Abstract
Abstract In order to improve the anti-load disturbance performance of a class of motion control systems, an improved fractional order controller design based on the Bode’s ideal transfer function (BITF) is proposed in this paper. By adding a proportional-integral (PI) controller and a Bode’s ideal cut-off (BICO) filter into the existing BITF based controller, the frequency characteristics of the control system in the low and high frequency ranges are improved without affecting the characteristics in the middle frequency range. Therefore, the steady-state accuracy and anti-disturbance performance of the system can be improved. A tuning method for the improved BITF based controller is proposed, using which the controller parameters can be obtained through simple calculation. The step response and disturbance rejection performance of the improved BITF based control system is illustrated by motion control simulation. Besides, the advantage of the proposed method is verified by the comparisons with some existing methods.
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