Design of aerospace control systems using fractional PID controller (original) (raw)
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DESIGN OF FRACTIONAL ORDER PID CONTROLLER BASED PARTICLE SWARM
Fractional order PID (FOPID) controller is a special kind of PID controller whose derivative and integral order are fractional rather than integer which has five parameters to be tuned. This paper presents study of the implementation of tuning method and performance enhancement of the closed loop system by use of the fractional order PID (PI λ D μ) controller utilizing a MATLAB/Simulink. The tuning methods for these type controllers have many mixed tools of the available optimization methods and update artificial optimization methods in the design. In this paper particle swarm optimization has been implemented to design FOPID controller in which the unknown parameters are determined minimizing a given integral of time weighted absolute error (ITAE). The main specification of this paper is that the all five parameters of (PI λ D μ) have been found directly without spreading the steps. It has been shown that the response and performance of the closed loop system with FOPID controller is much better than integer order PID controller for the same system and with better robustness.
Design of Flight Control System Using Gain Schedule Fractional PID Controller
Journal of Engineering Science and Military Technologies, 2017
The goal of this paper is to control the trajectory of the flight path of six degree of freedom flying body model using Fractional PID controller (FPID) and Gain Schedule Fractional PID controller. FPID and gain schedule FPID controllers gains with non linear flying body simulation are tuned by Simulink design optimization. Gain Schedule FPID controller is able to compensate for constraints that represent physical limits of actuators in pitch angle. The gain schedule FPID for the six degree of freedom flying body is designed in two phases. The first phase is boost phase where the thrust force is maximized. The second phase is sustain phase where the thrust force is minimized. The results of gain schedule FPID controller are compared with the results of FPID controller.
Design of Optimal Fractional Order PID Controller Using PSO Algorithm
An intelligent optimization method for designing Fractional Order PID (FOPID) controllers based on Particle Swarm Optimization (PSO) ear presented in this paper. Fractional calculus can provide novel and higher performance extension for FOPID controllers. However, the difficulties of designing FOPID controllers increase, because FOPID controllers append derivative order and integral order in comparison with traditional PID controllers. To design the parameters of FOPID controllers, the enhanced PSO algorithms is adopted, which guarantee the particle position inside the defined search spaces with momentum factor.
Design of a fractional order PID controller for an AVR using particle swarm optimization
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Application of fractional order PID (FOPID) controller to an automatic voltage regulator (AVR) is presented and studied in this paper. An FOPID is a PID whose derivative and integral orders are fractional numbers rather than integers. Design stage of such a controller consists of determining five parameters. This paper employs particle swarm optimization (PSO) algorithm to carry out the aforementioned design procedure. PSO is an advanced search procedure that has proved to have very high efficiency. A novel cost function is defined to facilitate the control strategy over both the timedomain and the frequency-domain specifications. Comparisons are made with a PID controller and it is shown that the proposed FOPID controller can highly improve the system robustness with respect to model uncertainties.
Jurnal Teknologi
The rapid development of microprocessor, electrical, sensors and advanced control technology make a quadrotor fast expansion. Unfortunately, a quadrotor is unstable and impossible to fly in fully open loop system. PID controller is one of methodology that has been proposed to control the flight control system. Unfortunately, adjustment of PID parameters for robust control performance is not easy and still problems. The paper proposed a flight controller system based on a PID controller. The PID parameters are tuned automatically using Particle Swarm Optimization (PSO). Objective of this method is to improve the flight control system performance. Several experiments have been performed. According to these experiments the proposed system able to generate optimal and reliable PID parameters for robust flight controller. The system also has 41.57 % improvement in settling time response.
