controller. In order to suppress the load disturbances and to reduce error the speed controller (PID) is used inside PD loop
as shown in Fig 5. The PID controller takes care of velocity profile of interest. The integrated speed position control
works for both axis simultaneously. The actual speed of DC motor is given as feedback to speed controller and actual
position of motor is given as feedback to position controller as shown in Fig 5. The Fig. 5 shows block diagram of
integrated speed position control system for single axis.
Fig. 5. Integrated Speed-Position Control Block
D. Synchronization
Synchronization of two or more axes requires a definite relationship between one axis and the others. In many
machines, the synchronization requires coordination of starting and stopping. The position and velocity relationship
between the axes will often be important to the proper operation of the machine. For example, if there are interlocking
moving parts on a machine, position coordination during motion may be required to avoid collision. The trajectory
generator gives two position profiles to each axis. The random noise generators are taken to check the performance of
system in presence of disturbances. The trajectory generator plays important role in synchronization. The synchronization
can be done in many ways. In this paper the two types of synchronization are considered. First, certain position achieved
on one axis will be the signal to start motion on another axis. The second is when first motor achieves its mid-position
along axis one, then the second motor on axis second starts. Programmable acceleration and deceleration allow very
smooth and controlled starts and stops to individual axis of motion. The smoothness reduces machine wear and makes
machine run more quietly. The control gives better precision in the axis synchronization.
V. RESULTS AND ANALYSIS
A. Tracking Performance
Figure 6 and Fig. 7 shows speed tracking with and without effect of load. Position tracking is shown in Fig. 8
and Fig. 9. The results demonstrate that speed and position control is robust against load disturbances.
Fig. 6. Speed Tracking Fig. 7. Speed Tracking with Load Disturbance
Integrated Speed Position Tracking with Trajectory Generation and Synchronization
65
Fig. 8. Position Tracking Fig. 9. Position Tracking with Load Disturbance
B. Synchronization
Figure 10 and Fig. 11 shows the synchronization between two axes. When first motor achieves its position, it
stops and at same instant second motor starts. The effect of load is considered in Fig. 11. Fig. 12 and Fig. 13 shows that
when first motor achieves its mid-position second motor starts. The loading is considered in Fig. 13.
The inner speed controller and trajectory generator reduces the synchronization error. The system also works
well in presence of load disturbances.
Fig. 10. Synchronization of Axes Fig. 11. Synchronization of Axes with Load Disturbances
Fig. 12. Synchronization of Axes Fig. 13. Synchronization of Axes with Load Disturbances
Integrated Speed Position Tracking with Trajectory Generation and Synchronization
66
VI. CONCLUSIONS
This paper completely covers modeling, analysis, simulation and experimental verification of the speed-
position control system. The different trajectories can be realized easily for individual axis by setting velocity and
acceleration. Simulations & experiments have shown that synchronization error between axes reduces with smooth
trajectory generation. The performance & robustness for the speed control are investigated both analytically &
experimentally under load disturbances. Finally, the simulations & experiments demonstrate that the speed and position
control offers high dynamic stiffness against load disturbances.
VII. ACKNOWLEDGMENT
The authors wish to thank AICTE, New Delhi for the funding received through MODROBS Project vide, F. No.
RID/BOR/MOD-705/2009-10.
REFERENCES
[1]. Y. H. Chang, W. H. Chieng, C. S. Liao, and S. L. Jeng, A novel master switching method for electronic cam control with
special reference to multi-axis coordinated trajectory following, Control Engineering Practice, vol. 14, pp. 107120, March
2006.
[2]. S. S. Yeh, and P. L. Hsu, Analysis and design of integrated control for multi-axis motion system, IEEE Transactions on
Control Systems Technology, vol. 11, no. 3, pp. 375382, May 2003.
[3]. S. Yeh, and P. L. Hsu, Design of precise multi-axis motion control systems, Automatica, pp. 234239, 2000.
[4]. J. Liu, K. Yamazaki, and Yokoyama, Dynamic gain motion control with multi-axis trajectory monitoring for machine tool
systems, Automatica, pp. 316321, 1998.
[5]. Y. Xiao, K. Zhu, and H. C. Liaw, Generalized synchronization control of multi-axis motion systems, Control Engineering
Practice, vol. 13, pp. 809819, October 2005.
[6]. M. H. Cheng, Adaptive robust control of tracking and synchronization for multi-axis motion system, in American Control
Conference, June 2011, pp. 16.
[7]. A. Roy, A. Gazta, and S. Sahadevan, MATLAB based real time control implementation of dc servo motor using PCI card,
Masters thesis, National Institute of Technology, Rourkela, 2011.
[8]. DCMS DC MOTOR SYSTEM, June 2010.
[9]. DC Motor Model.
[10]. Modelling DC Motor Position, NATIONAL Instruments, December 2010.
[11]. J. Ziegler, and N. Nichols, Optimum Settings for Automatic Controllers, ASME Transactions, vol. 64, pp. 759768, 1942.