Speed Machining Research Articles

A state feedback control with compensation for permanent magnet synchronous machine drives

Using the linear approach to design a controller is still prevalent. The state feedback control (SFC) is applied in this paper to improve the dynamic response of permanent magnet synchronous machine (PMSM) speed regulation systems. First, a third-order augmented system is constructed for the reason that a higher-order system has better disturbance rejection. It can be found through analysis and comparison that the order of the proposed speed controller is increased. The parameters of SFC are selected by utilizing the linear quadratic regulator (LQR), and the influence of matrix Q on dynamic performance is detailed through the Bode diagram. Additionally, considering parametric uncertainties and unmodeled dynamics, a disturbance observer (DOB) using the Luenberger observer is designed to further boost anti-disturbance performance. Finally, plenty of experimental results verify the effectiveness of the proposed methods.

Unrelated Parallel Machine Considering Multi-task Simultaneous Supervision Dual Resources Constraints to Minimize Makespan

To maximize their production, many companies invest their funds into a semi-automatic machine to help them reach their fullest potential. However, many forgot to also take into account the adjustments that have to be done to the preexisting schedule because of the idle time that operators have now that the new machine has arrived. Multi-task simultaneous supervision dual resource constraints (MTSSDRC) have been the go-to method to solve that problem. Nonetheless, there is still an absence in an MTSSDRC field that involves an Unrelated Parallel Machine Scheduling Problem (UPMSP). This research proposed a model of MTSSDRC that is in line with UPMSP where the machine is a complex system and variations of machining speed can happen from a certain machine to certain jobs. This research also brought MTSSDRC closer to its real-life counterpart as a shop floor that exists in many manufacturing industries.

Adaptive PMSM Control of Ship Electric Propulsion with Energy-Saving Features

Electric ship propulsion is considered one of the most promising alternatives to conventional combustion systems. Its goal is to reduce the carbon footprint and increase a ship’s maneuverability, operational safety, and reliability. The high requirements for ship propulsion make permanent magnet synchronous motors (PMSMs) an attractive solution due to their characteristics. This paper discusses the control problem of a PMSM based on the input–output feedback linearization method combined with the optimal and adaptive control techniques. The method presented here integrates the parameter tuning process with the optimal design of the baseline controller. Since the load disturbances are treated as an additional unknown parameter, there is no need to introduce an integral action to deal with the resulting steady-state error. An important feature of the designed controller is the so-called energetic optimization of the system; i.e., in addition to the aforementioned adaptive and optimal controller, it has a feature of ensuring zero reactive power consumed by the system. The performed simulations of the machine speed stabilization process confirmed the high efficiency of the proposed controller despite the assumed uncertainty of the system parameters and environmental (load) disturbances. Besides achieving high-quality control, an essential feature of this approach is the elimination of the tuning problem.

Analysis of Tool Load Concerning the Cross-Sectional Size of Removed Material

High-feed milling (HFM) represents a progressive manufacturing technology that has recently found widespread application across various industries. HFM is characterized by high machining speed, reduced cycle times, increased overall productivity, and increased tool life. Due to its versatility, HFM is a suitable technology for the application of various materials. The study deals with experimental analysis of cutting forces, machined surface integrity, and statistical evaluation in high-feed machining. In the present study, nickel-copper-based alloy (Monel) was chosen as the machined material, employing HFM with a monolithic ceramic milling cutter. The Monel material is characterized by its excellent mechanical properties and chemical resistance in harsh environments. During machining, cutting forces were recorded in three mutually perpendicular directions. This paper delves into the analysis of the impact of the depth of cut (ap), width of cut (ae), and lead-in angle (ε). The chosen evaluation characteristics encompass the tool load, primary profile, and the attained roughness of the machined surface. It is noteworthy that the technology under consideration predominantly aligns with the roughing phase of the manufacturing process. Additionally, the investigation incorporates a statistical analysis of the response surface pertaining to the cutting force components, namely Fx, Fy, Fz, and the resultant cutting force F.

