In this work, a speed controlled, the programmable, low-cost, high-efficiency spin coating system is designed and implemented. The system is built from commercially available hard disk drivers DC motor, vacuum pump, speed sensor, brushless driver circuit carries Toshiba's TB6575FNG IC, PIC18F47J53 Microcontroller and using the interactive user interface to communicate with a user. Three different voltage stages and pulse width modulation techniques were used to guarantee accurate spinning speed and time. This system provides a wide range of precise and stable multi-step speeds rang of 1500 to 8,000 rpm. To evaluate the implemented system, ZnO thin films have been deposited by the sol-gel method on a glass substrate. Homogenous and uniform thickness films were obtained. The outstanding features of this system are the stability, accuracy, low energy consumption and durability, and the simplicity of adjusting multi-step spinning speed and time by using the interactive user interface.
This paper deals with design and simulation of Proportional plus Derivative (PD) controller for two links robotic arm. The PD controller was used to compute the required joint’s torque for tracking the desired trajectory. The Particle Swarm Optimization (PSO) algorithm has been used in order to tune the gains of the proportional and derivative parts of PD controller. Simulation results show an efficient and robust behavior of the proposed controller. Two cases of simulation tests were carried out. The first was tracking a sine wave trajectory while the second was tracking the same trajectory with the presence of disturbance torque on the dynamic model of the robotic arm. The simulation results were compared with the presence of disturbance torque on the dynamic model of the robotic arm. The simulation results were compared with the results obtained by other researchers, for similar robotic arm properties and same trajectory. The proposed controller offers a simple method for trajectory tracking problem with a satisfactory efficiency. A Mean Square Error (MSE) criterion was used to study the efficiency of the proposed controller in tracking the desired trajectory.
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