Comparison Between PID and FOPID Controllers Based on Particle Swarm Optimization
The intelligent optimization method for designing Fractional Order ( PIλDδ ) controller (FOPID) based on Particle Swarm Optimization (PSO) is used in this paper . The Fractional Order ( PIλDδ ) controller (FOPID) same as conventional PID controller but integral order (λ) and derivative order (δ) are fractional. The new and good performance extension for FOPID can be provided by Fractional calculus because of the flexibility order of fractional calculus. The Fractional Order ( PIλDδ ) controller (FOPID) and conventional PID controller are applied to the three problems (stable, unstable and non-minimum phase systems). The parameters of FOPID comprise proportionality constant, integral constant, derivative constant, integral order (λ) and derivative order (δ). The design of ( PIλDδ ) controller needs to optimize five parameters while the design of conventional PID controller needs only three parameters to optimize. Therefore, the task of designing FOPID controller is more challenger th...
Mechatronics, 2007 IEEE International Conference on, 2007
In this paper, a novel design approach for determination of the optimal Fractional Order PID (FOPID) controllers, using the Particle Swarm Optimization (PSO) method is presented. Fractional calculus can provides good performance and robustness for FOPID controllers in comparison with the conventional PID and even other types of classical controllers, because of the arbitrary order of fractional calculus presented in this scheme. This paper demonstrates in details how to employ the PSO method to search efficiently for the optimal FOPID controller parameters in SISO and MIMO systems. The proposed approach is applied to an electromagnetic suspension system as an example to illustrate the design procedure and verify the performance of the proposed controller.
Design and Analysis of Optimal Fractional-Order Pid Controller
This paper includes the design and analysis of a fractional order PID controller which mainly used in science and engineering. It is a type of PID controller in which the order of derivative and integral are fractional rather than integer number. Fractional pid controller consist of five parameters kp,ki,kd,λ and μ. The comparison between ordinary PID controller and controller are done and the characteristics are studied in detail. For optimization of fractional pid parameters different algorithms can be used they are PSO(Particle Swarm Optimization)algorithm, nelder-mead algorithm, ABC(artificial bee colony algorithm),GA(genetic algorithm). This paper illustrates Nelder-Mead algorithm and ABC algorithm are applied for the optimization of parameters. Different performance indices like IAE(integral absolute error),ISE(integral square error),ITAE(integral of time weighted absolute error) are considered. The simulation and analysis of closed loop system is described
Fractional order PID controller tuned by bat algorithm for robot trajectory control
Indonesian Journal of Electrical Engineering and Computer Science, 2021
This paper deals with implementing the tuning process of the gains of fractional order proportional integral derivative (FOPID) controller designed for trajectory tracking control for two-link robotic manipulators by using a Bat algorithm. Two objective functions with weight values assigned has been utilized for achieving the minimization operation of errors in joint positions and torque outputs values of robotic manipulators. To show the effectiveness of using a Bat algorithm in tuning FOPID parameters, a comparison has been made with particle swarm optimization algorithm (PSO). The validity of the proposed controllers has been examined in case of presence of disturbance and friction. The results of simulations have clearly explained the efficiency of FOPID controller tuned by Bat algorithm as compared with FOPID controller tuned by PSO algorithm.
Soft Computing, 2015
In this paper, an optimal design based state feedback gain of fractional order proportional integral derivative (PID) controller for time delay system is proposed. The proposed optimal design is called as IWLQR, which will be the joined execution of both the invasive weed optimization (IWO) and linear quadratic regulator (LQR). The proposed technique modifies a fractional order proportional integral derivative (FOPID) regulator among a high order time delay scheme that achieves an elevated performance for a wide area. In the proposed methodology, the gain of the FOPID controller is tuned to achieve the desired responses which are determined using the LQR theory and the weight matrices of the LQR is anticipated with the assistance of IWO technique. The uniqueness of the projected technique is to reduce the fault in a PID regulator among the higher order time delay scheme by the aid of the increase limits of the regulator. The objective of the proposed control method is chosen in view of the set point parameters and the accomplished parameters from the time delay system. The projected method is employed to achieve the avoidance of high order time delay and the dependability restrictions such as tiny overrun, resolving time and fixed condition defect. This technique is carried out in MATLAB/Simulink platform and the results are separated by the earlier regulator junction representation like Z-N system, Wang technique, curve fitting technique, regression technique which illustrates the superior presentation of the anticipated abstaining in the existing work.