Rate-dependent tensile properties of paperboard and its plies

Abstract Tensile properties of paperboard have been characterized, and it has been shown that paper tensile properties are dependent on the strain rate. Tensile testing was done using strain rates in the range 10−4–3 s−1, which corresponds to crosshead movements ranging from 1 up to 24,000 mm/min, using an electro-mechanical testing machine. Two paperboards, and its free-laid top, middle and bottom plies were characterized in MD and CD. The testing was limited by the maximum crosshead speed of the testing machine. Initially 50 mm (grip to grip) long samples were tested, but to test even higher strain rates also short samples with length of 5 mm were tested. The results showed that ultimate strength increased by 9 % per decade increasing of testing rate, and Young’s modulus increased by 7 %. This shows that the previously reported rule of thumb of 10 % increase of in-plane strength per decade increase of strain rate holds. The testing here shows that this is valid also at strain rates as high as 3 s−1. Moreover, the strain at break in CD for long tensile specimens was observed to decrease when the strain rate exceeded 0.1 s−1, which resulted in straighter crack paths.

Design and experimentation of crawler tea harvesting machine

ABSTRACT In this paper, a tracked self-propelled tea harvesting machine is designed. The machine is composed of a tracked chassis, a picking unit, a collection unit, a tea canopy sensing unit, and a cutter height adaptive adjustment unit, The tracked chassis is designed with a narrow width to accommodate the planting mode of Chinese tea plantations. The tea canopy sensing unit and the height adaptive adjustment unit of the cutting platform allow for real-time adjustment of the picking unit’s height based on the tea canopy’s height, improving the tea production rate of fresh leaves. Kinematic analysis of the reciprocating cutter was conducted. To optimize the parameters of the entire machine, a three-factor, three-level quadratic rotational orthogonal test was established, and regression analysis of the test data was performed using Design Expert. The optimized parameters were: machine speed of 3.170 km/h, crank radius of 18.737 mm, average cutter speed of 0.951 m/s, and processable tea rate of 91.38%. To validate the optimization results, field trials were conducted. The findings demonstrated that the processable tea rate was 91.26%, which closely aligned with the optimized results. This study provides a theoretical reference for the tea harvesting machine in tea plantations on hilly slopes.

Intelligent Sinter Machine Speed Control System Using Optimized Fuzzy Logic Controller: An Experimental Study in Iron and Steel Plant

Intelligent control systems developed for production facilities significantly contribute to production efficiency and quality. Using intelligent control systems has now become a necessity in iron and steel sintering plants that produce millions of tonnes annually. Automatic control of the sinter machine speed, which directly affects production efficiency and quality, is one of the first issues to be addressed. The complexity of the sintering process, being affected by many variables, and the nonlinearity of these variables make it difficult to control the machine speed. This study demonstrates that we have overcome this challenge using a fuzzy logic controller (FLC), which is optimized with an adaptive neuro-fuzzy inference system (ANFIS). The FLC we have designed operates with the characteristic point of the thermal state, the mixture level, the vacuum average, and the current speed parameters. We achieved an average success rate of 95%. The developed system automatically controls the speed of the sinter machine with high accuracy, independent of the operator. The system we have developed is used continuously at the Iskenderun Iron & Steel Co. sinter plant. The results obtained from the production facility show that the developed system captures the thermal change in the sinter pallet and manages the machine accordingly, increases the sintering efficiency by at least 10%, and ensures process safety. These results revealed that the developed system can be used effectively in the iron and steel industry and the use of the system will increase efficiency.

An Intelligent Thermal Compensation System Using Edge Computing for Machine Tools.

This paper focuses on the use of smart manufacturing in lathe-cutting tool machines, which can experience thermal deformation during long-term processing, leading to displacement errors in the cutting head and damage to the final product. This study uses time-series thermal compensation to develop a predictive system for thermal displacement in machine tools, which is applicable in the industry using edge computing technology. Two experiments were carried out to optimize the temperature prediction models and predict the displacement of five axes at the temperature points. First, an examination is conducted to determine possible variances in time-series data. This analysis is based on the data obtained for the changes in time, speed, torque, and temperature at various locations of the machine tool. Using the viable machine-learning models determined, the study then examines various cutting settings, temperature points, and machine speeds to forecast the future five-axis displacement. Second, to verify the precision of the models created in the initial phase, other time-series models are examined and trained in the subsequent phase, and their effectiveness is compared to the models acquired in the first phase. This work also included training seven models of WNN, LSTNet, TPA-LSTM, XGBoost, BiLSTM, CNN, and GA-LSTM. The study found that the GA-LSTM model outperforms the other three best models of the LSTM, GRU, and XGBoost models with an average precision greater than 90%. Based on the analysis of training time and model precision, the study concluded that a system using LSTM, GRU, and XGBoost should be designed and applied for thermal compensation using edge devices such as the Raspberry Pi.

