Affiliation:
1. Defence Technology Institute (Public Organisation)
Abstract
This paper presents the system identification of a prototype of hydraulic platform compare with two methods between the Autoregressive model structure with exogenous input and the Lagrange’s equation with SolidWorks’ simulation analysis tool. The system identification was identified, then the model was employed to simulate the multi-sine input response and the simulation results were compared to the experimental results. It was found that the model was developed using Lagrange’s equation more accurate than the Autoregressive model structure that having percentage best fit of 93.45% for the azimuth angle control and 92.25% for the elevation angle control. Overall, this method could be accepted with a good percentage best fit that compared with experiment results.
Publisher
Trans Tech Publications, Ltd.
Reference7 articles.
1. Vicente Parra-Vega, Suguru Arimoto, Yun-Hui Liu, Gerhard Hirzinger, and Prasad Akella, Dynamic Sliding PID Control for Tracking of Robot Manipulators: Theory and Experiments, IEEE Transactions on Robot and Automation, vol. 19, no. 6, Dec. 2003, pp.967-976.
2. Andrea Calanca, Luca M. Capisani, Antonella Ferrara, and Lorenza Magnani, MIMO Closed Loop Identification of an Industrial Robot, IEEE Trans. Control System Technology, vol. 19, no. 5, p.1214–1224. September 2011, pp.1214-1224.
3. Ramli Adnan, Mohd Hezri Fazalul Rahiman and Abd Manan Samad M., Model Identification and Controller Design for Real-Time Control of Hydraulic Cylinder, 6th International Colloquium on Signal Processing & Its Applications, 2010, pp.186-189.
4. M Gopal, Digital Control and State Variable Methods, Third Edittion, Tata McGraw Hill Education Private Limited, India, (2009).
5. Norman S. Nise, Control System Engineering, Sixth edition, John Wiley & Sons Inc., (2011).