Design and Implementation of NCTF Controller for Vertical Eccentric Rotary Positioning System

Abstract

Nominal Characteristic Trajectory Following (NCTF) system is a simple control system. This control system comprises a Nominal Characteristic Trajectory (NCT) and a compensator. The practical aspect of an NCTF control system is obtained by manufacturing controllers based on simple open-loop experiments. Arduino Uno is used as the system controller. The study has been conducted to obtain the best type of NCT based on the NCTF proportional integral applied by the one mass of the vertical eccentric rotary system. MATLAB® software commands Arduino Uno to drive the motor and read the encoder. The system's performance can be seen by conducting tests on various types of NCT, by using variations of the angular destination position with 0.01-second sampling time. The variations of angular destination position consist of 0.785, 1.57, and 2.355 radians. Information on steady-state error, settling time, and overshoot would be analyzed to determine the best recording method of the NCT for one mass vertical eccentric rotation mechanism and the system's robustness. The results have showed that the NCTF control system based on proportional integral has performed best when using the NCT unload recorded type. This system has become a robust control system with a maximum value of steady-state error of 0.93%. The best response speed is determined by the smaller settling time value with a maximum time of 2 s. However, the overshoot is still emerging during the experiment as the typical reaction from the inertia moment of the imposition. Based on this research, it can be concluded that it is possible to use Arduino Uno as a DC motor controller on an eccentric arm with an NCTF system.