Online tracking of dynamically time-varying inertia using an enhanced SDFT-based estimation methodology

The overall motion performance of mechatronic machines depends heavily on proper knowledge of the machine’s characteristics, among which the inertia. Moreover, the inertia of most multi-body mechanisms, for example, reciprocating slider-crank mechanisms, varies as a function of the machine position, thereby challenging optimal control. Nevertheless, the inertia’s variation is sometimes not known accurately enough or changes over time due to, e.g. a production process or premature wear, forcing an online control/correction of the inertia profile. Therefore, earlier, the author developed a new computational-friendly online method based on a frequency-specific magnitude response to estimate the machine’s position-dependent load side inertia, assuming good knowledge of all other machine properties. Yet, to guarantee accuracy, the maximum machine speed during estimation had to be strongly reduced, resulting in an undesirable longer motion time. Therefore, in this work, the failure mechanism of the earlier proposed estimator is analysed and overcome by intelligently separating estimation and motion signals. As a result, the estimator is no longer limited by the machine’s motion speed but rather by a maximum in the inertia variation per signal excitation period and, thus, time. Moreover, given this limiting variation, a guideline was established to evaluate the new method’s estimation quality. Finally, both in simulation and on a physical machine, by taking advantage of the newly proposed method, the minimal required estimation time is reduced significantly (up to 50% on the machine) without diminishing the estimation accuracy.

Development and optimization of a mechanized jackfruit processing unit for enhanced efficiency and commercial viability

AbstractThe jackfruit is the largest edible fruit but remains underutilized due to challenges such as sticky latex, labor‐intensive peeling/coring, and lack of mechanization. This study developed and evaluated a jackfruit peeling, coring, and cutting machine to enhance processing efficiency. Performance was modeled using response surface methodology (RSM) and artificial neural network (ANN). Three jackfruit sizes (small, medium, and large) and three machine speeds (90, 120, and 150 RPM) were evaluated for peeling time (26.1–50.3 s), peeling efficiency (71.6%–85.3%), coring time (15.5–29.9 s), coring efficiency (74.7%–96.0%), and bulb wastage (6.2%–17.6%). RSM showed high model adequacy (R2 ≥ 0.97) and ANN confirmed prediction reliability (R2 = 0.81–0.99; mean square error = 4.4–44.9). Increasing fruit size significantly increased peeling and coring times but decreased efficiencies. Machine speeds caused minor variations. Optimized conditions of 120 RPM fruit holder speed and 150 RPM corer speed gave maximum desirability (0.869). The machine had a payback period of 2 years and benefit–cost ratio of 2.32 versus 2.66 for manual peeling/coring. The mechanized jackfruit processing will promote enhanced utilization of this nutritious fruit.Practical applicationsThe mechanized jackfruit peeling‐coring‐cutting machine developed in this study has significant practical utility. By enabling efficient and rapid processing of jackfruits, the machine can help tap the underutilized potential of this highly nutritious and functionally beneficial fruit. The optimized machine parameters allow jackfruit processing industries to achieve higher throughput with reduced wastage, thereby boosting productivity and profits. Additionally, the mechanization facilitates value‐addition by enabling jackfruit utilization in various processed products like chips, flour, jam, etc. Further, the machine helps create livelihood opportunities in jackfruit value chains, as it reduces drudgery and enhances process efficiency as compared to manual methods. The simple fabrication and operation also enable adoption by farmer‐producer organizations, self‐help groups, and community‐based jackfruit processing enterprises. Overall, the mechanized solution provides an impetus for sustainable utilization of jackfruit, while also addressing issues like food loss, nutrition security, income support, and women empowerment. The practical insights on machine performance modeling using response surface methodology and artificial neural network approaches further facilitate quality improvements in equipment design.

Регулирование технологических скоростей

Depending on the requirements of the technology and the operator factor, the operating speeds of technological machines can vary in different intervals. It is proposed to distinguish between small and large ranges of technological speed changes relative to the variator control range. If the range of speed changes goes beyond the control range of the variator, then it will be a large range, and otherwise it will be a small range. The working speed of the technological machine can be changed stepwise or continuously. Step-by-step speed control is carried out using a gearbox, and stepless regulation is carried out using a variator. The technological speed in a large range is recommended to be steplessly adjusted using a variator and a gearbox, and in a small range – using a variator and a gearbox. A V-belt variator with a standard V-belt drive is proposed, the main tasks of its development are defined.

