Fractional order PID control of a DC-motor with elastic shaft: a case study (original) (raw)
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Design and Robust Performance Evaluation of a Fractional Order PID Controller Applied to a DC Motor
This paper proposes a methodology for the quantitative robustness evaluation of PID controllers employed in a DC motor. The robustness analysis is performed employing a 23 factorial experimental design for a fractional order proportional integral and derivative controller (FOPID), integer order proportional integral and derivative controller (IOPID) and the Skogestad internal model control controller (SIMC). The factors assumed in experiment are the presence of random noise, external disturbances in the system input and variable load. As output variables, the experimental design employs the system step response and the controller action. Practical implementation of FOPID and IOPID controllers uses the MATLAB stateflow toolbox and a NI data acquisition system. Results of the robustness analysis show that the FOPID controller has a better performance and robust stability against the experiment factors.
Robust Fractional Order PID Control of a DC Motor with Parameter Uncertainty Structure
2014
This paper presents a robust DC motor speed controller based on the concept of fractional-order PID (FOPID or PI D λ μ ) controllers. The method for tuning the PI D λ μ controller uses the Bode envelopes of the control systems with parametric uncertainty. The uncertainty caused by the parameter changes of DC motor are formulated as five different design specifications, which are used in the objective function in the design. Robust PI D λ μ controller is designed from the solution of fulfill five different design specifications. Simulation results are given to illustrate the effectiveness of this method.
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The application of Fractional Calculus to control mechatronic devices is a promising research area. The most common approach to Fractional-Order (FO) control design is the PIλDµ scheme, which adopts integrals and derivatives of non-integer order λ and µ. A different possible approach is to add FO terms to the PID control, instead of replacing integer order terms; for example, in the PDD1/2 scheme, the half-derivative term is added to the classical PD. In the present paper, by mainly focusing on the transitory behaviour, a comparison among PD, PDµ, and PDD1/2 control schemes is carried out, with reference to a real-world mechatronic implementation: a position-controlled rotor actuated by a DC brushless motor. While using a general non-dimensional approach, the three control schemes are first compared by continuous-time simulations, and tuning criteria are outlined. Afterwards, the effects of the discrete-time digital implementation of the controllers are investigated by both simulati...
A Simplified Fractional Order PID Controller’s Optimal Tuning: A Case Study on a PMSM Speed Servo
Entropy, 2021
A simplified fractional order PID (FOPID) controller is proposed by the suitable definition of the parameter relation with the optimized changeable coefficient. The number of the pending controller parameters is reduced, but all the proportional, integral, and derivative components are kept. The estimation model of the optimal relation coefficient between the controller parameters is established, according to which the optimal FOPID controller parameters can be calculated analytically. A case study is provided, focusing on the practical application of the simplified FOPID controller to a permanent magnet synchronous motor (PMSM) speed servo. The dynamic performance of the simplified FOPID control system is tested by motor speed control simulation and experiments. Comparisons are performed between the control systems using the proposed method and those using some other existing methods. According to the simulation and experimental results, the simplified FOPID control system achieves...
IJERT-Speed Control of a DC Motor Using Fractional order Proportional Derivative (FOPD) Control
International Journal of Engineering Research and Technology (IJERT), 2014
https://www.ijert.org/speed-control-of-a-dc-motor-using-fractional-order-proportional-derivative-fopd-control https://www.ijert.org/research/speed-control-of-a-dc-motor-using-fractional-order-proportional-derivative-fopd-control-IJERTV3IS11138.pdf This paper presents speed control of a DC Motor using Fractional order Proportional Derivative control. Fractional order Proportional Derivative control and Fractional Order Proportional Integral Derivative control has wide range of applications. Many analysis and design methods has been proposed for fractional order controllers. Here, a new tuning method for fractional order proportional and derivative (FO-PD) controller is used for speed control of a Permanent Magnet DC motor. Tuning is performed in such a manner that the given gain crossover frequency and phase margin is fulfilled and the phase derivative with respect to the frequency is zero making the closed loop system robust to gain variations. Tuned Fractional order Proportional Derivative Controller is compared with conventional controller PID controller. Real-time results show that the FOPD controller exhibits better response compared to a PID controller. .
Fractional order PI D controller: applied to control a manipulator robot wrist
2015
The work presented in this paper focuses on the use of multicontroller approach to control a robot wrist (STÄUBLI robot RX 90). A description and a nonlinear Mathematical model of process have been presented along with the local parametric models around operating points. Due to the advantage of fractional order PID control compared to conventional PID, a Fractional order PID controller has been developed around each selected operating points for each local parametric models with the Oustaloup recursive approximation method (ORA) method are presented. at the end we present the results obtained in the different simulations with 3D simulation robot model developed in CAO solid Works software and some perspectives for future work.