Position control for motorized belt driven table

Abstract

A belt driven system is more cost attractive than a screw-driven system, but the problem with elasticity makes the positioning of a belt driven table inaccurate. An FL controller with frictional and elasticity compensator was proposed to be a better controller than a conventional PID. An existing conveyor system complete with the motor driver was used in this project. Using PRBS input, the input output data was gathered and the parametric model of the conveyor was identified by MATLAB SID Toolbox. The model was then used to develop the conventional PID controller, the proposed FL controller and also frictional and elasticity compensator, in Simulink environment by simulation. The developed controllers were then implemented physically to control the conveyor. Data was gathered and compared for the evaluation of positional tracking and end-point controlling performances. For positional tracking, a conventional PID controller shows the best performance in hardware implementation, but for end-point positioning, the FL controller with compensator showed the better performance in both simulation and hardware implementation than the conventional PID controller. The FL controller with compensator could improve the performance of equipment which requires only the end-point positioning control such as vision inspection machine, insertion machine and cutting machine significantly.