Development and Optimization of Cassava (Manihot Esculenta) Peeling Machine

The conventional cassava peeling methods are inefficient, time-consuming, and labor-intensive This study aimed to create an enhanced cassava peeling machine with minimal flesh loss. The machine design includes components like a hopper, shafts, bearings, an electric motor, and a v belt connected to a pulley that drives the brush-equipped shaft. This locally sourced and fabricated machine, designed for 50kg of cassava tubers, was tested at operational speeds of 380, 420, and 460 rpm and retention times of 4, 6, and 8 minutes, optimizing the effects of machine speeds and peeling times on peeling efficiency using I-optimal Response Surface Experimental Design with a mean separation at P<0.05. Results pertaining to tuber properties, such as angle of repose, peel thickness, moisture content, peel penetration force, bulk density, and coefficient of friction, were utilized in the machine's design. The machine achieved maximum peeling efficiency of 74% at a speed of 380m/s when operated for 6 minutes. At this optimal efficiency, the machine reached an optimal throughput capacity of 171.4kg/h, with a 21% flesh loss, a peeling weight proportion of 25.8%, and minimal tuber damage (3.3%). The desirability, which signifies the extent to which these optimal values align with the optimization goal, was 0.83 (83%). In essence, this machine significantly advances cassava peeling mechanization.

Classification of CNC Vibration Speeds by Heralick Features

In the contemporary landscape of industrial manufacturing, the concept of computer numerical control (CNC) has emerged due to the optimization of conventional machinery, distinguished by its remarkable precision and expeditious processing capabilities. These inherent advantages have seamlessly paved the way for the pervasive integration of CNC machines across a myriad of industrial manufacturing sectors. The present study embarks upon a comprehensive inquiry, delving into the intricate analysis of a specialized prototype CNC molding machine, encompassing a meticulous assessment of its structural rigidity, robustness, and propensity for vibrational occurrences. Moreover, an insightful exploration is undertaken to discern the intricate interplay between vibrational signals and intricate machining processes, particularly under diverse conditions such as the presence or absence of the cutting tool, and at varying rotational speeds denoted in revolutions per minute (RPM). The trajectory of this research voyage encompasses an extensive array of empirical experiments meticulously conducted on the prototype CNC machine, with synchronous real-time acquisition of vibrational data. This empirical journey starts by generating two distinct datasets, each meticulously designed to encompass an assemblage of seven distinct rotational speeds, spanning the spectrum from 18000 to 30000 RPM, thereby facilitating enhanced diversity within the dataset. In parallel, a secondary dataset is meticulously derived from the CNC machine operating in the absence of the cutting tool, thereby encapsulating an exhaustive range of 20 discrete RPM values. The extraction of pivotal features aimed at discerning between the vibrational signals arising from distinct conditions (i.e., those emanating from situations involving the presence or absence of the cutting tool) and the associated variance in CNC machine speeds is facilitated through an innovative framework grounded in co-occurrence matrices. The culmination of this methodological framework is the identification of discernible co-occurrence matrices, thereby facilitating the subsequent computation of Heralick features. The classification effort was performed systematically using 10-fold cross-validation analysis, covering a number of different machine learning models. The outcomes emanating from this intricate sequence of systematic methodologies underscore remarkable achievements. Specifically, the classification of vibrational signals corresponding to varying CNC machine speeds, contingent upon the presence or absence of the cutting tool, yields commendable accuracy rates of 94.27% and 94.16%, respectively. Notably, an exemplary accuracy rate of 100% is attained when classifying differing conditions (i.e., situations involving the presence or absence of the cutting tool) across specific RPM settings, prominently at 22000  24000  26000  28000  and 30000 RPM. 

Uji Kinerja Alat Pencacah Rumput (Mini Chopper) Type TMB 01

The high amount of food crop production in East Lampung Regency produces abundant biomass. This biomass can be used as silage for animal feed. A grass chopper is needed to make silage. The aim of the research was to test the performance of the TMB 01 type grass chopper on corn stalks and elephant grass with engine rotation speeds of 800, 1000 and 1200 rpm. This research was carried out in June - November 2023, at the Self-Help Agricultural and Rural Training Center (P4S) Tani's Market Balerejo, East Lampung Regency. This research was carried out with observation parameters measuring chopping time, measuring machine rotation speed, measuring fuel consumption, measuring the diversity of biomass mass that had been chopped. The research results show that rotational speed (rpm) influences work capacity, working time, fuel consumption and chopping diversity. The best rotation speed of the shredding machine is 1200 rpm. Keywords: Biomass, Engine Revolution, Shredding Machine, Work Capacity.

