Keek, Joe Siang (2025) Modelling of proportional controllers with counter-slippage mechanism for e-pattern omniwheeled cellular conveyor. Doctoral thesis, Universiti Teknikal Malaysia Melaka.
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Abstract
Conveyor system is essential for many industries but can also become a potential chokepoint. It has direct impact on the efficiency of whole process flow. Downtime due to maintenance or reparation is unavoidable among conveyor system. Traditional conveyor such as belt or roller conveyor is prone to downtime due to wear and tear. Additionally, the traditional conveyor system is a single-input-single-output system that conveys object unidirectionally without capability of sorting and arranging. Traditional conveyor system also lacks flexibility and adaptivity to the surrounding environment. The traditional conveyor system has remained almost with the same design since decades ago, even though the world of technologies has gone through multiple revolutions. Therefore, in these recent years, modern conveyor system has risen to overcome the limitation of traditional conveyor. In this research, a modern conveyor system known as E-pattern omniwheeled cellular conveyor (EOCC) has been designed and proposed. EOCC is made up of cells and therefore, faulty cell can be replaced through plug-and-play without interrupting the industrial process flow. Each cell consists of omniwheels and capable of conveying object omnidirectionally. Therefore, while waiting faulty cell to be replaced, conveyance can be temporarily handled by neighbouring cells without stopping the whole conveyor. EOCC requires zero-downtime and ultimately solves the chokepoint issue. Besides that, due to omnidirectional capability, EOCC can support unlimited inputs-outputs, allowing it to handle multiple objects for tasks like sorting, arranging etc., thereby achieving unprecedented efficiency beyond the traditional conveyor. The modularity of EOCC also allows it to be highly adaptive and customizable based on environment. However, the existing modern conveyor literature often does not adequately address uncertain and nonlinear properties of modern conveyor system. Robustness and precision in tracking performance are also lacking. In this research, slippage (uncertainty) and nonlinear properties of the EOCC are first analyzed. It was found that omniwheels on both the X-axis and Y-axis are prone to slippage and nonlinear actuation, with the Y-axis omniwheel being more critical. It is impractical to mathematically model these properties and therefore, slippage detection (SD) and counter-slippage (CS) method are proposed. The final result shows that the proposed 4P-SDCS controller (four proportional gains with slippage detection and counter slippage) outperforms the benchmark controllers. In terms of X-axis and Y-axis trajectory tracking relative value distributions, the 4P-SDCS controller surpasses the benchmark controllers up to 70 % and 72.5 %, respectively. In term of Z-axis error mean and standard deviation, the 4P-SDCS controller outperforms the benchmark controllers up to 74.1 % and 14.4 %, respectively. Besides that, the 4P-SDCS controller scores zero catastrophic slippage throughout all trajectory tracking conducted. The EOCC and its control system are comprehensively validated across different trajectories, different box sizes and masses. Overall, the proposed EOCC and its control system have successfully achieved precision and robustness in trajectory tracking.
| Item Type: | Thesis (Doctoral) |
|---|---|
| Uncontrolled Keywords: | Modern conveyor, Omnidirectional, Cellular, Proportional controller, Counter-slippage |
| Subjects: | T Technology T Technology > TJ Mechanical engineering and machinery |
| Divisions: | Faculty Of Electrical Technology And Engineering |
| Depositing User: | Norhairol Khalid |
| Date Deposited: | 10 Oct 2025 07:54 |
| Last Modified: | 10 Oct 2025 07:54 |
| URI: | http://eprints.utem.edu.my/id/eprint/29007 |
| Statistic Details: | View Download Statistic |
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