Academician V.N. Boltinsky’s Scientific article Legacy in Agricultural Engineering Education and Science (Commemorating the 120th Anniversary of the Birth)

The article delves into the scientific contributions and advancements of the eminent Russian scientist in agricultural tractor construction, Vasily Nikolaevich Boltinsky. (Research purpose) The paper aims to shape and consolidate historical, scientific, engineering and technical concepts regarding the establishment and development of scientific and pedagogical institutions focused on the study of tractor engine operation and machine-tractor units in unsteady modes. It also seeks to underscore the contributions made by Doctor of Technical Sciences, Professor, and Member of VASKHNIL, V.N. Boltinsky. (Materials and methods) The study employs a chronological approach, utilizing historical, scientific, and informational resources, including publications by prominent scientists and original works by the academician himself. The paper also analyzes and summarizes historical facts detailing the role of V.N. Boltinsky in enhancing the design and efficiency of Soviet tractors and machinery units. (Results and discussions) Throughout his career, from assistant to associate professor to vice-president of VASKHNIL, V.N. Boltinsky dedicated himself to developing and testing new models of both foreign and domestic tractor equipment. His extensive experience and years of research culminated in the publication of the monograph «Operation of a tractor engine under unsteady load», which extensively explores the impact of varying loads on engine performance. V.N. Boltinsky successfully solved problems related to enhancing the operational speed of machine and tractor units, as well as innovating the design of agricultural machinery. (Conclusions) The life and professional endeavors of V.N. Boltinsky serve as a shining example of dedication to science, education, and the professional advancement of engineering and scientific professionals. To honor his legacy, an annual scientific and practical seminar entitled «Academician V.N. Boltinsky Readings» is held in Russia, ensuring his contributions continue to be celebrated and remembered.

Research on dynamic characteristics of cutter breaking frozen soil and optimal drum rotation speed of the new shaft tunneling machine

To improve the efficiency of frozen soil excavation, the new shaft tunneling machine was developed. The new shaft tunneling machine exerts pressure on the frozen soil through the cutter under the joint action of its own gravity, the drum rotational force and the inertia force, and the frozen soil is damaged. By unique way of breaking frozen soil to improve the efficiency of frozen soil excavation, the drum rotation speed is one of the factors affecting the performance of frozen soil excavation. This article applies SolidWorks software to establish the model of cutter breaking frozen soil, takes advantage of Hyper Mesh finite element software coupled with LS-DYNA solver to acquire the regular pattern of change in the force change, frozen soil stress–strain and specific energy of cutter crushing frozen soil, etc., which analyzes the destruction of frozen soil when the drum of the new shaft tunneling machine is rotating at the speed of 25–40 rpm. Combine with field test to investigate the mechanism of cutter breaking frozen soil under the optimal drum rotation speed. The investigation results demonstrate that: when frozen soil's self-bearing capacity is lower than the force of cutter, it breaks up and detaches from the soil body, and frozen soil undergoes tensile, compressive and shear damages. For this research, it is instructive for practical engineering.

Approximation algorithms for job scheduling with block-type conflict graphs

The problem of scheduling jobs on parallel machines (identical, uniform, or unrelated), under incompatibility relation modeled as a block graph, under the makespan optimality criterion, is considered in this paper. No two jobs that are in the relation (equivalently in the same block) may be scheduled on the same machine in this model.The presented model stems from a well-established line of research combining scheduling theory with methods relevant to graph coloring. Recently, cluster graphs and their extensions like block graphs were given additional attention. We complement hardness results provided by other researchers for block graphs by providing approximation algorithms. In particular, we provide a 2-approximation algorithm for P|G=block graph|Cmax and a PTAS for the case when the jobs are unit time in addition. In the case of uniform machines, we analyze two cases. The first one is when the number of blocks is bounded, i.e. Q|G=k − block graph|Cmax. For this case, we provide a PTAS, improving upon results presented by D. Page and R. Solis-Oba. The improvement is two-fold: we allow richer graph structure, and we allow the number of machine speeds to be part of the input. Due to strong NP-hardness of Q|G=2 − clique graph|Cmax, the result establishes the approximation status of Q|G=k − block graph|Cmax. The PTAS might be of independent interest because the problem is tightly related to the NUMERICAL k-DIMENSIONAL MATCHING WITH TARGET SUMS problem. The second case that we analyze is when the number of blocks is arbitrary, but the number of cut-vertices is bounded and jobs are of unit time. In this case, we present an exact algorithm. In addition, we present an FPTAS for graphs with bounded treewidth and a bounded number of unrelated machines.The paper ends with extensive tests of the selected algorithms.

Investigating the thickness of patterned polyethylene layers by changing the line speed and temperature in the embossing machine

Patterned polyethylene films are mandatory products in the rubber tire industry. They are used as protective lining to prevent contamination of the rubber. This pattern geometry (2D and 3D) prevents the rubber from sticking to each other. The film is desired to be homogeneous, precise in thickness, and have sufficient mechanical strength. The speed and the temperature of the pattern-forming machine are among the factors that determine this relationship between the thickness of the film and its mechanical properties for sustainable quality production. In this study, the effect of the speed and the temperature of the pattern machine on the pattern thickness during the creation of the pyramid-shaped pattern applied on a 100 ± 5 µm thick polyethylene film were examined. Four different machine speeds (24, 26, 28, and 30 m/min) and three different temperatures (100, 110, and 120 °C) were studied as variables. The impact of parameters on film thicknesses and tensile properties was assessed. Film thickness varied from ~ 375 to ~ 340 µm at higher machine speed, strength-at-break values decreased from 28 to 22 MPa, and elongation values dropped from 575 to 437% with the increment in speed. On the other hand, at higher temperatures, thickness rose from ~ 360 to ~ 390 µm, and elongation values reduced from 440 to 410%. Within the scope of the experimental studies, it was observed that the film thickness changes and the mechanical properties can be controlled by changing the line speed or process temperature.Graphical abstract

Fuzzy Logic Control of Asynchronous Machine Drives With a Fractional Calculus Technique

—This paper proposes the use of fractional-order fuzzy logic (FOFL) to control the rotational speed of asynchronous machines (AMs) using the pulse width modulation and compares the results with field-oriented command (FOC). The contributions of this paper are to use FOFL instead of proportional-integral (PI) controller to control torque and flux and prove that it can reduce torque ripple and increase durability of control system. This work reveals that this strategy is very suitable to efficiently control systems without knowing their mathematical model, as is the case with FOC. The FOFL is tested with numerical simulations conducted in Matlab software under the different tests, where the obtained results are compared with FOC. The simulation results showed that the FOFL provided a clearly better performance in decreasing the torque, current, and flux ripples, where, compared to the FOC, the ripple reduction ratio was estimated at 44.44%, 51.72%, and 80.95% for torque, current, and flux, respectively. In addition, the FOFL reduces the time responses for changes in the speed, flux, and torque, where, compared to FOC, the FOFL minimized the time response by rates estimated at 4.47%, 94.77%, and 89.44% for each of the speed, flux, and torque, respectively.

Rotary speed control on Continuous Passive Motion (CPM) Therapy Machine Device with PI Control

Continuous Passive Motion (CPM) Machine is a therapeutic device that is used to assist the process of therapy and recovery of a patient after having joint surgeryor injury of the ankle. In this research, a CPM machine will be developed for ankle joint therapy. The rotation speed of the CPM machine will be controlled by a DC motor which is used to drive the ankle joint therapy device.Speed control for DC motor is used on a therapeutic device (CPM machine) to determine the level of the therapeutic process; therefore this device can be adjusted to the needs of the patient who will use the therapeutic device. Speed control of the DC motor that will be carried out in this research is using Proportional Integral (PI) control. With the PI control, the result of output will always be compared with the set point value. The result of this comparison will provide an error value, which later the error value will be processed by PI control.The PI values used in this research are Kp 5 and Ki 15.The test results of the CPM movement speed show that the difference between the set point and the resulting movement is 1 RPM. Where the speed tested on this tool is 3 RPM and 5 RPM. So, the output of this device will be as expected. In brief of this research, a therapeutic device that can be adjusted the rotational speed as expected.